CN100542505C - artificial arm - Google Patents

Abstract

The invention discloses an artificial artificial arm, aiming to provide an artificial arm with multiple functions, zero error rate and no complications. It consists of artificial finger bones, metacarpal bones (10), ulna (16), radius bones (17), tendons, tendon sheaths, pulleys (4) and skin (1); the interphalangeal joints of the artificial fingers are hinged, as are the phalanx and metacarpal bones. Hinged, the metacarpal bone and the radius are connected by a ball-and-socket joint; the distal end of the tendon covered with a closed tendon sheath is fixed on the distal phalanx (3) of each finger bone on both sides of the palm and the back of the hand, and the middle of it is made by an artificial pulley (4). Tendons are attached to each finger bone and wrist joint, and the proximal end enters and exits from the radius through two holes communicating with the inner cavity of the radius on both sides of the palm and the back of the hand; artificial skin can be made into gloves; artificial arms pass through The self-tapping thread is screwed into the stump of the radius of the human body, and the proximal end of each artificial tendon is sutured and connected with the corresponding tendon of the human body. The invention is suitable for patients with amputation at the distal end of the forearm.

Description

artificial arm

technical field

The invention relates to an artificial artificial artificial limb, in particular to an artificial artificial arm suitable for the requirements of patients with upper limb forearm distal amputation.

Background technique

At present, it is generally accepted that upper limb prostheses are structurally divided into: (1) decorative hands, which mainly play a cosmetic role and have no function; (2) tool hands, which are poor in appearance and are mainly convenient for labor; (3) functional prosthetic hands, which are aesthetically pleasing, There are fewer functions; (4) myoelectric prosthetic hand, powered by a small electric motor, has a complex structure and a single function.

1) Although the current artificial limbs are relatively close to the normal limbs of the human body in appearance, they are far from functional. Take the upper limb prosthesis as an example. There are 27 degrees of freedom in the upper limbs of the human body, of which the fingers have 20 degrees of freedom. However, the current production level of prosthetics is far from being able to achieve a prosthetic hand with 27 degrees of freedom. The prosthetic hands studied in the United States and Japan have 7 to 11 degrees of freedom. The prosthetic hand currently used clinically has at most 3 degrees of freedom to complete the 6 most commonly used movements of finger extension, finger flexion, pronation, supination, wrist extension, and wrist flexion.

2) The currently popular myoelectric prosthesis recognizes myoelectric information and controls three degrees of freedom, and its accuracy rate is only 72%. Such a high error rate is really difficult to obtain satisfactory results.

3) The prosthetics currently used, even the most advanced myoelectric prosthetics, are powered by small motors installed on the prosthesis, which drive the joints to move slowly, rigidly, with poor randomness and obvious hysteresis, and Strength cannot be adjusted.

4) The currently used prosthesis uses the socket to contact the stump of the severed limb, and bears the load through the stump of the severed limb, its surrounding tissues and the socket, which does not conform to the normal physiological and mechanical conduction of the human body. Repeated friction and extrusion between the socket and the limb stump can easily lead to complications such as atrophy of the limb stump, stump pain, and pressure sores.

5) The currently used prosthetics are kept fixed by braces, etc., and the prostheses are very cumbersome and heavy when they are worn and removed.

6) At present, functional prostheses, especially myoelectric prostheses, install a large number of electrodes on the prosthesis to collect myoelectricity, install computer microprocessors to analyze myoelectric information, and install small motors to generate power, which will inevitably cause the price of artificial limbs to be very high. It is expensive and greatly limits the application prospects of myoelectric prostheses.

Contents of the invention

The technical problem to be solved by the present invention is to overcome the disadvantages of the above-mentioned traditional prosthesis such as single function, high error rate, many complications, and high price, and provide an artificial artificial arm. The arm is a multi-functional artificial artificial arm that is more suitable for the requirements of patients with amputation at the distal end of the forearm of the upper limb.

Referring to Fig. 1 and Fig. 2, in order to solve the above-mentioned technical problems, the present invention adopts the following technical solutions to realize. An artificial simulation arm is composed of artificial thumb bone, artificial index phalanx bone, artificial middle phalanx bone, artificial ring phalanx bone, artificial little phalanx bone, artificial metacarpal bone, artificial first metacarpal bone, artificial ulna, artificial radius bone, artificial tendon, artificial tendon sheath, artificial pulley and Artificial skin composition.

The artificial index phalanx, artificial middle phalanx, artificial ring phalanx and artificial little phalanx are composed of artificial proximal phalanx, artificial middle phalanx and artificial distal phalanx made according to the shape of human finger bone structure. The artificial thumb bone is It is composed of artificial proximal phalanx and artificial distal phalanx manufactured according to the shape of human finger bone structure.

In the artificial thumb bone, artificial index phalanx, artificial middle phalanx, artificial ring phalanx and artificial little phalanx, there are between the artificial proximal phalanx and the artificial distal phalanx, between the artificial proximal phalanx and the artificial middle phalanx, and between the artificial middle phalanx and the artificial middle phalanx. The joint phalanx and the artificial distal phalanx are connected by hinges, and the artificial proximal phalanx of each artificial finger bone is also connected by hinges with the artificial metacarpal bone and the artificial first metacarpal bone. The block is connected with the T-shaped slot in motion, and the artificial metacarpal bone and the artificial radius are connected by a ball-and-socket joint.

