CN105596181B - A kind of hip joint brace system and control method - Google Patents
A kind of hip joint brace system and control method Download PDFInfo
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- CN105596181B CN105596181B CN201610063100.8A CN201610063100A CN105596181B CN 105596181 B CN105596181 B CN 105596181B CN 201610063100 A CN201610063100 A CN 201610063100A CN 105596181 B CN105596181 B CN 105596181B
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- 210000004394 hip joint Anatomy 0.000 title claims abstract description 79
- 238000000034 method Methods 0.000 title claims abstract description 16
- 230000033001 locomotion Effects 0.000 claims abstract description 220
- 238000012544 monitoring process Methods 0.000 claims description 50
- 210000003141 lower extremity Anatomy 0.000 claims description 38
- 230000009471 action Effects 0.000 claims description 22
- 210000003414 extremity Anatomy 0.000 claims description 8
- 230000002146 bilateral effect Effects 0.000 claims description 7
- 230000002452 interceptive effect Effects 0.000 claims description 6
- 210000001503 joint Anatomy 0.000 claims description 6
- 238000005452 bending Methods 0.000 claims description 5
- 208000008037 Arthrogryposis Diseases 0.000 claims 1
- 241001442589 Convoluta Species 0.000 claims 1
- 238000011282 treatment Methods 0.000 abstract description 12
- 230000017423 tissue regeneration Effects 0.000 abstract description 3
- 238000011866 long-term treatment Methods 0.000 abstract 1
- 201000010099 disease Diseases 0.000 description 5
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 5
- 230000000694 effects Effects 0.000 description 5
- 210000001624 hip Anatomy 0.000 description 5
- 241000208340 Araliaceae Species 0.000 description 4
- 208000012659 Joint disease Diseases 0.000 description 4
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 4
- 235000003140 Panax quinquefolius Nutrition 0.000 description 4
- 235000008434 ginseng Nutrition 0.000 description 4
- 206010028851 Necrosis Diseases 0.000 description 3
- 210000002391 femur head Anatomy 0.000 description 3
- 230000007774 longterm Effects 0.000 description 3
- 230000017074 necrotic cell death Effects 0.000 description 3
- 230000001225 therapeutic effect Effects 0.000 description 3
- 210000001519 tissue Anatomy 0.000 description 3
- 206010073767 Developmental hip dysplasia Diseases 0.000 description 2
- 208000007446 Hip Dislocation Diseases 0.000 description 2
- 230000031018 biological processes and functions Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000009916 joint effect Effects 0.000 description 2
- 208000009248 Congenital Hip Dislocation Diseases 0.000 description 1
- 206010010356 Congenital anomaly Diseases 0.000 description 1
- 208000015813 Familial avascular necrosis of femoral head Diseases 0.000 description 1
- 208000007875 Femur Head Necrosis Diseases 0.000 description 1
- 208000001132 Osteoporosis Diseases 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 208000037873 arthrodesis Diseases 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000006837 decompression Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 208000014906 developmental dysplasia of the hip Diseases 0.000 description 1
- 238000005553 drilling Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 229910052602 gypsum Inorganic materials 0.000 description 1
- 239000010440 gypsum Substances 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 210000000629 knee joint Anatomy 0.000 description 1
- 208000005264 motor neuron disease Diseases 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 201000000585 muscular atrophy Diseases 0.000 description 1
- 201000008482 osteoarthritis Diseases 0.000 description 1
- 238000011321 prophylaxis Methods 0.000 description 1
- 230000004938 stress stimulation Effects 0.000 description 1
- 238000002560 therapeutic procedure Methods 0.000 description 1
- 230000002618 waking effect Effects 0.000 description 1
Classifications
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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
- 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
-
- 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
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0244—Hip
-
- 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
- A61H2001/0203—Rotation of a body part around its longitudinal axis
-
- 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/01—Constructive details
- A61H2201/0157—Constructive details portable
-
- 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
-
- 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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/08—Trunk
- A61H2205/088—Hip
Landscapes
- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
- Orthopedics, Nursing, And Contraception (AREA)
Abstract
The present invention relates to a kind of hip joint brace system and control methods.The hip joint brace system include fixing seat, leg-holder, the connection fixing seat and the actuator of the leg-holder, for connecting the fixing seat and the leg-holder and limiting the connection structure of leg-holder motion range and control device for being controlled whole system.Hip joint is effectively fixed on the treatment position of needs by hip joint brace system of the present invention, and connection structure interoperation actuator and leg-holder is set, passive movement is done to hip joint, it ensure that the passive movement of hip joint is reliable and stable, promote tissue reconstruction, accelerate tissue repair, the morbidity of joint complication caused by avoiding because of long-term treatment.For the control method of the hip joint brace system by the setting and adjustment of the parameter to control module, more intelligent and regularization when making hip joint passive movement improves the reliability and safety of the present invention in use.
