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WO2019166990A1 - Mains prothétiques modulaires - Google Patents

Mains prothétiques modulaires Download PDF

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Publication number
WO2019166990A1
WO2019166990A1 PCT/IB2019/051630 IB2019051630W WO2019166990A1 WO 2019166990 A1 WO2019166990 A1 WO 2019166990A1 IB 2019051630 W IB2019051630 W IB 2019051630W WO 2019166990 A1 WO2019166990 A1 WO 2019166990A1
Authority
WO
WIPO (PCT)
Prior art keywords
module
finger
thumb
dock
palm
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/IB2019/051630
Other languages
English (en)
Inventor
Ning Jiang
Erik LLOYD
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Brink Bionics Inc
Original Assignee
Brink Bionics Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Brink Bionics Inc filed Critical Brink Bionics Inc
Publication of WO2019166990A1 publication Critical patent/WO2019166990A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • 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
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/54—Artificial arms or hands or parts thereof
    • A61F2/58—Elbows; Wrists ; Other joints; Hands
    • A61F2/583—Hands; Wrist joints
    • 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
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/54—Artificial arms or hands or parts thereof
    • A61F2/58—Elbows; Wrists ; Other joints; Hands
    • A61F2/583—Hands; Wrist joints
    • A61F2/586—Fingers
    • 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
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/68—Operating or control means
    • A61F2/70—Operating or control means electrical
    • 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
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2002/5081—Additional features
    • A61F2002/5083—Additional features modular
    • 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
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/54—Artificial arms or hands or parts thereof
    • A61F2/58—Elbows; Wrists ; Other joints; Hands
    • A61F2/583—Hands; Wrist joints
    • A61F2/586—Fingers
    • A61F2002/587—Thumbs
    • 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
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/68—Operating or control means
    • A61F2/70—Operating or control means electrical
    • A61F2002/701—Operating or control means electrical operated by electrically controlled means, e.g. solenoids or torque motors

Definitions

  • the present disclosure relates generally to prosthetics and in particular to prosthetic hands.
  • a prosthetic is an artificial replacement of a part of the body such as an arm, a leg, a knee or other body part. Prosthetics may be designed for functional reasons, cosmetic reasons, or both. Some prosthetics are electro-mechanical devices which may be controlled and articulated electronically.
  • a modular prosthetic hand includes a palm module, a thumb module and a finger module.
  • the palm module includes a thumb module dock and a plurality of finger module docks located symmetrically with respect to a plane of symmetry running through the palm module.
  • the thumb module is interchangeably attachable to the thumb module in a first orientation and a second orientation, where the second orientation mirrors the first orientation with respect to the plane of symmetry running through the palm module.
  • the finger module is interchangeably attachable to each finger module dock of the plurality of finger module docks.
  • a modular prosthetic hand includes a palm module, a thumb module dock, a thumb module, and a thumb actuator.
  • the thumb module is interchangeably attachable to the thumb module dock in a first orientation and a second orientation, where the second orientation mirrors the first orientation with respect to a plane of symmetry running through the palm module.
  • the thumb actuator is to actuate the thumb module to move the thumb module with respect to the palm module in a gripping motion.
  • a modular prosthetic hand includes a palm module, a plurality of finger modules, and a finger actuator.
  • the palm module further includes a plurality of finger module docks located symmetrically with respect to a plane of symmetry.
  • Each finger module of the plurality of finger modules is interchangeably attachable to each finger module dock of the plurality of finger module docks.
  • the finger actuator is used to actuate a finger module of the plurality of finger modules to move the finger module with respect to the palm module in a gripping motion.
  • a palm module for a modular prosthetic includes a body having a plane of symmetry running therethrough, a thumb module dock located on the body, and a plurality of finger module docks located on the body symmetrically with respect to the plane of symmetry.
