RU2345736C2 - Foot prosthesis with adjustable characteristics - Google Patents

Abstract

FIELD: medicine.

SUBSTANCE: prosthetic foot incorporate foot keel and elastic calf shank, whose lower portion is connected to foot keel to form ankle joint of prosthetic foot. Foot keel has forefoot and hindfoot portions, and midfoot portion between forefoot and hindfoot portions. Calf shank goes upward from foot keel in form of frontward convexly curved ankle part and is attached to foot keel with connecting element, which is integrated into foot foreportion. Lower part of calf shank is reversely curved and is placed into reversely curved part of connecting element.

EFFECT: increase of kinetic energy during walk and possibility to adjust prosthesis.

26 cl, 40 dwg

Description

Technical field

The invention relates to a prosthetic foot having good performance, improved dynamic performance due to the fact that these capabilities correspond to the mechanics of the current efforts.

State of the art

An articulated jointless foot of a foot prosthesis is described in US Pat. inside molded foot. This insert has an approximately C-shaped structure in longitudinal section, open back, and takes the load of the prosthesis of its upper C-shaped end, and through its lower C-shaped end transfers the load to the leaf spring connected to it. This leaf spring, when viewed from below, has a convex design and extends approximately parallel to the sole area forward beyond the insertion of the foot into the area of the tip of the foot. This invention, according to Martin et al., Aims to improve the articulated artificial foot in terms of shock absorption of the heel, elasticity, walking from heel to toes and in terms of lateral stability, so that the user can walk with a natural gait; also the purpose of the aforementioned invention is to provide the user with the possibility of normal walking and performing physical exercises, participating in sports games. But the dynamic characteristics of this artificial foot of the prior art are limited and do not copy the biomechanical functions of the human foot, ankle, lower leg, soft supporting tissue. An artificial foot according to Martin et al. And other prior art prosthetic feet that use this ankle design and a rigid pylon as a shin cannot accumulate enough elastic energy to create kinetic energy in the sagittal plane of the normal ankle while walking. Tests have shown that foot prostheses of the prior art of such structures provide only about 25% of kinetic energy in the sagittal plane from the normal ankle joint during walking.

Other artificial feet were offered by Wang. L. Phillips; these feet are aimed at providing mobility to an amputee, so that he can engage in a variety of activities that in the past were impossible due to structural limitations and the corresponding performance indicators of prostheses of the prior art. These well-known artificial feet seem to provide the possibility of running and jumping and other types of activity, and according to reports they can be used as a normal natural foot. For example, see US Pat. Nos. 6,071,313; 5,993,488; 5,899,944; 5,800,569; 5,800,568; 5,728,177; 5,728,176; 5,824,112; 5,593,457; 5,514,185; 5181932 and 4822363. These prostheses have a foot, ankle and lower leg made of composite material, while the mechanical shape of the ankle is turned back and has a convex curvature. Tests have shown that prior art prostheses of this design provide approximately 40% kinetic energy in the sagittal plane of the normal ankle joint during walking. There is a need to provide a prosthesis with higher performance indicators that can provide an amputee with an improvement in such actions as walking, running, jumping, sprinting, starting, stopping and stopping abruptly.

SUMMARY OF THE INVENTION

To provide a person with an amputated limb with a higher level of actions and functions, an orthopedic foot with high performance, with improved applied mechanics is needed, the performance of which can exceed the performance of the human natural foot and surpass the performance of the prosthetic foot of the prior art. Amputee people are interested in having a prosthetic foot with high performance, advanced applied mechanics, high and low dynamic responses, with adjustable alignment of the relative positions of the components with fine tuning to improve horizontal and vertical components of movements that can be customized in accordance with the specifics of the movements.