Description
Technical field
The present invention relates to medical instruments fields, and in particular to a kind of hip joint brace system and control method.
Background technique
Hip joint disease is one of higher motor system disease of human morbidity, including baby's congenital hip joint
Caput femoris necrosis caused by depauperation, adult osteoarthritis and a variety of causes, is that one kind seriously affects human health easily
Lead to one of the principal disease of physical disabilities.The treatment of this sick disease is mostly controlled according to different joint disease reasons using different
Treatment method, as baby's congenital hip dysplasia mostly uses suspender belt and gypsum brace to fix and perform the operation；Adult Bones and joints
The method treatment that scorching and caput femoris necrosis also mostly uses Drilling decompression and prosthetic replacement to perform the operation；The above various therapeutic modalities,
The activity of hip joint is limited, leads to hip joint activity irregularities, while to keep long-term bed, is brought not to human action
Just；Therefore often lead to a variety of joint complication such as stiff, avascular necrosis of femoral head of hip joint, pole while treating disease
The earth affects the rehabilitation of patient.This kind of existing therapeutic modality duration about one year, such a long time bring pain to patient
Hardship also brings larger burden to patient home.
Modern biotechnology science and technology and medical clinical practice are it was demonstrated that the passive activity in joint can be provided and effectively be answered
Power stimulates the tissue reconstruction for making joint and surrounding structure, accelerates the biological processes of tissue repair.But so far, for
In the treatment of hip joint this kind disease, it can be used to apply this result of study there are no relevant instrument.
Summary of the invention
The purpose of the present invention is to provide a kind of hip joint brace system and control method, the hip joint brace system and control
Method processed can solve deficiency in the prior art.Hip joint is effectively fixed on the treatment position of needs by the hip joint brace system
It sets, and connection structure interoperation actuator is set, receipts and/or outreach and/or rotary motion in passive are done to hip joint, protect
Having demonstrate,proved keeps the motion stability of hip joint reliable, promotes tissue reconstruction, accelerates tissue repair, shortens treatment time, avoids because long-term
The morbidity of joint complication caused by sufferer.The control method of the hip joint brace system is by presetting in the control module and adjusting
Whole parameter, more intelligent and regularization when making hip joint passive movement improve the reliability of the present invention in use
And safety.
To achieve the above object, the invention adopts the following technical scheme:
A kind of hip joint brace system, including fixing seat, leg-holder, the connection fixing seat and the leg-holder
Actuator, the connection fixing seat and the leg-holder and the connection structure and use that limit leg-holder motion range
In the control device controlled whole system.
The connection structure includes being connected to the bracket one of the fixing seat lower end and being connected to the one of the leg-holder
The bracket two at end, the bracket one are flexibly connected with the bracket two.
The both ends of the actuator are hinged with the fixing seat and the leg-holder respectively；The side of the fixing seat
Portion is provided with support one, and the position more than bending section of the leg-holder is equipped with support two；One end of the actuator
Hinged by the support one and fixing seat, the other end of the actuator is cut with scissors by the support two with leg-holder
It connects.
The leg-holder and the actuator correspond to unilateral setting or bilateral setting, and the movement of every side executes
Device it is settable at least one；The fixing seat and the shape of trunk are adapted, the bending angle of the leg-holder and people
Body lower limb size and joint flexion angle are adapted.
The control device includes: for carrying out operation control to whole system, motion information parameter obtains and moving letter
The control module of parameter processing is ceased, the control module includes computer, time servomechanism and control circuit；The computer with
Time servomechanism interactive mode connection, the output end of the control circuit respectively with the input terminal of the computer and it is described when
Between the input terminal of servomechanism be connected；The computer is used for whole system operation control, obtains and handle motion information ginseng
Number, the time servomechanism is for predetermined movement time and processing predetermined movement time parameter；
For monitoring the monitoring modular of the motion information parameter of the actuator, the monitoring modular and the control
The connection of module interactive mode；
For driving the power drive module of the actuator movement, the power under control module control
Drive module, input terminal are connected with the output end of the control module, the input terminal of output end and the actuator
It is connected；
The control module, under being driven first according to predetermined movement state modulator power drive module drive actuator
The movement of limb brace, while the motion information parameter of monitoring module monitors actuator is controlled, secondly according to monitoring module monitors
The motion information parameter arrived obtains the motion information of hip joint and joint of lower extremity, is finally controlled according to the motion information of the acquisition
Actuator continuously moves；
The motion information parameter includes pressure parameter and the actuator rotation of the actuator push-and-pull movement
The angle parameter of movement.