  • the thumb module dock is to receive attachment of a thumb module, where the thumb module is interchangeably attachable in a first orientation and a second orientation, the second orientation mirroring the first orientation with respect to the plane of symmetry.
  • Each finger module dock of the plurality of finger module docks is to receive attachment of a finger module of the plurality of finger modules, where each finger module of the plurality of finger modules is interchangeably attachable to each finger module dock of the plurality of finger module docks.
  • a method for switching between the handedness configurations of a modular prosthetic hand includes disengaging a thumb module from a thumb module dock of a palm module, switching a handedness configuration of the thumb module, and reengaging the thumb module with the thumb module dock to attach the thumb module to the thumb module dock.
  • FIG. 1 depicts a block diagram of an example modular prosthetic hand.
  • FIG. 2 depicts a flowchart of an example method for switching between handedness configurations of a modular prosthetic hand.
  • FIG. 3 depicts a top plan view of an example modular prosthetic hand including a palm module, a thumb module, and a plurality of finger modules.
  • FIG. 4 depicts a perspective view of an example finger module of the modular prosthetic hand of FIG. 3.
  • FIG. 5 depicts a perspective view of an inferior side of the finger module of FIG. 4, with portions omitted to reveal electronics of the finger module.
  • FIG. 6 depicts a palmar aspect view of an example palm module of the modular prosthetic hand of FIG. 3.
  • FIG. 7 depicts a dorsal aspect view of the palm module of FIG. 6.
  • FIG. 8 depicts a perspective view of the palm module of FIG. 6, with portions omitted to reveal electronics of the palm module.
  • FIG. 9 depicts a perspective view of the palm module of FIG. 6.
  • FIG. 10 depicts a top plan view of the finger module of FIG. 4 coupled to the palm module of FIG. 6.
  • FIGs. 1 1 , 12, and 13 depict the removal of the finger module of FIG. 4 from the palm module of FIG. 5.
  • FIG. 14 depicts a perspective view of the thumb module of the modular prosthetic hand of FIG. 3.
  • FIG. 15 depicts a top plan view of the thumb module of FIG. 14.
  • FIGs. 16 and 17 depict the removal of the thumb module of FIG. 14 from the palm module of FIG. 6.
  • FIG. 18 depicts a top plan view of the modular prosthetic hand of FIG. 3, further including an example wrist module.
  • FIG. 19 depicts a close-up perspective view of the wrist module of FIG. 18 connected to the modular prosthetic hand of FIG. 3.
  • FIGs. 20 and 21 depict the removal of the wrist module of FIG. 18 from the modular prosthetic hand of FIG. 3.
  • FIG. 22 depicts a perspective view of the wrist module of FIG. 18.
  • prosthetic hands generally requires complex tools and skills which users may not themselves possess. Repairs may take weeks or months, during which time the user may be left without the use of their prosthetic hand. Furthermore, parts of prosthetic hands are generally unique and not interchangeable. For example, one finger may not be able to attach or serve the purpose of another finger, and a right-handed prosthetic hand may include a different thumb and hand components than a left-handed prosthetic hand.
  • a modular prosthetic hand is presented with interchangeable finger modules and thumb modules to reduce the need for lengthy repair processes and supply chains which rely on specialized digits.
  • the modular prosthetic hand allows for the toolless attachment and detachment of finger and thumb digits, which may be carried out by the user itself. Further, the modular prosthetic hand may be configured by as either a left-handed or a right-handed prosthetic hand.
  • FIG. 1 shows an example of a modular prosthetic hand 100.
  • the modular prosthetic hand 100 includes a palm module 1 10, a finger module 120, and a thumb module 140.
  • the palm module 1 10, finger module 120, and thumb module 140 may be disassembled and reassembled without tools.
  • the palm module 1 10 includes a thumb module dock 1 14 and a plurality of finger module docks 1 12 located symmetrically with respect to a plane of symmetry 102 running through the palm module.