The artificial tendon is covered with a closed artificial tendon sheath, artificial flexor hallucis longus tendon, artificial flexor hallucis brevis tendon, artificial flexor digitorum deep tendon, artificial flexor digitorum superficial tendon and artificial extensor hallucis longus tendon, artificial extensor hallux brevis tendon, artificial distal joint The distal ends of extensor tendons and artificial proximal extensor tendons are fixed on the artificial distal phalanx and artificial proximal phalanx in each artificial finger bone on both sides of the palm and the back of the hand, or the distal ends of each flexor tendon on the palm side are fixed on each artificial finger bone On the artificial distal phalanx and the artificial proximal phalanx, the distal ends of the artificial extensor hallucis brevis and artificial proximal extensor tendons are fixed on the artificial proximal phalanx of each artificial phalanx on the back side of the hand, and the artificial pulley is used in the middle to make the inner The artificial tendon sheath with artificial tendon is attached to both sides of each artificial finger bone and artificial ball-and-socket joint. The proximal end of the artificial tendon and the artificial tendon sheath is 3 cm below the wrist of the artificial radius. There is one on both sides of the palm and the back of the hand leading to the inner cavity of the artificial radius. The tendon piercing hole of the artificial radius enters the inner cavity of the radius, and then goes out from the palm and the back of the hand 6 cm below the wrist of the artificial radius.

In the artificial thumb bone, artificial index phalanx, artificial middle phalanx, artificial ring phalanx and artificial little phalanx, between the artificial proximal phalanx and the artificial distal phalanx, between the artificial proximal phalanx and the artificial middle phalanx and between the artificial middle Between the joint phalanx and the artificial distal phalanx, a spring is installed on the back side of the phalanx to straighten the finger.

The artificial skin can be made into beautiful gloves of different sizes and thicknesses, which are worn on the skeleton of the installed artificial artificial arm.

The artificial artificial arm is screwed into the stump of the radius of the human body through its own self-tapping thread, the artificial ulna and the distal end of the artificial radius and the stump of the human ulna are fixed by artificial ligaments, and then each suit is equipped with a closed artificial tendon sheath. The proximal end of the artificial tendon is connected with the corresponding tendon of the human body by braided suture after the tension is adjusted.

The distal end shape of the artificial distal phalanx of each artificial finger bone described in the technical proposal is processed into a shape similar to that of the human fingertip, and a boss with a cylindrical surface is processed transversely in the middle of the proximal end, and a mounting plate is machined transversely on the boss. For the rest of the artificial middle phalanx and artificial proximal phalanx, a pit matching with the boss with a cylindrical surface is processed in the middle of the distal end, and a convex boss with a cylindrical surface is processed transversely in the middle of the proximal end. platform, and through-holes for mounting shafts are processed transversely at both ends; artificial thumb bone, artificial index phalanx bone, artificial middle phalanx bone, artificial ring phalanx bone and artificial proximal phalanx bone, artificial middle phalanx bone and artificial distal phalanx bone The connection between hinges and ribbed plates can also be used; the artificial metacarpal bone uses a trapezoidal steel plate to replace the four metacarpal bones connected with the artificial index phalanx, artificial middle phalanx, artificial ring phalanx and artificial little phalanx. The artificial metacarpal bones can be A trapezoidal flat steel plate, or a curved steel plate whose plane projection is trapezoidal for better effect, the distal end of the artificial metacarpal bone is processed with pits matching the cylindrical bosses on the artificial proximal phalanx of each artificial finger bone , and at the distal end of the artificial metacarpal bone, a through hole for installing the shaft is processed transversely, a ball socket is processed at the proximal end of the artificial metacarpal bone, and at the proximal end of the artificial metacarpal bone, a T is processed at the proximal end of the artificial first metacarpal bone. The T-shaped slot that matches the slider; the distal end of the artificial first metacarpal bone is processed with a pit that matches the cylindrical boss on the artificial proximal phalanx of the artificial thumb bone, and the distal end of the artificial first metacarpal bone is transversely A through hole for installing the shaft is processed, and a T-shaped slider matching the T-shaped groove on the artificial metacarpal is processed at the proximal end of the artificial first metacarpal. Sliding and rotatable flat cylinder, which can also be a spherical body; the inside of the artificial radius is made into a cavity that facilitates the passage of the artificial tendon and the artificial tendon sheath, and the distal end is made into a ball socket that cooperates with the proximal end of the artificial metacarpal bone to form a ball socket The ball head of the joint is made into a self-tapping thread connected with the radius stump of the upper limb of the human body. The artificial radius is 3 cm and 6 cm from the center of the ball head. The tendon penetration hole and the tendon exit hole through which the tendon sheath passes; the artificial pulley is in the middle part of the artificial middle phalanx, the middle part of the artificial proximal phalanx, the palm side of the artificial wrist joint, and the artificial tendon sheath on the back side of the artificial wrist joint. The artificial simulation arm is connected, and the artificial pulley is a ring passing through the transverse through hole on the artificial simulation arm, and the material adopted is a carbon fiber braided belt; artificial thumb bone, artificial index phalanx, artificial middle phalanx, artificial ring phalanx, artificial The little phalanx, artificial metacarpal bone, artificial first metacarpal bone, artificial ulna, and artificial radius can be made of titanium alloy; the artificial radius and artificial ulna can also be made of titanium alloy, and all others can be made of stainless steel; the artificial tendon and artificial tendon sheath are both It is made of carbon fiber braided belt, and it can also be made of spidroin or hair keratin with high strength, high toughness, wear resistance and low tissue repellency; artificial skin is made of artificial rubber as material, and made of gloves that vary from person to person .