The monitoring modular includes: the pressure on actuator and for obtaining actuator motion information parameter
Force snesor and angular transducer, the monitoring modular further include the alarm for sounding an alarm.
The predetermined movement parameter includes frequency, angle and time；The motion information includes hip joint and joint of lower extremity
Motion frequency, movement angle and run duration.
A kind of control method of hip joint brace system, method includes the following steps:
(1) fixing seat and the leg-holder are separately fixed at trunk portion and lower extremity；
(2) predetermined movement parameter, control module control power drive module drive actuator fortune in the control module
It is dynamic；Meanwhile control module obtains the motion information parameter of actuator, according to the motion information parameter of acquisition, obtains hip and closes
The motion information of section and joint of lower extremity；
(3) control module controls power drive module drive actuator according to the motion information of acquisition and carries out continuously
Push-and-pull and/or rotary motion；Time servomechanism is according to preset run duration parameter feedback time cycle to control module, control
The period of module control action actuator motions；
(4) control module obtains hip joint and lower limb according to the motion information parameter that the actuator of acquisition continuously moves
The motion information in joint, when the motion information that control module obtains reaches predetermined movement parameter or control module is according to acquisition
Motion information parameter obtain hip joint and joint of lower extremity motion information when other than predetermined movement parameter area, control mould
Block controls power drive module and stops drive actions actuator motions, and human body is restored to nature limbs state manually.
The specific steps of the step (2) are as follows: predetermined movement parameter in the control module, control module control power drive
The movement of module drive actuator, when actuator drives leg-holder movement, bracket two follows leg-holder with bracket
Two with the interconnecting piece of bracket one be that rotation axis moves, and after leg-holder movement and then to drive hip joint to do passively anteflexion and/or interior
Receipts and/or outreach and/or rotary motion；Meanwhile the push-and-pull movement of control module control monitoring module monitors actuator
The angle parameter of the rotary motion of pressure parameter and actuator, the movement that then control module is arrived according to monitoring module monitors
The angle parameter of the rotary motion of the pressure parameter and actuator of the push-and-pull movement of actuator obtains hip joint and lower limb close
The motion information of section；
The pressure parameter and angle parameter pass through pressure sensor and angular transducer acquisition in monitoring modular respectively.
The specific steps of the step (4) are as follows: when the actuator monitored is continuously pushed and pulled movement by monitoring modular
Pressure parameter and the angle parameter of the continuous rotary motion of actuator when feeding back in control module, and control module root
Hip is obtained according to the angle parameter of the rotary motion of the pressure parameter and actuator of the push-and-pull movement of the actuator of feedback
The motion information in joint and joint of lower extremity, when the motion information that control module obtains reaches predetermined movement parameter, control module
It controls monitoring modular and starts alarm, sound an alarm；Or control module is according to the pressure of the push-and-pull movement of the actuator of feedback
The motion information of hip joint and joint of lower extremity that the angle parameter of the rotary motion of force parameter and actuator obtains is default
When other than kinetic parameter range, control module controls monitoring modular and starts alarm, sounds an alarm；Meanwhile control module controls
Power drive module stops drive actions actuator motions, and human body is restored to nature limbs state manually；
The pressure parameter and angle parameter pass through pressure sensor and angular transducer acquisition in monitoring modular respectively.