  • the finger module docks 1 12 and the thumb module 140 are located with respect to the plane of symmetry 102 to allow the palm module 1 10 to provide for both a right-hand configuration and a left-hand configuration of the modular prosthetic hand 100.
  • the thumb module 140 is attachable to the thumb module dock 1 14 interchangeably in a first orientation and a second orientation, where the second orientation mirrors the first orientation with respect to the plane of symmetry 102. Further, the finger module 120 is interchangeably attachable to each finger module dock 1 12 of the plurality of finger module docks 1 12.
  • the plurality of finger module docks 1 12 includes at least a first finger module dock 1 12 on a first side of the plane of symmetry 102 and a second finger module dock 1 12 on an opposite side of the plane of symmetry 102.
  • the plurality of finger module docks 1 12 may include four finger module docks 1 12, two finger module docks 1 12 being on a first side of the plane of symmetry 102 and another two finger module docks 1 12 being on an opposite side of the plane of symmetry 102, thereby providing four finger module docks 1 12 to support four finger modules 120 to emulate the four fingers of a human hand.
  • the modular prosthetic hand 100 may include a plurality of finger modules 120, where each finger module 120 of the plurality of finger modules 120 is interchangeably attachable to each finger module dock 1 12 of the plurality of finger module docks 1 12.
  • the modular prosthetic hand 100 may include a number of finger modules 120 corresponding to the number of finger module docks 1 12 of the modular prosthetic hand 100.
  • the plurality of finger modules 120 may include a first finger module 120 and a second finger module 120, where the first finger module 120 is substantially identical in shape and size to the second finger module 120.
  • Each of the finger modules 120 of the modular prosthetic hand 100 may be substantially identical in shape and size. Since the plurality of finger modules 120 may be substantially identical in shape and size, users may easily be able to replace a damaged, broken or otherwise defective finger module 120 with any other finger module 120. Additionally, manufacturing of the finger module 120 is a simpler and thus more cost-effective process, since finger modules 120 may be mass-produced without specialization for each digit of the human hand (i.e. , any given finger module 120 may be attached to the index finger module dock 1 12, a middle finger module dock 1 12, a ring finger module dock 1 12 or a small finger module dock 1 12).
  • the finger module 120 may be greater in length than the thumb module 140.
  • each of the finger modules 120 may be greater in length than the thumb module 140.
  • the modular prosthetic hand 100 may include a finger module 120 extending from a particular finger module dock 1 12 of the plurality of finger module docks 1 12 by a first length when the finger module 120 is attached to the particular finger module dock 1 12, and a thumb module 140 extending from the thumb module dock 1 14 by a second length when the thumb module 140 is attached to the thumb module dock 1 14, such that the first length is greater than the second length.
  • This difference in lengths emulates an average human hand, in which the length of the thumb is generally shorter than the length of the fingers.
  • the modular prosthetic hand 100 may further include a finger actuator to actuate the finger module 120 to move relative to the palm module 1 10 in a gripping motion.
  • the modular prosthetic hand 100 may include a thumb actuator to actuate the thumb module 140 to move relative to the palm module 1 10 in a gripping motion. Actuations of the finger module 120 or the thumb module 140, as the case may be, allow the user to raise and lower digits, grasp objects, such as in a gripping motion, a pinching motion or a wrapping motion, and carry out other tasks.
  • the modular prosthetic hand 100 includes a plurality of finger modules 120
  • the modular prosthetic hand 100 may include a plurality of finger actuators, each finger actuator corresponding to a particular finger module 120. Actuation of the finger modules 120 may be independent or coupled together.
  • a finger actuator or thumb actuator may include gears, motors, worm gears, and the like.
  • the palm module 1 10 of the modular prosthetic hand 100 may include a front end portion and a rear end portion opposite the front end portion, where the front end portion includes the plurality of finger module docks 1 12, and the rear end portion includes the thumb module dock 1 14.
