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CN113133903A - 一种踝足助行装置 - Google Patents

一种踝足助行装置 Download PDF

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CN113133903A
CN113133903A CN202110591066.2A CN202110591066A CN113133903A CN 113133903 A CN113133903 A CN 113133903A CN 202110591066 A CN202110591066 A CN 202110591066A CN 113133903 A CN113133903 A CN 113133903A
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ankle
foot
joint rotating
fixed
ankle joint
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喻洪流
唐心意
李慧
马锁文
郭进
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University of Shanghai for Science and Technology
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices ; Anti-rape devices
    • A61F5/01—Orthopaedic devices, e.g. long-term immobilising or pressure directing devices for treating broken or deformed bones such as splints, casts or braces
    • A61F5/0102—Orthopaedic devices, e.g. long-term immobilising or pressure directing devices for treating broken or deformed bones such as splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices ; Anti-rape devices
    • A61F5/01—Orthopaedic devices, e.g. long-term immobilising or pressure directing devices for treating broken or deformed bones such as splints, casts or braces
    • A61F5/0102—Orthopaedic devices, e.g. long-term immobilising or pressure directing devices for treating broken or deformed bones such as splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations
    • A61F5/0127—Orthopaedic devices, e.g. long-term immobilising or pressure directing devices for treating broken or deformed bones such as splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations for the feet
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0214—Stretching or bending or torsioning apparatus for exercising by rotating cycling movement
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0218—Drawing-out devices
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A61H1/0266—Foot
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices ; Anti-rape devices
    • A61F5/01—Orthopaedic devices, e.g. long-term immobilising or pressure directing devices for treating broken or deformed bones such as splints, casts or braces
    • A61F5/0102—Orthopaedic devices, e.g. long-term immobilising or pressure directing devices for treating broken or deformed bones such as splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations
    • A61F2005/0132—Additional features of the articulation
    • A61F2005/0172—Additional features of the articulation with cushions
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices ; Anti-rape devices
    • A61F5/01—Orthopaedic devices, e.g. long-term immobilising or pressure directing devices for treating broken or deformed bones such as splints, casts or braces
    • A61F5/0102—Orthopaedic devices, e.g. long-term immobilising or pressure directing devices for treating broken or deformed bones such as splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations
    • A61F2005/0132—Additional features of the articulation
    • A61F2005/0179—Additional features of the articulation with spring means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H2003/005—Appliances for aiding patients or disabled persons to walk about with knee, leg or stump rests
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts

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  • Heart & Thoracic Surgery (AREA)
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Abstract

本发明公开了一种踝足助行装置，包括：脚垫、与所述脚垫固定连接的踝关节旋转件、与所述踝关节旋转件转动连接的仿小腿连杆及固定于所述仿小腿连杆远离脚垫一端上的固定连接件，所述固定连接件与踝关节旋转件之间设置有气弹簧；所述气弹簧的一端活动连接于固定连接件上，另一端活动连接于踝关节旋转件上。根据本发明，满足患者在动态矫形的同时，能提供助行的功能。适用于独立的日常踝足训练，也可以作为模块加入下肢康复机器人中。