From the above technical scheme, the present invention drives leg-holder to take exercises by actuator, and then drives hip
It is passively movable that joint is done, and can generate effective stress stimulation makes the tissue reconstruction of joint and surrounding structure, not only quickening group
The biological processes of reconstruction, and the generation of the complication of prophylactic treatment hip joint disease are knitted, no matter making patient under waking state
Effective joint passive movement can be obtained when with sleep rest, and then effectively improves therapeutic effect, shorten treatment time；
On the other hand, it effectively prevents because the arthrodesises such as anchylosis, muscular atrophy, osteoporosis brought by long-term be failure to actuate are comprehensive
Close disease.The present invention also passes through control device control action actuator and drives leg-holder movement, can not only allow the passive of hip joint
Activity is more regular, also allows the therapeutic process of hip joint disease more convenient effectively；Meanwhile leg-holder movement of the invention
When the scope of activities of leg-holder is limited by the connection of bracket one and bracket two, not only enable hip joint in actuator
With a variety of passive movements are done under the drive of leg-holder, also improve the stability and reliability of hip joint passive activity.This hair
The control method of bright hip joint brace system passes through first to be preset in the control module and adjusts kinematic parameter, then in power
It drives actuator continuously to move under the driving of drive module, and then drives the regular movement of hip joint, transport hip joint
More intelligent and regularization when dynamic improves the reliability and safety of the present invention in use.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the invention；
Fig. 2 is the structural block diagram of control device of the present invention.
Specific embodiment
The present invention will be further described with reference to the accompanying drawing:
A kind of hip joint brace system as Figure 1-Figure 2 includes fixing seat 10, leg-holder 20, is connected and fixed seat 10
With the actuator 30 of leg-holder 20, the motion range for being connected and fixed seat 10 and leg-holder 20 and limiting leg-holder 20
Connection structure and control device 700 for being controlled whole system.The shape phase of fixing seat 10 and trunk
It adapts to, the bending angle and human body lower limbs size and joint flexion angle of leg-holder 20 are adapted.Fixing seat 10 is fixed on trouble
Person's metastomium, especially waist, leg-holder 20 is fixed on patient's knee joint position, and according to the lower limb size of patient and controls
Treatment needs to select suitable shape and joint angles, this structure type is extremely reasonable, is effectively fixed on hip joint structure
On the treatment position needed.Leg-holder 20 and actuator 30 correspond to unilateral setting or bilateral setting, and every side is moved
Make actuator 30 it is settable at least one；Electronic control pressure, pneumatic control pressure can be used or control of surging in actuator 30
Pressing pressure structure does push-and-pull movement.Patient is the caput femoris necrosis of side hip dysplasia or side, in diseased joints
Side is correspondingly arranged a leg-holder 20 and at least one actuator 30, and actuator 30 can be located at diseased joints
Front side, outside and rear side form 3 D stereo setting；Patient is bad for the femoral head of bilateral hip dysplasia or bilateral
Extremely, one leg-holder 20 of setting and at least one actuator 30 are respectively corresponded in every side of diseased joints, movement is held
Row device 30 can be located at front side, outside and the rear side of diseased joints, form 3 D stereo setting, can thus require according to treatment
The joint of illness is driven to form passive anteflexion and/or interior receipts and/or outreach and/or rotary motion in safe range.
It further includes being connected to fixing seat 10 that hip joint brace system, which is connected and fixed seat 10 and the connection structure of leg-holder 20,
The bracket 1 of lower end and the bracket 2 50 for being connected to 20 one end of leg-holder, bracket 1 are flexibly connected with bracket 2 50；Branch
Frame 1 and bracket 2 50 are by hinge or universal axis connection, when actuator 30 pushes or pulls on the movement of leg-holder 20
When, bracket 2 50 follows leg-holder 20 with the interconnecting piece 60 of bracket 2 50 and bracket 1 for rotation axis movement, to limit
The motion range of leg-holder 20 after leg-holder 20 moves and then drives hip joint to do passive anteflexion and/or interior receipts and/or outer
Exhibition and/or rotary motion.
The both ends of actuator 30 are hinged with fixing seat 10 and leg-holder 20 respectively；The side of fixing seat 10 is provided with
Support 1, the position more than bending section of leg-holder 20 are equipped with support 2 21；One end of actuator 30 passes through support
One 11 is hinged with fixing seat 10, and the other end of actuator 30 is hinged by support 2 21 and leg-holder 20.When lower limb branch
When having 20 rotary motion certain angle, actuator 30 also can accordingly rotate by a certain angle, and make the activity spirit of actuator 30
Living, convenient for disassembly and assembly, versatility is good, and use cost is effectively reduced；More convenient dismounting can be carried out to the present invention to be applied in combination.