The beneficial effects of the present invention are:

1. The present invention connects and heals the artificial arm with the stump of the human skeleton, the load is transmitted along the original conduction force line, and the surrounding tissues of the stump of the severed limb no longer bear the load, which meets the requirements of the mechanical conduction of the human body;

2. The present invention can complete most of the functional activities required by the upper limbs of the human body through the suture connection of the artificial tendon and the human tendon, and can exceed 18 degrees of freedom through the contraction of its own muscles;

3. Since the functional movement of the artificial arm of the present invention comes from the movement of the human body's own tendons, its functional movement is more flexible and fast, the strength can be controlled at will, and the error rate is zero;

4. The artificial arm of the present invention can transmit stress to the bones and tendons of the human body during exercise, which has a strong sense of reality, and some functions can even be comparable to those of the limbs of the human body;

5. The artificial arm of the present invention has low cost and relatively cheap price, is suitable for the application of common patients, and has high practical value.

Description of drawings

Fig. 1 is a kind of artificial right arm palm side artificial skeleton, artificial tendon, artificial pulley and artificial joint structural schematic diagram of artificial simulation arm;

Fig. 2 is a schematic diagram of the structure of artificial bones, artificial tendons, artificial pulleys and artificial joints on the dorsal side of the artificial right arm of an artificial artificial arm;

Fig. 3 is a schematic diagram of the structure of artificial bones, artificial tendons, artificial pulleys and artificial joints on the tiger's mouth side of the artificial right arm of the artificial artificial arm;

Fig. 4(a) is an artificial simulation arm with ribs or springs between the artificial distal phalanx and the artificial proximal phalanx, the artificial distal phalanx and the artificial middle phalanx, the artificial middle phalanx and the artificial proximal phalanx Schematic diagram of the connection method;

Fig. 4 (b) is the right view of Fig. 4 (a);

Fig. 5 (a) is a structural schematic diagram of the artificial metacarpal bone, the artificial first metacarpal bone, the T-shaped groove and the matched T-shaped slider in the artificial artificial arm;

Fig. 5(b) is a cross-sectional view at A-A of Fig. 5(a).

In the picture: 1. Artificial skin, 2. T-shaped groove, 3. Artificial distal phalanx, 4. Artificial pulley, 5. Artificial middle phalanx, 6. Artificial deep flexor tendon, 7. Artificial superficial flexor tendon, 8. Artificial Proximal phalanx, 9. Artificial flexor hallucis longus tendon, 10. Artificial metacarpal bone, 11. Artificial flexor hallucis brevis tendon, 12. Artificial flexor carpi radialis tendon, 13. Artificial flexor carpi ulnaris tendon, 14. Artificial ball head, 15 .Artificial ligament, 16. Artificial ulna, 17. Artificial radius, 18. Tendon penetration hole, 19. Tendon penetration hole, 20. Self-tapping thread, 21. Artificial distal extensor tendon, 22. Artificial proximal extensor tendon, 23. Artificial extensor hallux longus tendon, 24. Artificial extensor hallucis brevis tendon, 25. Artificial carpi radialis tendon, 26. Artificial carpi ulnaris tendon, 27. Tendon penetration hole, 28. Tendon exit hole, 29. Rib, 30. artificial first metacarpal bone, 31. spring.

Detailed ways

Below in conjunction with accompanying drawing and embodiment the present invention will be described in further detail:

Referring to Figures 1 to 5, a person's arm is mainly composed of bones, tendons, tendon sheaths, pulleys and skin. Bones include the phalanges, metacarpals, wrist bones, ulna, and radius. The phalanx is divided into the thumb bone, index phalanx, middle phalanx, ring phalanx, and little phalanx. Except for the thumb bone, which is composed of the proximal phalanx and the distal phalanx, the other four fingers are composed of the proximal phalanx, middle phalanx, and distal phalanx. The metacarpal is made up of five bones. The wrist bone is made up of eight bones, plus the ulna and radius. The entire arm (excluding the humerus of the upper arm) is composed of twenty-nine bones.

The artificial arm should not only achieve simulation in function, but also be easy to implement and low in cost. The present invention adopts eighteen pieces of artificial bones on the skeleton. The four metacarpal bones connected with the index phalanx, middle phalanx, ring phalanx and little phalanx are replaced with a trapezoidal steel plate, and the eight bones of the wrist joint are processed in the artificial metacarpal bone 10 near-end ball and socket and processed in the artificial radius 17 far-end The ball-and-socket joint that artificial ball head 14 cooperates is replaced, so just can process eleven bones less.