Description

一种踝足助行装置
技术领域
本发明涉及助行辅助器具的技术领域，特别涉及一种踝足助行装置。
背景技术
足下垂是一组因足的背伸动力丧失导致踝关节不能背伸的疾病，常见于腓总神经麻痹、坐骨神经病、颅脑损伤、长期卧床、截瘫、昏迷及脑卒中等患者。有数据显示，脑卒中是世界第二大致死和致残疾病，每年新发病例超过1300万。在我国，随着社会人口老龄化的日益加快，脑卒中的发生率逐年增长，每年新发的脑卒中患者约为200万，高达54％的患者发生足下垂。足下垂可影响患者的站立、行走步态及行走能力，严重者需手术矫正，费用高昂，效果却参差不齐，不仅延长了患者住院时间，增加患者医疗费用，最终还可能降低患者生存质量，给患者生理和心理造成了极大的影响。
针对脑卒中患者的足下垂，临床上多使用静态矫形器进行矫正，但是对于患者而言会导致步态很不自然。现在一些临床医生也会使用动态矫形器或康复机器人对患者的踝部施加动力从而进行康复。其中动态矫形器，只是允许足部的背屈和跖屈自由度，并没有很大的辅助作用；而康复机器人在踝部添加驱动器，带动患者的踝部，不仅对于控制要求较高，而且加工成本也较高。
发明内容
针对现有技术中存在的不足之处，本发明的目的是提供一种踝足助行装置，满足患者在动态矫形的同时，能提供助行的功能。适用于独立的日常踝足训练，也可以作为模块加入下肢康复机器人中。为了实现根据本发明的上述目的和其他优点，提供了一种踝足助行装置，包括：
脚垫、与所述脚垫固定连接的踝关节旋转件、与所述踝关节旋转件转动连接的仿小腿连杆及固定于所述仿小腿连杆远离脚垫一端上的固定连接件，所述固定连接件与踝关节旋转件之间设置有气弹簧；
所述气弹簧的一端活动连接于固定连接件上，另一端活动连接于踝关节旋转件上。
优选的，所述脚垫包括一不规则弧形平板、设置于所述弧形平板相对的侧边上的固定带固定座及固定连接于所述弧形平板上的固定板，所述固定板上固定有踝关节旋转件。
优选的，所述踝关节旋转件远离脚垫的一端上开设有连接槽，所述连接槽上开设有两个连接孔，一所述连接孔内转动连接有气弹簧，另一所述连接孔内转动连接有仿小腿连杆。
优选的，所述固定连接件一端开设有固定连接槽，另一端开设有活动连接槽，所述固定连接槽内固定连接有仿小腿连杆，所述活动连接内活动连接有气弹簧。
优选的，所述仿小腿连杆远离脚垫的一端有安装孔，可连接其他附加机构。
本发明与现有技术相比，其有益效果是：可以成为具有辅助功能的动态矫形器；也可以添加在康复机器人之上，在实现辅助矫形的基础上，减少踝关节的驱动器，降低成本。
附图说明
图1为根据本发明的踝足助行装置的结构示意图。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
参照图1，一种踝足助行装置，包括：脚垫1、与所述脚垫1固定连接的踝关节旋转件2、与所述踝关节旋转件2转动连接的仿小腿连杆5及固定于所述仿小腿连杆5远离脚垫1一端上的固定连接件4，所述固定连接件4与踝关节旋转件2之间设置有气弹簧3；所述气弹簧3的一端活动连接于固定连接件4上，另一端活动连接于踝关节旋转件2上，在人体步态周期的摆动相末期，支撑相初期期间，足部脚跟着地，气弹簧在外力作用下被压缩，足部呈现跖屈状态，气弹簧内部的压力差会带动踝关节旋转件2逆时针转动，带动脚垫1所固定的足部发生背屈动作；在支撑相末期后，足跟离地时不再有外力施加，气弹簧逐渐恢复，气弹簧内部的压力差会带动踝关节旋转件2顺时针转动，带动脚垫1所固定的足部恢复到原先的状态。
进一步的，所述脚垫1包括一不规则弧形平板、设置于所述弧形平板相对的侧边上的固定带固定座及固定连接于所述弧形平板上的固定板，所述固定板上固定有踝关节旋转件2。
进一步的于，所述踝关节旋转件2远离脚垫1的一端上开设有连接槽，所述连接槽上开设有两个连接孔，一所述连接孔内转动连接有气弹簧3，另一所述连接孔内转动连接有仿小腿连杆5，所述仿小腿连杆5带动脚垫1相对仿小腿连杆5旋转。
进一步的，所述固定连接件4一端开设有固定连接槽，另一端开设有活动连接槽，所述固定连接槽内固定连接有仿小腿连杆5，所述活动连接内活动连接有气弹簧3。
进一步的，所述仿小腿连杆5远离脚垫1的一端有安装孔，可连接其他附加机构。
这里说明的设备数量和处理规模是用来简化本发明的说明的，对本发明的应用、修改和变化对本领域的技术人员来说是显而易见的。
尽管本发明的实施方案已公开如上，但其并不仅限于说明书和实施方式中所列运用，它完全可以被适用于各种适合本发明的领域，对于熟悉本领域的人员而言，可容易地实现另外的修改，因此在不背离权利要求及等同范围所限定的一般概念下，本发明并不限于特定的细节和这里示出与描述的图例。

Claims (5)

1.一种踝足助行装置，其特征在于，包括：
脚垫(1)、与所述脚垫(1)固定连接的踝关节旋转件(2)、与所述踝关节旋转件(2)转动连接的仿小腿连杆(5)及固定于所述仿小腿连杆(5)远离脚垫(1)一端上的固定连接件(4)，所述固定连接件(4)与踝关节旋转件(2)之间设置有气弹簧(3)；
所述气弹簧(3)的一端活动连接于固定连接件(4)上，另一端活动连接于踝关节旋转件(2)上。
2.如权利要求1所述的一种踝足助行装置，其特征在于，所述脚垫(1)包括一不规则弧形平板、设置于所述弧形平板相对的侧边上的固定带固定座及固定连接于所述弧形平板上的固定板，所述固定板上固定有踝关节旋转件(2)。
3.如权利要求1所述的一种踝足助行装置，其特征在于，所述踝关节旋转件(2)远离脚垫(1)的一端上开设有连接槽，所述连接槽上开设有两个连接孔，一所述连接孔内转动连接有气弹簧(3)，另一所述连接孔内转动连接有仿小腿连杆(5)。
4.如权利要求1所述的一种踝足助行装置，其特征在于，所述固定连接件(4)一端开设有固定连接槽，另一端开设有活动连接槽，所述固定连接槽内固定连接有仿小腿连杆(5)，所述活动连接内活动连接有气弹簧(3)。
5.如权利要求1所述的一种踝足助行装置，其特征在于，所述仿小腿连杆(5)远离脚垫(1)的一端有安装孔，可连接其他附加机构。
CN202110591066.2A 2021-05-28 2021-05-28 一种踝足助行装置 Pending CN113133903A (zh)

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2002065942A2 (en) * 2001-02-15 2002-08-29 Spaulding Rehabilitation Hospital Corporation Ankle-foot orthosis with plantarflexor torque assistance
CN104490568A (zh) * 2014-12-25 2015-04-08 北京航空航天大学 人体下肢外骨骼助行康复机器人
CN204501135U (zh) * 2015-01-27 2015-07-29 泸州医学院附属医院 防跖屈动态踝足矫形器
CN110613587A (zh) * 2019-10-21 2019-12-27 漫步者（天津）康复设备有限公司 一种配重式下肢康复机器人

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2002065942A2 (en) * 2001-02-15 2002-08-29 Spaulding Rehabilitation Hospital Corporation Ankle-foot orthosis with plantarflexor torque assistance
CN104490568A (zh) * 2014-12-25 2015-04-08 北京航空航天大学 人体下肢外骨骼助行康复机器人
CN204501135U (zh) * 2015-01-27 2015-07-29 泸州医学院附属医院 防跖屈动态踝足矫形器
CN110613587A (zh) * 2019-10-21 2019-12-27 漫步者（天津）康复设备有限公司 一种配重式下肢康复机器人

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