CN113576838A - Three-degree-of-freedom platform for ankle joint rehabilitation - Google Patents
Three-degree-of-freedom platform for ankle joint rehabilitation Download PDFInfo
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- CN113576838A CN113576838A CN202110995092.1A CN202110995092A CN113576838A CN 113576838 A CN113576838 A CN 113576838A CN 202110995092 A CN202110995092 A CN 202110995092A CN 113576838 A CN113576838 A CN 113576838A
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- rehabilitation
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- ankle joint
- sleeve
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- 210000000544 articulatio talocruralis Anatomy 0.000 title claims abstract description 51
- 230000007246 mechanism Effects 0.000 claims abstract description 7
- 230000000149 penetrating effect Effects 0.000 claims abstract description 3
- 210000003423 ankle Anatomy 0.000 claims description 19
- 238000011156 evaluation Methods 0.000 claims description 4
- 230000009471 action Effects 0.000 claims description 3
- 230000004064 dysfunction Effects 0.000 abstract description 4
- 238000011084 recovery Methods 0.000 description 4
- 230000006870 function Effects 0.000 description 3
- 208000005392 Spasm Diseases 0.000 description 2
- 210000002808 connective tissue Anatomy 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 210000003414 extremity Anatomy 0.000 description 2
- 210000003141 lower extremity Anatomy 0.000 description 2
- 230000007659 motor function Effects 0.000 description 2
- 206010017577 Gait disturbance Diseases 0.000 description 1
- 206010019468 Hemiplegia Diseases 0.000 description 1
- 206010023201 Joint contracture Diseases 0.000 description 1
- 206010062575 Muscle contracture Diseases 0.000 description 1
- 206010033799 Paralysis Diseases 0.000 description 1
- 206010034701 Peroneal nerve palsy Diseases 0.000 description 1
- 241000469816 Varus Species 0.000 description 1
- 208000006111 contracture Diseases 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 210000002683 foot Anatomy 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
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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
- 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
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/107—Measuring physical dimensions, e.g. size of the entire body or parts thereof
- A61B5/1071—Measuring physical dimensions, e.g. size of the entire body or parts thereof measuring angles, e.g. using goniometers
-
- 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
- A61H2205/12—Feet
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- General Health & Medical Sciences (AREA)
- Dentistry (AREA)
- Biophysics (AREA)
- Physical Education & Sports Medicine (AREA)
- Pain & Pain Management (AREA)
- Epidemiology (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Physics & Mathematics (AREA)
- Rehabilitation Therapy (AREA)
- Pathology (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Surgery (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention relates to a three-degree-of-freedom platform for ankle joint rehabilitation, which is characterized by comprising a fixed base and a rehabilitation platform positioned above the fixed base; the fixed base is provided with a sleeve and three push rods which can be driven by an external power mechanism to stretch, and the sleeve is positioned in an area surrounded by all the push rods; the bottom ends of the sleeve and the push rod are fixedly connected with the fixed base; a spline nut is arranged in the sleeve, and a spline shaft is inserted in the spline nut in a penetrating manner, so that the spline shaft can slide up and down relative to the sleeve; the top end of the spline shaft is fixedly connected with the bottom surface of the rehabilitation platform through a universal joint; the top end of the push rod is propped against the bottom surface of the rehabilitation platform; the ankle joint brace is fixed on the top surface of the rehabilitation platform; an angle sensor is also arranged on the rehabilitation platform. The ankle joint rehabilitation training device can provide rehabilitation training with three degrees of freedom for patients with ankle joint movement dysfunction, and meanwhile, can enable the ankle joint of the patients to actively move.
Description
Technical Field
The invention relates to a three-degree-of-freedom platform for ankle joint rehabilitation, and belongs to the technical field of lower limb rehabilitation devices.
Background
Spasm modes such as foot varus and foot drop easily occur in ankle joints after stroke, and standing and walking of patients are seriously affected. Studies have shown that over 3 weeks of immobilization, loose connective tissue surrounding the joint can become dense connective tissue, resulting in joint contracture deformity. The remaining motor function or recovered function of paralyzed side limbs is lost again due to contracture deformation and pain of the affected limb joints, and the recovery of the motor function of lower limbs is seriously influenced. The function recovery of the ankle joint is often ignored or delayed in the whole course of the stroke hemiplegia patient, and the recovery of the walking ability of the patient is directly influenced. For example, the abnormal gait can be corrected completely or partially by starting correct rehabilitation training in the early stage of the disease. The orthosis can improve the control ability of the hemiparalysis patient to the self posture after the stroke, improve the walking ability, control the mild spasm, prevent and correct the deformity and improve the life quality.
Disclosure of Invention
The purpose of the invention is: an apparatus for ankle joint functional recovery is provided.