The artificial simulation arm of the present invention consists of artificial thumb bones, including artificial proximal phalanx 8 and artificial distal phalanx 3; artificial index phalanx, including artificial proximal phalanx 8, artificial middle phalanx 5 and artificial distal phalanx 3; Middle phalanx, including artificial proximal phalanx 8, artificial middle phalanx 5, and artificial distal phalanx 3; artificial ring phalanx, including artificial proximal phalanx 8, artificial middle phalanx 5, and artificial distal phalanx 3; artificial little phalanx, including Artificial proximal phalanx 8, artificial middle phalanx 5, artificial distal phalanx 3; artificial metacarpal bone 10, artificial first metacarpal bone 30, artificial ulna 16 and artificial radius 17, a total of 18 artificial bones, artificial tendons, artificial tendon sheaths, and artificial pulleys 4 Composed with artificial skin 1. The eighteen pieces of artificial bones can be made of titanium alloy; in order to reduce the cost, the artificial radius 17 and the artificial ulna 16 can also be made of titanium alloy, because titanium alloy has good tissue compatibility and can be compatible with the human body. Self-skeleton and skin form solid healing, and all other artificial bones are made of stainless steel. The shape and specific size of the 18 artificial bones can be modeled on the anatomical values of normal human arm bones, divided into several grades according to age groups, and then selected according to the patient's condition, and individualized design for each patient can also be implemented (refer to the patient's normal limb values).

The distal end of the artificial distal phalanx 3 of each artificial finger bone is processed into a shape similar to that of a human fingertip, and a boss with a cylindrical surface is processed transversely in the middle of the proximal end, and a mounting shaft is processed transversely on the boss with a cylindrical surface The rest of the artificial middle phalanx 5 and the artificial proximal phalanx 8 are processed with a pit matching the boss with a cylindrical surface in the middle of their far ends, and a pit with a cylindrical surface is also processed in the middle of their proximal ends. Bosses, and through-holes for installing shafts are processed transversely at both ends; the bosses with cylindrical surfaces in the middle of the artificial distal phalanx 3 proximal ends of each artificial finger bone are fitted with the pits in the middle of the artificial middle phalanx 5 distal ends , using a hinge connection, the boss with a cylindrical surface in the middle of the artificial middle phalanx 5 proximal end is fitted with the pit in the middle of the artificial proximal phalanx 8 distal end, and connected by a hinge, the artificial proximal phalanx 8 of each artificial phalanx is near The boss with cylindrical surface in the middle of the end is fitted with the pit in the middle of the artificial metacarpal bone 10 and the artificial first metacarpal bone 30 distal ends respectively, and is connected by a hinge. The T-shaped slide block at the proximal end of the artificial first metacarpal bone 30 is fitted into the T-shaped groove on the artificial metacarpal bone 10, and the artificial first metacarpal bone with the T-shaped slide block at the proximal end is pulled in the T-shaped groove under the traction of the artificial tendon. Rotation also takes place while sliding inside, which has just realized that the artificial thumb is coplanar with the artificial metacarpal bone 10 to the artificial first metacarpal bone 30 (comprising the artificial thumb) and the artificial metacarpal bone 10 to form an angle, and the pad of the artificial thumb is in contact with the remaining four The pads of the fingers can be relative and in contact with each other, which is closer to the function of the human hand. The ball socket processed at the proximal end of the artificial metacarpal bone 10 and the artificial ball head 14 made at the distal end of the artificial radius 17 are assembled to form a ball joint, so that the ball joint (wrist joint) can perform flexion and extension, rotation, rotation, retraction, etc. direction movement.

The connection relationship between the artificial distal phalanx 3 , the artificial middle phalanx 5 and the artificial proximal phalanx 8 in each artificial finger bone can also be connected by hinges and ribs. At this time, the distal end of the artificial distal phalanx 3 of each artificial finger bone is processed into a shape similar to the tip of a human finger, and the middle of the proximal end is processed into a cylindrical surface horizontally, or processed into two radii of curvature on the palm side and the back side of the hand laterally. different cylindrical surfaces, and process the through hole for installing the shaft at the proximal end; the artificial middle phalanx 5 of the other artificial finger bones is processed into cylindrical surfaces at its distal and proximal ends, or horizontally on the palm side and the back side of the hand Process into two cylindrical surfaces with different radii of curvature, and process through holes for installing shafts at the proximal and distal ends; the artificial proximal phalanx 8 of the remaining artificial finger bones is processed into a cylindrical surface at its distal end, or Horizontally, two cylindrical surfaces with different curvature radii are processed on the palm side and the back side of the hand, and a through hole for installing the shaft is processed horizontally at the far end, and a boss with a cylindrical surface is processed in the middle of the proximal end. Then, a rib plate is added at the middle of both sides of the artificial distal phalanx 3 and the artificial middle phalanx 5, and at the middle of both sides of the artificial middle phalanx 5 and the artificial proximal phalanx 8, and then hinged.