  • This construct of the palm module 1 10 mirrors the layout of the human hand, such that the front end portion is akin to the phalangeal portion of a human palm leading to the finger modules 120, while the rear end portion is akin to the carpal section of a human palm allowing connection of the thumb module 140.
  • the plurality of finger module docks 1 12 of the modular prosthetic hand 100 may include a first set of finger module docks 1 12 and a second set of finger module docks 1 12. Each finger module dock 1 12 of the second set of finger module docks 1 12 may be located opposite a corresponding finger module dock 1 12 of the first set of finger module docks 1 12 with respect to the plane of symmetry 102. This symmetry in the palm module 1 10 allows the modular prosthetic hand 100 to be interchangeably configured as either a left hand or a right hand.
  • the first set of finger module docks 1 12 may include a forward-offset finger module dock 1 12 and a rear-offset finger module dock 1 12, where the rear-offset finger module dock 1 12 is offset from the forward-offset finger module dock 1 12 toward the rear end portion of the modular prosthetic hand 100.
  • the offsetting of finger module docks 1 12 may further emulate the layout of the human hand.
  • the first set of finger module docks 1 12 may include a middle-finger module dock 1 12 and a ring-finger module dock 1 12, while the second set of finger module docks 1 12 may include an index-finger module dock 1 12 and a small-finger module dock 1 12.
  • the offsetting of finger module docks 1 12 allows the modular prosthetic hand 100 to more closely resemble a human hand having the appearance of middle- and ring- finger modules 120 being longer than the index- and small-finger modules 120 because the index- and small-finger modules are offset toward the rear of the modular prosthetic hand 100, while maintaining interchangeability between finger modules 120 because the finger modules 120 are all of substantially the same length.
  • the palm module 1 10 of the modular prosthetic hand 100 may further include a wrist module dock at the rear end portion of the palm module 1 10 to receive attachment of a wrist module.
  • the wrist module may further be rotatable with respect to the palm module 1 10.
  • FIG. 2 is a flowchart of an example method 200 for switching between handedness configurations of a modular prosthetic hand.
  • the method 200 may be used to switch between handedness configurations of a modular prosthetic hand as discussed herein, such as, for example, the modular prosthetic hand 100 of FIG. 1 , or the modular prosthetic hand 300 of FIG. 3.
  • the method 200 begins at block 205.
  • a thumb module is disengaged from a thumb module dock of a palm module.
  • the disengaging involves a task which is achievable without the use of tools, such as sliding the thumb module out of a slot.
  • the handedness configuration of the thumb module is switched.
  • the thumb module may include a gripping portion which is articulable to grasp objects and the like, and a docking portion which is attachable to the palm module.
  • the thumb module may further include an adduction/abduction portion that allows the thumb module to rotate. Switching handedness configurations may involve separating the gripping portion from the docking portion, reorienting the gripping portion, and reattaching the gripping portion to the docking portion.
  • Reorienting the gripping portion of the thumb module may involve reversing the orientation of the gripping portion.
  • the thumb module may be a mirror reflection of its previous state thumb module, thus suitable for an opposite handedness configuration.
  • the thumb module is reengaged with the thumb module dock to attach the thumb module to the thumb module dock.
  • the reengaging involves a task which is achievable without the use of tools, such as sliding the docking portion of the thumb module into a slot of the thumb module dock.
  • the method 200 is ended at block 225.
  • the method 200 may be carried out by a user of the modular prosthetic hand without tools or assistance from a professional. Further, the method 200 may be carried out using one hand, without the need for fine motor skills. A user of the modular prosthetic hand may thereby switch between handedness configurations of a modular prosthetic hand simply by changing the orientation of the thumb module. Further, the components of a modular prosthetic hand may be manufactured without specialized components for left-handed or right-handed configurations.
  • FIG. 3 a top plan view of an example modular prosthetic hand 300 is shown.