In order to achieve the above object, the technical solution of the present invention is to provide a three-degree-of-freedom platform for ankle joint rehabilitation, which is characterized by comprising a fixed base and a rehabilitation platform located above the fixed base; the fixed base is provided with a sleeve and three push rods which can be driven by an external power mechanism to stretch, and the sleeve is positioned in an area surrounded by all the push rods; the combination of the three push rods with different heights can enable the rehabilitation platform to achieve the rotating pose rotating around the X axis and the Y axis; the bottom ends of the sleeve and the push rod are fixedly connected with the fixed base; a spline nut is arranged in the sleeve, and a spline shaft is inserted in the spline nut in a penetrating manner, so that the spline shaft can slide up and down relative to the sleeve; the top end of the spline shaft is fixedly connected with the bottom surface of the rehabilitation platform through a universal joint; the top end of the push rod is propped against the bottom surface of the rehabilitation platform; the ankle joint support is fixed on the top surface of the rehabilitation platform, and when the rehabilitation platform rotates under the action of the three push rods, the ankle joint support has corresponding motion to simulate the motion of the ankle joint of a human body; the rehabilitation platform is also provided with an angle sensor for measuring the rotation angles of the rehabilitation platform and the ankle joint brace in real time.
Preferably, the universal joint comprises an upper hinge, a lower hinge and a cross shaft, the upper hinge is fixedly connected with the rehabilitation platform, the lower hinge is fixedly connected with the spline shaft, and the upper hinge is hinged with the lower hinge through the cross shaft, so that the rehabilitation platform can rotate around an X shaft and a Y shaft relative to the spline shaft.
Preferably, the top end of the push rod is hemispherical.
Preferably, the fixed base is mounted on a table or a hospital bed of suitable height.
Preferably, three push rods are arranged in an equilateral triangle.
Preferably, the sleeve is located at the centroid of the equilateral triangle.
Preferably, the angle sensor is located on the bottom surface of the rehabilitation platform.
Preferably, the ankle brace is connected with the rehabilitation platform through an ankle brace frame.
Preferably, when the ankle joint brace drives the ankle joint of the patient to move, the three push rods are driven by an external power mechanism to independently stretch, and the angle sensor records the data of the rehabilitation training of the patient; when the patient initiatively drives the ankle joint brace to do rehabilitation exercise, the patient drives the three push rods to independently stretch out and draw back, and the angle sensor records the range of motion that the ankle joint of the patient can reach, so as to carry out rehabilitation evaluation.
According to the ankle joint rehabilitation training device, the three push rods are arranged on the fixed base, the rehabilitation platform is pushed to rotate along the X axis and the Y axis, the ankle joint brace and the ankle joint of a patient are driven to perform rehabilitation training, three degrees of freedom rehabilitation training can be provided for the patient with ankle joint movement dysfunction, and meanwhile, the ankle joint of the patient can also move actively. The invention is used for recording data in the rehabilitation process, thereby scientifically evaluating the rehabilitation effect of the ankle joint of the patient. Meanwhile, the motion range of the ankle joint is measured by using the ankle joint motion evaluation device, and the motion capability of the ankle joint can be evaluated and tested.
Drawings
FIG. 1 is a schematic structural diagram of a three-degree-of-freedom platform for ankle rehabilitation according to the present invention;
FIG. 2 is an isometric view of a three degree-of-freedom platform for ankle rehabilitation according to the present invention;
fig. 3 is a sectional view taken along line a-a of fig. 1.
Description of reference numerals:
1-a fixed base; 2-three push rods; 3-universal joint: 31-a lower hinge; 32-cross shaft; 33-an upper hinge; 4-rehabilitation platform; 5-an angle sensor; 6-ankle brace; 7-ankle brace frame; 8-a sleeve; 9-a spline shaft; 10-spline nut.
Detailed Description
The invention will be further illustrated with reference to the following specific examples. It should be understood that these examples are for illustrative purposes only and are not intended to limit the scope of the present invention. Further, it should be understood that various changes or modifications of the present invention may be made by those skilled in the art after reading the teaching of the present invention, and such equivalents may fall within the scope of the present invention as defined in the appended claims.
It should be noted that the drawings provided in the present embodiment are only for illustrating the basic idea of the present invention, and the components related to the present invention are only shown in the drawings rather than drawn according to the number, shape and size of the components in actual implementation, and the type, quantity and proportion of the components in actual implementation may be changed freely, and the layout of the components may be more complicated.
In order to solve the problem of rehabilitation training of patients suffering from ankle joint movement dysfunction, the invention provides a three-degree-of-freedom platform for ankle joint rehabilitation. As shown in fig. 1 to 3, in the present embodiment, a three-degree-of-freedom platform for ankle rehabilitation includes: the ankle joint rehabilitation training device comprises a fixed base 1, three push rods 2, a universal joint 3, a lower hinge 31, a cross shaft 32, an upper hinge 33, a rehabilitation platform 4, an angle sensor 5, an ankle joint brace 6, an ankle joint brace frame 7, a sleeve 8, a spline shaft 9 and a spline nut 10.