The artificial metacarpal bone 10 can be processed into a trapezoidal flat steel plate, or can be processed into a trapezoidal curved steel plate with a better plane projection, replacing the four metacarpal bones connected with the index phalanx, middle phalanx, ring phalanx and little phalanx. The artificial metacarpal bone 10 and the far-end of artificial first metacarpal bone 30 are processed with the pit that cooperates with the cylindrical surface boss of band on the artificial proximal phalanx 8 of each finger, and at the far-end of artificial metacarpal bone 10 and artificial first metacarpal bone 30 The through hole for the mounting shaft is machined transversely. A ball socket is processed at the proximal end of the artificial metacarpal bone 10, and a T-shaped groove 2 is processed at the radial distal side of the ball socket. Process a T-shaped slide block matched with the T-shaped groove 2 on the artificial metacarpal bone 10 at the proximal end of the artificial first metacarpal bone 30. cylinder, the slider can also be processed into a spherical body.

Artificial metacarpal bone 10 is ideally processed into a planar projection that is a trapezoidal curved steel plate (as the artificial metacarpal bone 10 far-end is a cylindrical surface), at this moment at the far-end processing of artificial metacarpal bone 10 and the cylindrical surface of band on the artificial proximal phalanx 8 When the pit that boss matches, should process along the radial direction of curved surface and the pit that the cylindrical surface boss of band on the artificial proximal phalanx 8 cooperates, and the far-end transverse processing of artificial metacarpal bone 10 installs the shaft. through hole. At this time, the symmetry plane of the pit processed at the far end of the artificial metacarpal bone 10 intersects on the axis of symmetry of the curved surface, which is different from the case where the artificial metacarpal bone 10 is processed into a trapezoidal flat steel plate. The symmetrical planes of the pits matched with the cylindrical bosses on the proximal phalanx 8 are parallel to each other. After the far-end of the artificial metacarpal bone 10 that shape is the trapezoidal curved steel plate is connected with artificial finger with hinge, when artificial hand is clenched, finger can close together, and finger can open (no contact between fingers) when artificial hand is loosened, and this is more Close to the actual function of the human hand, and when the artificial metacarpal bone 10 is processed into a trapezoidal flat steel plate, the artificial arm cannot realize the function that the fingers can be opened when the artificial hand is released.

Artificial radius 17 inside is made to be beneficial to the cavity that artificial tendon and artificial tendon sheath pass through, and the far-end is made into an artificial ball head 14 that cooperates with the ball socket of artificial metacarpal bone 10 near-end to become ball-and-socket (wrist) joint, and near-end is made into The self-tapping thread 20 that is connected with the radius stump of the upper limb of the human body, the artificial radius starts from the center of the artificial ball head 14 (below the wrist) at 3 centimeters and 6 centimeters, and the palm and the back of the hand both sides are respectively processed two to facilitate the passage of artificial tendons and artificial tendon sheaths Tendon penetration hole 18, tendon exit hole 19 and tendon penetration hole 27, tendon exit hole 28.