  • the modular prosthetic hand 300 may be similar to the modular prosthetic hand 100 of FIG. 1 , with elements in the“300” series rather than the “100” series, and thus includes a palm module 310, a plane of symmetry 302, a plurality of finger module docks 312, a thumb module dock 314, a plurality of finger modules 320, and a thumb module 340.
  • the description of FIG. 1 may be referenced.
  • the thumb module dock 314 of the modular prosthetic hand 300 includes a slot 315 running perpendicular to the plane of symmetry 302.
  • the thumb module 340 includes a docking portion 364 and a gripping portion 365, the docking portion 364 to engage with the slot 315 to attach the thumb module 340 to the thumb module dock 314.
  • the gripping portion 365 may be connected to the docking portion 364 in a first orientation for a first handedness configuration or a second orientation for a second handedness configuration.
  • the second orientation mirrors the first orientation with respect to the plane of symmetry 302.
  • the slot 315 may be recessed into the palm module 310.
  • the docking portion 364 of the thumb module 340 may be flush with the palmar surface of the palm module 310.
  • the palm module 310 of the modular prosthetic hand 300 may be symmetrical with respect to the plane of symmetry 302. Such symmetry may further enable the palm module 310 to appear and function interchangeably in a right-handed configuration or a left-hand configuration.
  • FIG. 4 shows a finger module 320 in greater detail.
  • the finger module 320 includes a distal phalanx 336, a proximal phalanx 322, a proximal-distal joint 326, a metacarpal joint 324, a worm gear 328, a load-bearing pin 334, printed circuit board (PCB) bracket 332, and spring-loaded electrical contact pins 330.
  • the worm gear 328 and the proximal-distal joint 326 allow the finger module 320 to bend at two places, allowing for a greater ability to grip objects.
  • the proximal-distal joint 326 may be made of a flexible material such as an elastomer, which may enhance its durability and provide additional grip on objects that have uneven surfaces.
  • the proximal phalanx 322 may house the worm gear 328, a gear motor and a worm gear train.
  • a cable may be used to connect distal phalanx 336 to the metacarpal joint 324, such that the distal phalanx 336 and the metacarpal joint 324 may be actuated together.
  • the load-bearing pin 334 bears loads acting on the finger module 320, and prevents these forces from damaging the spring-loaded electrical contact pins 330.
  • FIG. 5 depicts the inferior side of the finger module 320.
  • the worm gear 328 and spring-loaded electrical contact pins 330 are shown.
  • a finger module printed circuit board (PCB) 338 is depicted which may be mounted on the finger module 320, behind the metacarpal joint 324.
  • the finger module PCB 338 may be connected to a controller to actuate the finger module 320.
  • the controller may receive information from a potentiometer.
  • the spring-loaded electrical contact pins 330 may be mounted on the finger module PCB 338 to transmit encoder power, encoder signal and motor power information between the finger module 320 and the palm module 310.
  • the finger module PCB 338 is protected and held in place by the finger module PCB bracket 332.
  • the palm module 310 is shown in a palmar aspect view without the thumb module 340 or finger modules 320 attached.
  • Wrist module dock 352 is indicated for where a wrist module may be mated to the palm module 310.
  • Wrist module dock 352 may be either symmetrical or asymmetrical in its shape as this does not substantially affect the handedness configuration of the modular prosthetic hand 300.
  • FIG. 7 the palm module 310 shown in the dorsal view without the thumb module 340 or finger modules 320 attached.
  • Dorsal aspect plate 354 is indicated, which secures finger modules 320 in place, and which is removed to decouple any finger modules 320.
  • Dorsal aspect plate 354 is secured in place by friction lock 356, which is unlocked to remove dorsal aspect plate 354.
  • it may be configured either in a right-hand configuration or a left-hand configuration.
  • FIG. 8 shows the palm module 310 without the thumb module 340 or finger modules 320 attached.