The invention utilizes three push rods 2 to realize the free movement of three dimensions. The push rod 2 can be driven by an external power mechanism to do telescopic motion. As shown in fig. 1 and 2, in the present embodiment, three push rods 2 are arranged in an equilateral triangle, and the bottom ends thereof are connected and fixed with the fixed base 1 through screws. The top end of the push rod 2 is hemispherical and is pressed against the bottom surface of the rehabilitation platform 4, and the friction force between the push rod 2 and the rehabilitation platform 4 is reduced through the hemisphere.
The sleeve 8 is fixedly connected with the fixed base 1 through a screw, and the sleeve 8 is positioned at the centroid position of the equilateral triangle. A spline nut 10 is fixed to the top end of the sleeve 8. The top end of the spline shaft 9 is connected with the universal joint 3, and the bottom end is sleeved with the spline nut 10 and can slide up and down relative to the sleeve 8. The universal joint 3 is fixedly connected with the bottom surface of the rehabilitation platform 4 and is positioned in the center of the rehabilitation platform 4.
The universal joint 3 and the sleeve 8 are used for passively realizing the rotation of the rehabilitation platform 4 around an X axis and a Y axis, and meanwhile, the rehabilitation platform can provide three degrees of freedom rehabilitation training for patients with ankle joint movement dysfunction, and meanwhile, the ankle joint of the patients can actively move, the movement range of the ankle joint can be measured, and the movement capability of the ankle joint can be evaluated and tested.
In the present embodiment, the universal joint 3 includes an upper hinge 33, a lower hinge 31, and a cross 32. The lower hinge 31 is fixedly connected with the top end of the spline shaft 9, the upper hinge 33 is fixedly connected with the bottom surface of the rehabilitation platform 4, and the upper hinge 33 is hinged with the lower hinge 31 through the cross shaft 32, so that the rehabilitation platform 4 can rotate around the X axis and the Y axis relative to the spline shaft 9.
The bottom surface of the rehabilitation platform 4 is also provided with an angle sensor 5. The ankle brace 6 is fixed on the top surface of the rehabilitation platform 4. The ankle joint brace 6 is connected with the rehabilitation platform 4 through the ankle joint brace frame, and when the rehabilitation platform 4 rotates under the action of the push rod 2, the ankle joint brace 6 moves correspondingly to simulate the motion of the ankle joint of a human body.
Through the combination of different heights of the top ends of the three push rods 2, the rehabilitation platform 4 can achieve the rotation position around the X axis and the Y axis. In the initial position, the top ends of the three push rods 2 are at the same height, and the rehabilitation platform 4 is kept horizontal.
The push rod 2 stretches under the driving of an external power mechanism, so that when the ankle brace 6 is driven to rotate, the angle sensor 5 can record the range data of motion, and the range data serve as the parameter setting standard of rehabilitation training. When the patient initiatively drives ankle joint brace 6 and rotates, push rod 2 can stretch out and draw back under ankle joint brace 6 drives equally, and angle sensor 5 can take notes pivoted scope equally, can regard as the evaluation data that the doctor aassessment patient traded the recovered effect of joint.
The above description is only a preferred embodiment of the present application and a description of the applied technical principle, and it should be understood by those skilled in the art that the scope of the present application is not limited to the technical solution of the specific combination of the above technical features, and also covers other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the inventive concept, for example, the technical solutions formed by mutually replacing the above technical features (but not limited to) having similar functions disclosed in the present application.
Other technical features than those described in the specification are known to those skilled in the art, and are not described herein in detail in order to highlight the innovative features of the present invention.
Claims (9)
1. A three-degree-of-freedom platform for ankle joint rehabilitation is characterized by comprising a fixed base and a rehabilitation platform positioned above the fixed base; the fixed base is provided with a sleeve and three push rods which can be driven by an external power mechanism to stretch, and the sleeve is positioned in an area surrounded by all the push rods; the combination of the three push rods with different heights can enable the rehabilitation platform to achieve the rotating pose rotating around the X axis and the Y axis; the bottom ends of the sleeve and the push rod are fixedly connected with the fixed base; a spline nut is arranged in the sleeve, and a spline shaft is inserted in the spline nut in a penetrating manner, so that the spline shaft can slide up and down relative to the sleeve; the top end of the spline shaft is fixedly connected with the bottom surface of the rehabilitation platform through a universal joint; the top end of the push rod is propped against the bottom surface of the rehabilitation platform; the ankle joint support is fixed on the top surface of the rehabilitation platform, and when the rehabilitation platform rotates under the action of the three push rods, the ankle joint support has corresponding motion to simulate the motion of the ankle joint of a human body; the rehabilitation platform is also provided with an angle sensor for measuring the rotation angles of the rehabilitation platform and the ankle joint brace in real time.