The control device 700 of hip joint brace system of the present invention includes: for carrying out operation control, movement to whole system
Information parameter obtains and the control module 710 of motion information parameter processing, and control module 710 includes computer 711, time servo
Device 712 and control circuit 713；Computer 711 is connect with 712 interactive mode of time servomechanism, the output end difference of control circuit 713
It is connected with the input terminal of the input terminal of computer 711 and time servomechanism 712；Computer 711 is used to operate whole system
Control obtains and handles motion information parameter, and time servomechanism 712 is for predetermined movement time and processing predetermined movement time ginseng
Number；
Control device 700 of the invention further includes the monitoring modular for monitoring 30 motion information parameter of actuator
720, monitoring modular 720 is connect with 710 interactive mode of control module；
Control device 700 of the invention further includes for the movement of drive actions actuator 30 under the control of control module 710
Power drive module 730, power drive module 730, input terminal is connected with the output end of control module 710, output end
It is connected with the input terminal of actuator 30；
Control module 710, first according to 730 drive actions actuator of predetermined movement state modulator power drive module, 30 band
Dynamic leg-holder 20 moves, while controlling the motion information parameter that monitoring modular 720 monitors actuator 30, secondly according to prison
The motion information that the motion information parameter that module 720 monitors obtains hip joint and joint of lower extremity is surveyed, finally according to the fortune of acquisition
The dynamic continuously movement of information governance action actuator 30.Motion information parameter includes the pressure ginseng of the actuator push-and-pull movement
Several and actuator rotary motion angle parameter.
Monitoring modular 720 includes: the pressure on actuator 30 and for obtaining the push-and-pull movement of actuator 30
The pressure sensor 721 of force parameter and on actuator 30 and for obtaining the angle of 30 rotary motion of actuator
The angular transducer 722 of parameter, monitoring modular 720 further include the alarm 723 for sounding an alarm.Predetermined movement parameter includes
Frequency, angle and time；Motion information includes the motion frequency, movement angle and run duration of hip joint and joint of lower extremity.
Monitoring modular 720 is monitored the pressure parameter and angle parameter of the push-and-pull movement of actuator 30, then believes movement
Parameter feedback is ceased to control module 710, and control module 710 obtains hip according to the motion information parameter that monitoring modular 720 monitors
The motion information of the motion frequency of joint and joint of lower extremity, movement angle and run duration continues control action actuator 30
It is continuously moved or stop motion.
A kind of control method of hip joint brace system of the present invention the following steps are included:
(1) fixing seat 10 and leg-holder 20 are separately fixed at trunk portion and lower extremity；
(2) the predetermined movement parameter in control module 710, control module 710 control 730 drive actions of power drive module
Actuator 30 moves, and when actuator 30 drives leg-holder 20 to move, bracket 2 50 follows leg-holder 20 with bracket two
50 with the interconnecting piece 60 of bracket 1 are that rotation axis moves, so that the motion range of leg-holder 20 is limited, the fortune of leg-holder 20
After dynamic and then hip joint is driven passively to do anteflexion and/or interior receipts and/or outreach and/or rotary motion；Meanwhile control module 710
Control the rotary motion of the pressure parameter and actuator 30 of the push-and-pull movement of the monitoring actuator 30 of monitoring modular 720
Angle parameter, the pressure ginseng of the push-and-pull movement for the actuator 30 that then control module 710 is monitored according to monitoring modular 720
The angle parameter of several and actuator 30 rotary motion obtains the motion information of hip joint and joint of lower extremity；
Pressure parameter and angle parameter pass through pressure sensor 721 and angular transducer 722 in monitoring modular 720 respectively
It obtains；
After computer 711 in control module 710 acquires predetermined movement information parameter, first by predetermined movement information parameter into
Then row conversion processing controls the movement of 730 drive actions actuator 30 of power drive module；Finally, the meter in control module 710
Calculation machine 711 obtains motion information parameter, is believed according to the movement that the motion information parameter of acquisition calculates hip joint and joint of lower extremity
Breath；
(3) control module 710 according to the motion information of acquisition control 730 drive actions actuator 30 of power drive module into
The continuous push-and-pull of row and/or rotary motion；Time servomechanism 712 is according to the preset run duration parameter feedback time cycle to control