  • a frontal PCB 360 includes contact plates that are equidistant from the center of the palm module 310 with respect to the plane of symmetry 302 to facilitate the electrical attachment of the thumb module 340 with the frontal PCB 360 in either a left-hand configuration or a right-hand configuration.
  • the finger module docks 312 for index- and small-finger modules 320 are set more toward the rear portion of the palm module 310 in comparison to the finger module docks 312 of the middle- and ring-finger modules 320.
  • This off-set of the finger module docks 312 facilitates the appearance of different finger lengths, imitating a natural human hand, while allowing all the finger modules 320 to have substantially the same shape and size.
  • Electrical contacts 342 at each of the finger module docks 312 on the palm module 310 allow for each finger module 320 to have a connection to the palm module 310 that is independent from the other finger modules 320.
  • FIG. 9 depicts the palm module 310.
  • a frontal PCB cover plate 344 is shown which protects the frontal PCB 360 from external damage.
  • the rearward PCB cover plate 346 is show which protects a rearward PCB 350 from external damage.
  • friction lock 356 is accessible while the frontal PCB cover plate 344 and the rearward PCB cover plate 346 are in place.
  • the finger module 320 is shown as having been electrically coupled to the rearward PCB 350 of the palm module 310 by spring- loaded electrical contact pins 330.
  • the spring-loaded electrical contact pins 330 are mounted to the finger module PCB 338.
  • the friction lock 356 is also shown, along with dorsal aspect plate 354.
  • the spring-loaded electrical contact pins 330 make contact with electrical contacts 342 on the rearward PCB 350, thereby establishing an electrical connection.
  • These spring-loaded electrical contact pins 330 may be wired to two motor power leads.
  • FIG. 1 1 a process of removing a finger module 320 from the palm module 310 is shown. Although the process may be repeated for any of the four finger modules 320, the process is depicted showing only one finger module 320.
  • removal of the dorsal aspect plate 354 is shown. First, as shown in FIG. 1 1 , the friction lock 356 is engaged to the unlocked position. The dorsal aspect plate 354 is then removed by pulling it forward toward the front end portion, toward the finger module 320, of the palm module 310. Second, as shown in FIG. 12, the dorsal aspect plate 354 is then pulled directly up and away from the palm module 310.
  • any finger module 320 may be removed.
  • a finger module 320 may be removed by pulling up on the metacarpal joint 324 away from the plane of the palm module 310. This is done until the load bearing pin 334 has fully left the lower mounting hole 348.
  • electrical pin holes 358 that are to receive the spring-loaded electrical contact pins 330 of the finger module 320.
  • FIG. 14 shows the thumb module 340 in greater detail.
  • the thumb module 340 includes thumb stoppers 362, a docking portion 364, a first worm gear 366, a thumb metacarpal 368, a second worm gear 370, a thumb proximal phalanx gear motor housing 372, an elastomer joint 374, and a thumb distal phalanx 376.
  • the thumb proximal phalanx gear motor housing 372 and the thumb distal phalanx 376 comprise the gripping portion of the thumb module 340.
  • the docking portion 364, the thumb distal phalanx 376, the thumb proximal phalanx gear motor housing 372, and the thumb metacarpal 368 may contain two gear motors and two worm gear trains.
  • the thumb metacarpal 368 may be linked directly to first worm gear 366 to provide opposing and non-opposing movement, as well as flexion and extension.
  • the elastomer joint 374 is a passive joint as it is not connected to any drive mechanisms and may improve durability and contact when grasping objects with uneven surfaces. Therefore, the thumb distal phalanx 376 may also be a passive component.
  • Potentiometers may be directly connected to drive mechanisms in order to send position information about the joints to the controller.
  • Two separate motor power lines for each gear motor may all be connected to a PCB on the thumb module 340, which may be located inside of the docking portion 364.
  • the length of the docking portion 364 may span the width of the carpal end of palm module 310.