2. The three-degree-of-freedom platform for ankle rehabilitation according to claim 1, wherein the universal joint comprises an upper hinge, a lower hinge and a cross shaft, the upper hinge is fixedly connected with the rehabilitation platform, the lower hinge is fixedly connected with the spline shaft, and the upper hinge and the lower hinge are hinged through the cross shaft, so that the rehabilitation platform can rotate around the X axis and the Y axis relative to the spline shaft.
3. The three-degree-of-freedom platform for ankle rehabilitation of claim 1, wherein the top end of the push rod is hemispherical.
4. The three-degree-of-freedom platform for ankle rehabilitation according to claim 1, wherein the fixed base is mounted on a table or a hospital bed of suitable height.
5. The three-degree-of-freedom platform for ankle rehabilitation according to claim 1, wherein three of said push rods are arranged in an equilateral triangle.
6. The three-degree-of-freedom platform for ankle rehabilitation of claim 5, wherein the sleeve is located at the centroid of the equilateral triangle.
7. The three-degree-of-freedom platform for ankle rehabilitation of claim 1, wherein the angle sensor is located on a bottom surface of the rehabilitation platform.
8. The three-degree-of-freedom platform for ankle rehabilitation of claim 1, wherein the ankle brace and the rehabilitation platform are connected through an ankle brace frame.
9. The three-degree-of-freedom platform for ankle rehabilitation according to claim 1, wherein when the ankle brace drives the ankle of the patient to move, an external power mechanism drives three push rods to independently extend and retract, and the angle sensor records the data of the rehabilitation training of the patient; when the patient initiatively drives the ankle joint brace to do rehabilitation exercise, the patient drives the three push rods to independently stretch out and draw back, and the angle sensor records the range of motion that the ankle joint of the patient can reach, so as to carry out rehabilitation evaluation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110995092.1A CN113576838A (en) | 2021-08-27 | 2021-08-27 | Three-degree-of-freedom platform for ankle joint rehabilitation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110995092.1A CN113576838A (en) | 2021-08-27 | 2021-08-27 | Three-degree-of-freedom platform for ankle joint rehabilitation |
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| Publication Number | Publication Date |
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| CN113576838A true CN113576838A (en) | 2021-11-02 |
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| CN202110995092.1A Pending CN113576838A (en) | 2021-08-27 | 2021-08-27 | Three-degree-of-freedom platform for ankle joint rehabilitation |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20060034986A (en) * | 2004-10-20 | 2006-04-26 | 전북대학교산학협력단 | Rehabilitation medicine device for compound joint motion |
| CN101292935A (en) * | 2008-02-02 | 2008-10-29 | 河北工业大学 | Robot for rehabilitation of anklebone |
| CN203183277U (en) * | 2013-03-12 | 2013-09-11 | 汕头大学 | Ankle joint rehabilitation training machine with three rotational degrees of freedom |
| US20170231854A1 (en) * | 2003-09-25 | 2017-08-17 | Massachusetts Institute Of Technology | Motorized Limb Assistance Device |
| CN110464602A (en) * | 2019-09-05 | 2019-11-19 | 长沙理工大学 | A kind of rehabilitation of anklebone change born of the same parents' parallel institution |
| CN111249108A (en) * | 2020-01-20 | 2020-06-09 | 杭州风行医疗器械有限公司 | Multi freedom's ankle joint intelligence rehabilitation device |
-
2021
- 2021-08-27 CN CN202110995092.1A patent/CN113576838A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20170231854A1 (en) * | 2003-09-25 | 2017-08-17 | Massachusetts Institute Of Technology | Motorized Limb Assistance Device |
| KR20060034986A (en) * | 2004-10-20 | 2006-04-26 | 전북대학교산학협력단 | Rehabilitation medicine device for compound joint motion |
| CN101292935A (en) * | 2008-02-02 | 2008-10-29 | 河北工业大学 | Robot for rehabilitation of anklebone |
| CN203183277U (en) * | 2013-03-12 | 2013-09-11 | 汕头大学 | Ankle joint rehabilitation training machine with three rotational degrees of freedom |
| CN110464602A (en) * | 2019-09-05 | 2019-11-19 | 长沙理工大学 | A kind of rehabilitation of anklebone change born of the same parents' parallel institution |
| CN111249108A (en) * | 2020-01-20 | 2020-06-09 | 杭州风行医疗器械有限公司 | Multi freedom's ankle joint intelligence rehabilitation device |
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