Molding block 710, the period of 710 control action actuator 30 of control module movement；
Wherein, after motion information is carried out conversion processing by the computer 711 in control module 710, power drive mould is controlled
730 drive actions actuator 30 of block is continuously moved；Meanwhile time servomechanism 712 is according to preset run duration parameter
The feedback time period, computer 711 controlled the drive cycle of power drive module 730 into computer 711；
(4) actuator 30 monitored is continuously pushed and pulled to pressure parameter and the movement of movement when monitoring modular 720
When the angle parameter of the continuous rotary motion of actuator 30 is fed back in control module 710, and control module 710 is according to feedback
The angle parameter of the rotary motion of the pressure parameter and actuator 30 of the push-and-pull movement of actuator 30 obtains hip joint
With the motion information of joint of lower extremity, when the motion information that control module obtains reaches predetermined movement parameter, control module 710 is controlled
Monitoring modular 720 processed starts alarm 723, sounds an alarm；Or control module 710 is transported according to the push-and-pull of the actuator of feedback
The motion information of hip joint and joint of lower extremity that the angle parameter of the rotary motion of dynamic pressure parameter and actuator obtains
When other than predetermined movement parameter area, control module 710 controls monitoring modular 720 and starts alarm 723, sounds an alarm；
Wherein, the computer 711 in control module 710 is calculated according to the motion information parameter that monitoring modular 720 is fed back
The motion information of hip joint and joint of lower extremity, when motion information reach in computer 711 and time servomechanism 712 in preset fortune
When dynamic parameter, computer 711 controls monitoring modular 720 and starts alarm 723, sounds an alarm；Or the calculating in control module 710
Machine 711 is being calculated according to the motion information that the motion information parameter that monitoring modular 720 is fed back calculates hip joint and joint of lower extremity
When in machine 711 with other than preset kinetic parameter range in time servomechanism 712, computer 711 controls monitoring modular 720 and starts
Alarm 723, sounds an alarm；
Meanwhile control module 710 controls power drive module 730 and stops the movement of drive actions actuator 30, manually by people
Body is restored to nature limbs state.
Pressure parameter and angle parameter pass through pressure sensor 721 and angular transducer 722 in monitoring modular 720 respectively
It obtains；
As shown in Figure 1, fixing seat 10 and leg-holder 20 are separately fixed at people by taking patient's bilateral hip joint illness as an example
Body trunk and lower extremity；Illness side assembly leg-holder 20 and movement is selected to execute if the hip joint illness of patient unilateral side
Device 30；Predetermined movement frequency, angle and time, starting in control module 710 according to the treatment requirement of patient and Curing circumstance
The power supply of control circuit 713, control module 710 control 730 drive actions actuator 30 of power drive module, actuator 30
When leg-holder 20 being pulled to move from position A to position B, bracket 2 50 follows leg-holder 20 with bracket 2 50 and bracket 1
Interconnecting piece 60 be rotation axis movement, to limit the motion range of leg-holder 20；Actuator 30 follows lower limb simultaneously
Brace 20 rotates certain angle, leg-holder 20 and bracket 2 50 relative to initial position rotational angle θ, and leg-holder 20 is transported
After dynamic and then hip joint completion is driven passively to do anteflexion and/or interior receipts and/or outreach and/or rotary motion, during the motion
Interconnecting piece 60 is located at hip joint front side or rear side or outside；Meanwhile control module 710 controls 720 monitoring of monitoring modular movement and holds
Row device 30 pushes and pulls the angle parameter of 30 rotary motion of pressure parameter and actuator of movement, then 710 basis of control module
The rotary motion of the pressure parameter and actuator 30 of the push-and-pull movement for the actuator 30 that monitoring modular 720 monitors
Motion frequency, movement angle and the run duration of angle parameter acquisition hip joint and joint of lower extremity；Control module 710 is according to obtaining
Motion frequency, movement angle and the run duration control driving of power drive module 730 of the hip joint and joint of lower extremity that take are moved
Make actuator 30 to take exercises, actuator 30 is continuously pushed and pulled and/or rotary motion, and leg-holder 20 is driven to move
And then hip joint is driven to do the passive anteflexion and/or interior receipts and/or outreach and/or rotary motion of next step；Time servomechanism 712
It is moved according to preset time parameter feedback time period to control module 710,710 control action actuator 30 of control module
Period, bilateral actuator 30 is regular under the control of control module 710, move in circles move.