  • the thumb module 340 may have two powered degrees of freedom, with the ability to flex or extend, and move into opposing or non-opposing (adduction/abduction). Similar to the finger modules 320, the movements of the thumb module 340 are actuated using a DC gear motor connected to a worm gear train. The thumb metacarpal 368 may be directly coupled to the hub of the worm gear 366.
  • spring-loaded electrical contact pins 378 may be mounted on the PCB inside docking portion 364, which when connected to the palm module 310, transmit power signals between the thumb module 340 and the electronics of the palm module 310.
  • the spring-loaded electrical contact pins 378 may be substantially the same as the spring-loaded electrical contact pins 330 used in the finger module 320, or they may differ.
  • the spring-loaded electrical contact pins 378 of the PCB inside docking portion 364 may extend beyond the superior side of the docking portion 364.
  • FIG. 16 depicts the removal of the thumb module 340 from the palm module 310.
  • the friction lock 356 of the palm module 310 is engaged into the unlocked position to allow the removal of the dorsal aspect plate 354 of the palm module 310.
  • the thumb module 340 is then be decoupled from the palm module 310.
  • Thumb module 340 is removed by sliding the thumb module 340 out of the slot 315 of the thumb module dock 314, toward the direction of the thumb metacarpal 368.
  • the thumb stoppers 362 on either side of the docking portion 364 have left the thumb module dock 314, the thumb module 340 may be pulled up in the palmar direction to completely decouple the thumb module 340 from the palm module 310.
  • the thumb stoppers 362 ensure that the thumb module 340 is not inserted directly into the thumb module dock 314 before the spring- loaded electrical contact pins 378 are fully depressed, as this could otherwise damage the spring-loaded electrical contact pins 378.
  • FIG. 17 shows the changing of a handedness configuration of the thumb module 340.
  • the thumb module 340 orientation is reversed by turning the thumb proximal phalanx gear motor housing 372 by 180 degrees.
  • the thumb module 340 is reattached to the palm module 310 by sliding through the slot 315 through the opposite side of the thumb module dock 314.
  • Connection bracket 379 mates with connection buttons 381 in either orientation.
  • Symmetry in palm module 310 allows the spring-loaded electrical contact pins of the thumb module 340 to mate with the rearward PCB of the palm module whether the hand is in a left-hand configuration or a right-hand configuration.
  • FIG. 18 the modular prosthetic hand 300 is shown with a wrist module 380 is also shown as being coupled to the palm module 310.
  • FIG. 19 shows the palm module 310 coupled with the wrist module 380.
  • a rotating friction lock ring 382 is also shown which enables the wrist module 380 to be securely coupled to the palm module 310.
  • FIG. 20 and FIG. 21 shows the detachment of the wrist module 380 from the palm module 310. As shown in FIG. 20, the rotating friction lock ring 382 is turned into an unlocked position. As shown in FIG. 21 , the palm module 310 and the wrist module 380 are pulled apart and separated from one another by lining up the flanges of the rotating friction lock ring 382 with the grooves in the wrist module dock 352.
  • FIG. 21 shows the palm module 310 and the wrist module 380 are pulled apart and separated from one another by lining up the flanges of the rotating friction lock ring 382 with the grooves in the wrist module dock 352.
  • the wrist module 380 may include an additional cover ring to slide over the coupled section (the wrist module dock 352 and rotating friction lock ring 382) to prevent the coupled section from catching on external objects and being accidentally unlocked while the modular prosthetic hand 300 is in use.
  • the finger modules may be attached to, and removed from, the palm module, in a variety of ways.
  • the actuators of the finger modules may be configured differently.
  • the gear motors may be situated behind the finger metacarpal joints.
  • the gear motors may reside inside the palm module instead of inside the finger modules to protect the gear motors.
  • various structural materials, types of electrical contact pins, and spatial layouts of the pins and contacts may be used in the finger modules and the thumb modules.
  • a removeable plate on the palmar side of the palm module may be used instead of on the dorsal aspect side to secure the finger modules to the palm module.