After the bones of the arm are connected, the next thing to do is to attach the tendons. The function of the tendon is to transmit external force to complete multiple movements such as bending, flexion and extension, rotation, circle rotation, and retraction of the fingers and wrist joints. The normal human arm has more tendons than the 24 artificial tendons used in artificial arms. The artificial tendons are made of carbon fiber braided belts. The 24 artificial tendons are designed to imitate the anatomical relationship of the human body. Sides include: artificial flexor hallucis longus tendon 9, artificial flexor hallucis brevis tendon 11, artificial flexor digitorum deep tendon 6, artificial flexor digitorum superficial tendon 7, artificial flexor carpi radialis tendon 12, artificial flexor carpi ulnaris tendon 13, a total of 12 artificial tendons The dorsal side of the hand includes: artificial extensor hallucis longus tendon 23, artificial extensor hallucis brevis tendon 24, artificial distal extensor tendon 21, artificial proximal extensor tendon 22, artificial carpi radialis tendon 25, and artificial carpi ulnaris tendon 26. 12 tendons. In order to make the artificial tendon work normally, both the artificial tendon sheath and the artificial pulley 4 must be used. The artificial tendon sheath is made of carbon fiber braided tape, and the artificial tendon sheath is made into a tubular shape, and each artificial tendon has an artificial tendon sheath in a closed state. The role of the artificial tendon sheath is to seal it into a sterile cavity to avoid exogenous infection; to avoid aseptic inflammation of the surrounding human tissues caused by the artificial tendon sliding. The artificial pulley 4 is also made of carbon fiber braided belt. Its function is to attach the artificial tendons with artificial tendon sheaths on both sides of the artificial finger bones and artificial ball-and-socket joints, so as to transmit the contraction force of the muscles to the artificial ball more effectively. The socket joint and the distal end of the artificial finger. Its structure is to tie a ring in the artificial middle phalanx 5, the artificial proximal phalanx 8, the palm side of the artificial wrist (ball-and-socket) joint, and the horizontally processed hole on the dorsal side of the artificial wrist (ball-and-socket) joint. The artificial tendon of the artificial tendon sheath passes therethrough, so that the artificial tendon covered with the artificial tendon sheath is attached to both sides of each artificial finger bone and the artificial ball-and-socket joint. Artificial tendons are designed to imitate the structure and quantity of healthy human tendons both in terms of structure and quantity. Therefore, how to configure the artificial tendons with artificial tendon sheaths in the artificial artificial arms, and where to arrange the artificial pulley 4 is basically the same as that of healthy human tendons and pulleys, and it is easy for those skilled in the art to understand and do. The emphatic description here is that there are two ways to connect the artificial tendon with artificial tendon sheath on both sides of the artificial simulation arm with the artificial thumb bone, artificial index phalanx bone, artificial middle phalanx bone, artificial ring phalanx bone and artificial little phalanx bone: one way is to set it with The distal end of the artificial tendon of the artificial tendon sheath is fixed on the artificial distal phalanx 3 of the five fingers on both sides of the artificial artificial arm, and the artificial tendon covered with the artificial tendon sheath is attached to each artificial finger bone and artificial ball through the artificial pulley 4 in the middle On both sides of the fossa joint, the distal ends of the artificial superficial flexor tendon 7 and the artificial proximal extensor tendon 22 are fixed on the artificial proximal phalanx 8 of the five fingers on both sides of the artificial simulation arm; another way is to cover the artificial tendon with an artificial tendon sheath The distal end of the hand is also fixed on the artificial distal phalanx 3 of the five fingers, the distal end of the artificial superficial flexor tendon 7 is also fixed on the artificial proximal phalanx 8 of the five fingers on the palm side, and the artificial tendon with artificial tendon sheath is set on the back of the hand The distal end of the fifth finger is fixed on the artificial proximal phalanx 8, and between the artificial proximal phalanx 8 and the artificial distal phalanx 3 of the fifth finger, between the artificial proximal phalanx 8 and the artificial middle phalanx 5 and between the artificial middle phalanx Between the phalanx 5 and the artificial distal phalanx 3, a spring 31 for straightening the finger is installed on the back side of the phalanx. No matter which method is adopted, after the distal end of the artificial tendon with the artificial tendon sheath is fixed at the corresponding position on both sides of the artificial simulation arm, the proximal end of the artificial tendon with the artificial tendon sheath passes through the artificial pulleys 4 arranged in the middle. , that is, from the artificial radius 17 wrist 3 centimeters below the palm and the back of the hand, there is respectively a tendon penetration hole 18 leading to the artificial radius 17 inner cavity, and the tendon penetration hole 27 enters the artificial radius 17 inner cavity, and then, from the artificial radius 17, 6 centimeters below the wrist, the palm and the back of the hand both sides respectively have a tendon piercing hole 19 and a tendon piercing hole 28 leading to the outside from the artificial radius 17 inner cavity. When the far-ends of the artificial tendons equipped with artificial tendon sheaths are fixed on the artificial distal phalanx 3 and the artificial proximal phalanx 8 of the five fingers in the first way on both sides of the artificial artificial arm, on the back side of each artificial phalanx There is no need to install springs to straighten the fingers. So far, twenty-four artificial tendons with artificial tendon sheaths have been installed on the skeleton of the artificial artificial arm.

Artificial tendon, artificial tendon sheath and artificial pulley 4 are not only made of carbon fiber braided belt, but also other high-strength materials can be used, especially materials with high toughness, wear resistance and low tissue repellency, such as spidroin, hair keratin and other materials to manufacture.

Artificial skin 1 adopts artificial rubber to make. Because of its beautiful appearance and elasticity, it can be made into skin that is close to the color of normal human limbs; it can buffer the conduction of stress; it can make the grip more powerful and accurate, especially for small items. The artificial skin 1 can be made into gloves of different sizes and thicknesses, and very beautiful, which are worn on the skeleton of the installed artificial artificial arm. Made into gloves of different specifications, it is easy to skin-graft the artificial arm bone that has been installed with the artificial pulley 4 and the artificial tendon with the artificial tendon sheath. It is better than any other skin-grafting form, saves time, labor and costs.

The operation method of connecting the artificial simulation arm with the human residual limb:

Surgery is performed under brachial plexus or epidural anesthesia. After the surgical site was disinfected, the blood was removed, the skin was incised along the arc of the longitudinal axis of the residual limb, and the skin was peeled off to the proximal end to reveal the residual tissue. The human extensor tendon and flexor tendon were identified according to the anatomical structure, and appropriately marked. The periosteum was incised longitudinally along the broken end of the bone, stripped appropriately to the proximal end, the hardened bone at the broken end was bitten off with a rongeur, and the medullary cavity of the broken end was expanded.

After the artificial simulation arm is sterilized to aseptic, the artificial radius 17 is screwed into the medullary cavity of the human radius through the self-tapping thread 20, and then the artificial ulna 16 distal end and the artificial radius 17 distal end are screwed into the artificial ulna 16 proximal end. And human body ulna stump is fixed by artificial ligament 15. Then adjust the tension of the artificial extensor and flexor tendons on the artificial artificial arm and the corresponding tendons of the human body, and then weave and suture them.

Loosen the exsanguination belt to stop the bleeding completely. The stump skin is sutured and wrapped around the titanium alloy artificial radius 17 and the artificial ulna 16 of the artificial simulation arm. Wrap with a sterile dressing. A plaster cast can be used to immobilize the upper extremity in a neutral position. The dressing was changed every other day until the skin healed and the sutures were removed. One month later, the plaster support was removed, and functional exercise was carried out.