When the actuator 30 monitored is continuously pushed and pulled the pressure parameter moved and rotary motion by monitoring modular 720
Angle parameter when feeding back to control module 710, and control module 710 obtains hip joint and joint of lower extremity according to feedback parameter
Motion frequency, movement angle and run duration, when the motion frequency, movement angle and run duration of acquisition reach preset
When frequency, angle and time, control module 710 controls monitoring modular 720 and starts alarm 723, sounds an alarm；Or control mould
Block 710 obtain hip joint and joint of lower extremity motion frequency, movement angle and run duration preset frequency, angle with
And when other than time range, control module 710 controls monitoring modular 720 and starts alarm 723, sounds an alarm.Meanwhile controlling mould
Block 710 controls power drive module 730 and stops the movement of drive actions actuator 30, and human body is restored to nature limbs shape manually
State, in order to avoid system unexpected injury caused by patient.
Embodiment described above only describe the preferred embodiments of the invention, not to model of the invention
It encloses and is defined, without departing from the spirit of the design of the present invention, those of ordinary skill in the art are to technical side of the invention
The various changes and improvements that case is made should all be fallen into the protection scope that claims of the present invention determines.
Claims (5)
1. a kind of hip joint brace system, it is characterised in that: including fixing seat, leg-holder, the connection fixing seat with it is described
The actuator of leg-holder connects the fixing seat and the leg-holder and limits the connection of leg-holder motion range
Structure and control device for being controlled whole system；
The connection structure includes the bracket one for being connected to the fixing seat lower end and the one end for being connected to the leg-holder
Bracket two, the bracket one are flexibly connected with the bracket two；
The control device includes: to join for carrying out operation control, the acquisition of motion information parameter and motion information to whole system
The control module of number processing, the control module includes computer, time servomechanism and control circuit；The computer with it is described
The connection of time servomechanism interactive mode, the output end of the control circuit are watched with the input terminal of the computer and the time respectively
The input terminal for taking device is connected；The computer is used for whole system operation control, obtains and handle motion information parameter, institute
Time servomechanism is stated for predetermined movement time and processing predetermined movement time parameter；
By hinge or universal axis connection, bracket two follows leg-holder with the company of bracket two and bracket one for bracket one and bracket two
Socket part is rotation axis movement, to limit the motion range of leg-holder；
The leg-holder and the actuator correspond to unilateral setting or bilateral setting, and the actuator of every side can
At least one is set；Actuator can be located at front side, outside and the rear side of diseased joints, form 3 D stereo setting；It is described
Fixing seat and the shape of trunk are adapted, the bending angle of the leg-holder and human body lower limbs size and arthrogryposis angle
Degree is adapted；
Step is controlled above-mentioned hip joint brace system according to the following method:
(1) fixing seat and the leg-holder are separately fixed at trunk portion and lower extremity；
(2) predetermined movement parameter, control module control the movement of power drive module drive actuator in the control module；Together
When, control module obtains the motion information parameter of actuator, according to the motion information parameter of acquisition, obtains hip joint under
The motion information in limb joint；
(3) control module controls power drive module drive actuator according to the motion information of acquisition and is continuously pushed and pulled
And/or rotary motion；Time servomechanism is according to the preset run duration parameter feedback time cycle to control module, control module
The period of control action actuator motions；
(4) control module obtains hip joint and joint of lower extremity according to the motion information parameter that the actuator of acquisition continuously moves
Motion information, when the motion information that control module obtains reaches predetermined movement parameter or control module is according to the fortune of acquisition
The motion information of hip joint and joint of lower extremity that dynamic information parameter obtains is when other than predetermined movement parameter area, control module control
Brake force drive module stops drive actions actuator motions, and human body is restored to nature limbs state manually；
The specific steps of the step (4) are as follows: when the actuator monitored is continuously pushed and pulled the pressure of movement by monitoring modular
When force parameter and the angle parameter of the continuous rotary motion of actuator are fed back in control module, control module is according to feedback
Actuator push-and-pull movement pressure parameter and actuator rotary motion angle parameter obtain hip joint and
The motion information of joint of lower extremity, when the motion information that control module obtains reaches predetermined movement parameter, control module control prison
It surveys module and starts alarm, sound an alarm；Or control module is according to the pressure parameter of the push-and-pull movement of the actuator of feedback
The motion information of the hip joint and joint of lower extremity that obtain with the angle parameter of the rotary motion of actuator is joined in predetermined movement
When other than number range, control module controls monitoring modular and starts alarm, sounds an alarm；Meanwhile control module control power drives
Dynamic model block stops drive actions actuator motions, and human body is restored to nature limbs state manually；
The pressure parameter and angle parameter pass through pressure sensor and angular transducer acquisition in monitoring modular respectively.