  • the finger modules may be configured to decouple from the palm module by pushing down on the metacarpal finger joint from the dorsal aspect side, towards the palmar side of the palm module.
  • the vertical spring-loaded electrical contact pins of the finger modules and the thumb module may be configured to be depressed by a perpendicular force rather than a vertical or co-linear force.
  • a modular prosthetic hand whereby finger modules and thumb modules may be attached interchangeably in a left-handed or right-handed configuration.
  • the same finger modules and thumb modules may be used for the left-handed and right-handed configurations.
  • the finger and thumb modules are user-replaceable without the need for specialized tools or expertise.

Landscapes

  • Health & Medical Sciences (AREA)
  • Transplantation (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Biomedical Technology (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Cardiology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Vascular Medicine (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Prostheses (AREA)

Abstract

La présente invention concerne une main prothétique modulaire comprenant un module de paume, un module de pouce et un module de doigt. Le module de paume comprend une base d'accueil de module de pouce et une pluralité de bases d'accueil de module de doigt disposées symétriquement par rapport à un plan de symétrie traversant le module de paume. Le module de pouce peut être fixé à la base d'accueil de module de pouce de manière interchangeable dans une première orientation et une seconde orientation, la seconde orientation étant en miroir de la première orientation par rapport au plan de symétrie. Le module de doigt peut être fixé de manière interchangeable à chaque base d'accueil de module de doigt de la pluralité de bases d'accueil de module de doigt. Un procédé de commutation entre les configurations de préférence manuelle de la main prothétique modulaire consiste à désaccoupler un module de pouce d'une base d'accueil de module de pouce d'un module de paume, à commuter la configuration de préférence manuelle du module de pouce, et à réaccoupler le module de pouce avec la base d'accueil de module de pouce pour fixer le module de pouce à la base d'accueil de module de pouce.
PCT/IB2019/051630 2018-03-01 2019-02-28 Mains prothétiques modulaires Ceased WO2019166990A1 (fr)

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US62/637,069 2018-03-01

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102020115100A1 (de) 2020-06-05 2021-12-09 Stefan Schulz Hülle für eine Handprothese
US11771571B2 (en) 2021-06-28 2023-10-03 Alt-Bionics, Inc. Modular prosthetic hand system
EP4486258A1 (fr) * 2022-04-20 2025-01-08 Aether Biomedical Sp.z.o.o. Dispositif prothétique

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2003017879A1 (fr) * 2001-08-27 2003-03-06 Bergomed Ab Systeme modulaire de main mecanique
US20150216681A1 (en) * 2014-02-04 2015-08-06 Rehabilitation Institute Of Chicago Modular and lightweight myoelectric prosthesis components and related methods
DE102014007743A1 (de) * 2014-05-29 2015-12-03 Stefan Schulz Modulares Handelement
WO2018006722A1 (fr) * 2016-07-04 2018-01-11 中国科学院深圳先进技术研究院 Main prothétique bionique

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2003017879A1 (fr) * 2001-08-27 2003-03-06 Bergomed Ab Systeme modulaire de main mecanique
US20150216681A1 (en) * 2014-02-04 2015-08-06 Rehabilitation Institute Of Chicago Modular and lightweight myoelectric prosthesis components and related methods
DE102014007743A1 (de) * 2014-05-29 2015-12-03 Stefan Schulz Modulares Handelement
WO2018006722A1 (fr) * 2016-07-04 2018-01-11 中国科学院深圳先进技术研究院 Main prothétique bionique

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102020115100A1 (de) 2020-06-05 2021-12-09 Stefan Schulz Hülle für eine Handprothese
US11771571B2 (en) 2021-06-28 2023-10-03 Alt-Bionics, Inc. Modular prosthetic hand system
EP4486258A1 (fr) * 2022-04-20 2025-01-08 Aether Biomedical Sp.z.o.o. Dispositif prothétique

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