The structure and theoretical analysis of an artificial simulation arm:

Titanium alloy sprayed with hydroxyapatite can form a firm bone healing with human bones. The carbon fiber braid used to make the artificial tendon also has good performance of healing with the human tendon. The above two materials and methods have been widely used clinically for a long time, and achieved good results.

The transferable composite tissue formed by artificial bones, artificial joints, and artificial tendons has been relatively mature in the mechanical field, such as the design of robot arms. It is completely feasible in theory and practice.

The biocompatibility of the above-mentioned artificial tissue is good. It has been used clinically for many years, and no additional biological experiments such as biocompatibility and toxicity are required. The technical problem of human skin and metal object (titanium alloy) healing has been solved by people.

Through the above analysis, it can be shown that the production and clinical application of an artificial artificial arm are mature both in theory and in technology.

Technical scheme described in the present invention can implement the simulation manufacture of whole hand and band small part (no more than 1/3rd of the entire forearm length at the far end of forearm) forearm, certainly, by technical scheme described in the present invention equally Simulation of the entire hand or a single finger or several fingers can be implemented, all of which are within the protection scope of the present invention.

According to the idea of the technical solution of the present invention, we can simulate the manufacture of the whole foot with a small part (no more than 1/3 of the length of the whole calf at the far end of the calf), and include the implementation of the whole foot or a single toe or several The artificial manufacture of two toes, they are all within the scope of protection of the present invention.

Claims (9)

1. artificial simulation arm, it is characterized in that, it is by artificial thumb's bone, artificial first finger bone, artificial middle phalanges, artificial fourth finger bone, artificial little phalanges, artificial metacarpal bone (10), artificial first metacarpal bone (30), artificial ulna (16), artificial radius (17), artificial tendon, artificial stndon sheath, artificial coaster (4) and artificial skin (1) are formed;

Described artificial first finger bone, artificial middle phalanges, artificial fourth finger bone, artificial little phalanges are made up of artificial proximal phalanx (8), artificial middle phalanx (5) and the artificial distal phalanx (3) made by people's finger segments bone structure shape, and artificial thumb's bone is made up of artificial proximal phalanx (8) and the artificial distal phalanx (3) made by people's finger segments bone structure shape;

Adopt hinge to be connected between the artificial proximal phalanx (8) of described artificial thumb's bone and the artificial distal phalanx (3), described artificial first finger bone, phalanges in artificial, adopt hinge to be connected between artificial proximal phalanx (8) in artificial fourth finger bone and the artificial little phalanges and the artificial middle phalanx (5) and between artificial middle phalanx (5) and the artificial distal phalanx (3), the artificial proximal phalanx (8) of each artificial maniphalanx and artificial metacarpal bone (10), also adopt hinge to connect between the artificial first metacarpal bone (30), described artificial metacarpal bone (10) is to have replaced and artificial first finger bone with a trapezoidal steel plate, phalanges in artificial, four metacarpal bones that artificial fourth finger bone is connected with artificial little finger of toe bone photo, adopt T type slide block and T type groove to link movingly between artificial first metacarpal bone (30) and the artificial metacarpal bone (10), the artificial ball-and-socket joint of employing is connected between artificial metacarpal bone (10) and the artificial radius (17);

Described artificial tendon outside is set with airtight artificial stndon sheath, artificial flexor pollicis longus muscle tendon (9), artificial flexor pollicis brevis tendon (11), artificial flexor digitorum profundus tendon (6), artificial flexor digitorum superficial tender (7) and artificial musculus extensor hallucis longus tendon (23), artificial musculus extensor pollicis brevis tendon (24), artificial joint extensor tendon far away (21), the far-end of artificial nearly joint extensor tendon (22) is fixed in palm and the back of the hand both sides that artificial distal phalanx (3) in each artificial maniphalanx is gone up with artificial proximal phalanx (8) or is fixed in each artificial maniphalanx on the artificial distal phalanx (3) and artificial proximal phalanx (8) at the far-end of each flexor tendon of palmar side, in dorsal side with artificial musculus extensor pollicis brevis tendon (24), the far-end of artificial nearly joint extensor tendon (22) is fixed in each artificial maniphalanx on the artificial proximal phalanx (8), the artificial stndon sheath that artificial tendon is housed in its centre makes by artificial coaster (4) is attached to each artificial maniphalanx and artificial ball-and-socket joint both sides, the near-end of artificial tendon and artificial stndon sheath respectively has a tendon that leads to artificial radius (17) inner chamber to penetrate hole (18 from the following 3 centimetres of palms of artificial radius (17) wrist and the back of the hand both sides, 27) enter artificial radius (17) inner chamber, then from the following 6 centimetres of palms of artificial radius (17) wrist, the back of the hand both sides respectively have a tendon outside artificial radius (17) inner chamber leads to pass hole (19,28) pass;

Described artificial coaster (4) be at artificial middle phalanx (5) middle part, artificial proximal phalanx (8) middle part, artificial mediocarpal articulation's palmar side, and be an annulus in the through hole laterally processed of artificial mediocarpal articulation's dorsal side, the interior artificial stndon sheath of adorning artificial tendon is connected with artificial simulation arm, and the material that described annulus adopts is the carbon fiber knit band;