2. a kind of hip joint brace system as described in claim 1, it is characterised in that: distinguish at the both ends of the actuator
It is hinged with the fixing seat and the leg-holder；The side of the fixing seat is provided with support one, the leg-holder it is curved
Position more than pars convoluta is equipped with support two；One end of the actuator is hinged by the support one and fixing seat, described
The other end of actuator is hinged by the support two and leg-holder.
3. a kind of hip joint brace system as described in claim 1, it is characterised in that: the control device further include:
For monitoring the monitoring modular of the motion information parameter of the actuator, the monitoring modular and the control module
Interactive mode connection；
For driving the power drive module of the actuator movement, the power drive under control module control
Module, input terminal are connected with the output end of the control module, and output end is connected with the input terminal of the actuator；
The control module drives lower limb branch according to predetermined movement state modulator power drive module drive actuator first
Tool movement, while the motion information parameter of monitoring module monitors actuator is controlled, secondly arrived according to monitoring module monitors
Motion information parameter obtains the motion information of hip joint and joint of lower extremity, finally according to the motion information control action of the acquisition
Actuator continuously moves；
The motion information parameter includes pressure parameter and the actuator rotary motion of the actuator push-and-pull movement
Angle parameter.
4. a kind of hip joint brace system as claimed in claim 3, it is characterised in that: the monitoring modular includes: to be located to move
Make the pressure sensor and angular transducer on actuator and for obtaining actuator motion information parameter, the monitoring mould
Block further includes the alarm for sounding an alarm.
5. a kind of hip joint brace system as claimed in claim 3, it is characterised in that: the predetermined movement parameter includes frequency
Rate, angle and time；When the motion information includes the motion frequency, movement angle and movement of hip joint and joint of lower extremity
Between.
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| CN201610063100.8A CN105596181B (en) | 2016-01-30 | 2016-01-30 | A kind of hip joint brace system and control method |
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| CN107898542A (en) * | 2017-12-04 | 2018-04-13 | 上海市浦东新区人民医院 | Trousers are treated in a kind of infant hip joint depauperation |
| CN111672062B (en) * | 2020-06-24 | 2021-04-30 | 广东工贸职业技术学院 | Moulding recovered ware of children hip joint podophyllum and children bicycle |
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| CN202761645U (en) * | 2012-09-27 | 2013-03-06 | 胡大勇 | Dynamic stable hip joint brace system |
| CN103263339A (en) * | 2013-05-17 | 2013-08-28 | 大连交通大学 | Exoskeleton walk-assisting robot for old people and bionic control method for anti-falling gaits |
| CN105050563A (en) * | 2013-03-14 | 2015-11-11 | 埃克苏仿生公司 | Powered orthotic system for cooperative overground rehabilitation |
| CN105167960A (en) * | 2015-10-12 | 2015-12-23 | 哈尔滨工程大学 | Parallel type lower limb exoskeleton rehabilitation training device |
| CN205359911U (en) * | 2016-01-30 | 2016-07-06 | 胡大勇 | Hip joint brace system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| EP2346467B1 (en) * | 2008-09-24 | 2019-07-17 | Ekso Bionics, Inc. | Hip and knee actuation systems for lower limb orthotic devices |
| US9314393B2 (en) * | 2011-04-08 | 2016-04-19 | Yonsei University Wonju Industry-Academic Cooperation Foundation | Active robotic gait-training system and method |
| WO2015088863A2 (en) * | 2013-12-09 | 2015-06-18 | President And Fellows Of Harvard College | Assistive flexible suits, flexible suit systems, and methods for making and control thereof to assist human mobility |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202761645U (en) * | 2012-09-27 | 2013-03-06 | 胡大勇 | Dynamic stable hip joint brace system |
| CN105050563A (en) * | 2013-03-14 | 2015-11-11 | 埃克苏仿生公司 | Powered orthotic system for cooperative overground rehabilitation |
| CN103263339A (en) * | 2013-05-17 | 2013-08-28 | 大连交通大学 | Exoskeleton walk-assisting robot for old people and bionic control method for anti-falling gaits |
| CN105167960A (en) * | 2015-10-12 | 2015-12-23 | 哈尔滨工程大学 | Parallel type lower limb exoskeleton rehabilitation training device |
| CN205359911U (en) * | 2016-01-30 | 2016-07-06 | 胡大勇 | Hip joint brace system |
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