At the maniphalanx dorsal part spring (31) that finger is stretched is installed between artificial proximal phalanx (8) in described artificial thumb's bone and the artificial distal phalanx (3), between artificial proximal phalanx (8) in described artificial first finger bone, artificial middle phalanges, artificial fourth finger bone and the artificial little phalanges and the artificial middle phalanx (5) and between artificial middle phalanx (5) and the artificial distal phalanx (3), the spring (31) that finger is stretched is installed at the maniphalanx dorsal part;

Described artificial skin (1) can make that differ in size, that thickness does not wait and and patient's colour of skin, glove that texture is close, the cover band is on the skeleton of mounted artificial simulation arm;

Described artificial simulation arm is screwed into the stump of human body radius by the tapping screw thread (20) that carries, artificial ulna (16) is fixing by prosthetic ligament (15) with artificial radius (17) far-end and human body ulna stump, after the near-end of the artificial tendon tendon corresponding with human body that will respectively be set with airtight artificial stndon sheath again adjusted tension force, weave to sew up and connect.

2. according to the described a kind of artificial simulation arm of claim 1, it is characterized in that, the distal end shape of the artificial distal phalanx (3) of each artificial maniphalanx is processed into and the similar shape of staff finger tip, the near-end intermediate lateral is processed with the boss on the band face of cylinder, and laterally be processed with the through hole of installation shaft at boss, remaining artificial middle phalanx (5) and artificial proximal phalanx (8), in the middle of its far-end, be processed with the pit that matches with boss with the face of cylinder, be processed with the boss on the band face of cylinder in its near-end intermediate lateral, and laterally be processed with the through hole of installation shaft at two ends.

3. according to the described a kind of artificial simulation arm of claim 1, it is characterized in that the connection between artificial proximal phalanx (8), artificial middle phalanx (5) and the artificial distal phalanx (3) in described artificial thumb's bone, artificial first finger bone, artificial middle phalanges, artificial fourth finger bone and the artificial little phalanges also can be adopted the connected mode of hinge ribbed panel (29).

4. according to the described a kind of artificial simulation arm of claim 1, it is characterized in that, described artificial metacarpal bone (10) be with a trapezoidal steel plate replaced with artificial first finger bone, artificial in four metacarpal bones being connected with artificial little finger of toe bone photo of phalanges, artificial fourth finger bone; Artificial metacarpal bone (10) is a trapezoidal plain plate, or an effect can better plane projection be trapezoid plate with curved surface; The far-end of artificial metacarpal bone (10) is processed with the artificial proximal phalanx (8) of each artificial maniphalanx and goes up the pit that band face of cylinder boss matches, and laterally is processed with the through hole of installation shaft at the far-end of artificial metacarpal bone (10); Ball-and-socket of artificial metacarpal bone (10) near-end processing; At the near-end of artificial metacarpal bone, described T type groove (2) that matches with the T type slide block of artificial first metacarpal bone (30) near-end processing of ball-and-socket oar distally processing.

5. according to the described a kind of artificial simulation arm of claim 1, it is characterized in that, the far-end of described artificial first metacarpal bone (30) is processed with the artificial proximal phalanx (8) of artificial thumb's bone and goes up the pit that band face of cylinder boss matches, and laterally be processed with the through hole of installation shaft at the far-end of artificial first metacarpal bone (30), T type slide block that matches with the last T type groove (2) of artificial metacarpal bone (10) of the near-end processing of artificial first metacarpal bone (30), described slide block be one under the effect of external force in chute not only slidably but also rotating oblate cylinder, an or spherical surface body.

6. according to the described a kind of artificial simulation arm of claim 1, it is characterized in that, described artificial radius (17) inside is made and is beneficial to the cavity that artificial tendon and artificial stndon sheath pass through, the ball-and-socket that far-end is made one and artificial metacarpal bone near-end matches and becomes the artificial bulb of ball-and-socket joint (14), near-end is made the tapping screw thread (20) that is connected with human upper limb radius pulp cavity, and described tendon penetrates hole (18,27) and tendon and passes hole (19,28) and be located in palm and the back of the hand both sides that begin 3 centimeters and 6 centimeters from artificial bulb (14) center.

7. according to the described a kind of artificial simulation arm of claim 1, it is characterized in that, described artificial thumb's bone, artificial first finger bone, artificial middle phalanges, artificial fourth finger bone, artificial little phalanges, artificial metacarpal bone (10), artificial first metacarpal bone (30), artificial ulna (16), artificial radius (17) adopt the titanium alloy manufacturing; Or except artificial radius (17), the manufacturing of artificial ulna (16) employing titanium alloy, other bone all adopts the stainless steel material manufacturing.

8. according to the described a kind of artificial simulation arm of claim 1, it is characterized in that, described artificial tendon and artificial stndon sheath all adopt the manufacturing of carbon fiber knit band, or all adopt intensity height, toughness height, resistance to wear and spider's thread protein or the manufacturing of hair keratin that histoincompatibility is little.

9. according to the described a kind of artificial simulation arm of claim 1, it is characterized in that described artificial skin (1) is to adopt artificial rubber as material, makes the glove that vary with each individual.

Images