The prosthetic foot according to the present invention solves these problems. According to an exemplary embodiment disclosed herein, the prosthetic foot according to the invention comprises a longitudinally extending keel of the foot having an anterior foot at one end, a rear foot at an opposite end and a relatively long middle foot extending between the forefoot and hindfoot and up from them. A shank post is also provided comprising a lower end curved downwardly convex. An adjustable mount attaches the curved lower end of the calf to the middle portion of the keel that is curved upwards and forms the ankle of the prosthetic foot. The tibia is an elastic element forming the ankle and lower leg of the prosthesis, and said elastic element extends upward from the keel of the foot in the form of a convex-curved part of the element facing forward. Due to this orientation of the mechanical form, the angular velocity of the mechanical form increases when responding to compressive force under load at a late stage of the midfoot position. As a result of this, when using this prosthesis, the kinetic energy of the prosthesis in the sagittal plane increases during walking.

An adjustable mount provides the ability to adjust the alignment of the calf and foot keel relative to each other in the longitudinal direction of the keel of the foot to adjust the performance of the prosthetic foot. Due to the adjustment of the alignment of the opposing upward middle part of the keel of the foot and the convex curved lower end of the lower leg of the leg pointing downwards with respect to each other, the characteristics of the dynamic reaction and the formed foot movement vary according to the specific need with respect to the desired / desired horizontal and vertical linear speeds. This invention provides a multi-use prosthetic foot, with the ability to provide high and low dynamic characteristics, as well as two-plane motion characteristics, which improve the functionality of people with amputated limbs in everyday movements, in sports and / or entertainment. A foot specifically for sprinting is also provided.

According to some embodiments, in the tibial position, its lower end is turned in a helical direction, and the tibial position extends upward from the helix to its vertical upper end. Due to this, the tibia is provided with an ankle made at the same time at its lower end when the tibia is attached to the keel of the foot, and the generated movement as a result of reaction according to varying radii is similar to the movements created by the parabola-shaped tibia according to the invention. The lower leg with a spiral lower end is attached to the keel of the foot with a connecting element. This connecting element may include a stopper to limit the bending of the tibia post back while walking. In some implementations, the connecting element is made integral with the front of the keel of the foot. According to another feature of the invention, the connecting element extends in a rearward direction in the form of a cantilever over the midfoot and a portion of the back of the keel. The communication element may be reversed upward to form a forward concavity in which the lower end of the tibia is located; wherein the reverse curved lower end of the tibial leg rests with its end on the connecting element. The resulting prosthesis has increased efficiency.

These and other features and advantages of the invention are explained in the following detailed description of the disclosed examples of its implementation and the accompanying drawings.

Brief Description of the Drawings

Figure 1 schematically shows two adjacent radii of curvature R ₁ and R ₂ , one opposite to the other, the keel of the foot and the tibia of the prosthetic foot according to the invention, which create dynamic response characteristics and the resulting foot movement when walking in the direction of arrow B, perpendicular to tangent A connecting these two radii.

Figure 2 is a view similar to Figure 1, but showing the location of two radii, which is changed in the prosthetic foot according to the invention in order to increase the horizontal component and reduce the vertical component of the dynamic reaction and the resulting foot movement while walking, with the arrow perpendicular to the tangent line A1 has a more horizontal direction than in the case illustrated in the drawing of Figure 1.

Figure 3 is a side view of the prosthetic foot according to an exemplary embodiment of the invention: with a pylon adapter with a pylon connected to it for attaching the foot to the lower leg of an amputee;

Figure 4 is a front view of the prosthetic foot with a pylon adapter with a connected pylon according to Figure 3.

5 is a top view of the implementation shown in figure 3 and 4.

6 is a side view of another keel of the foot according to the invention, in particular for a sprint that can be used in the prosthetic foot according to the present invention.

Fig.7 is a top view of the keel of the foot shown in Fig.6.

Fig. 8 is a bottom view of the keel of the foot in the prosthetic foot according to Fig. 3, which provides high and low dynamic characteristics, as well as the possibility of two-plane movement.

Fig.9 is a side view of another keel of the foot according to the invention for the prosthetic foot, especially suitable for a sprint performed by a person whose foot is amputated along the Saimaa.

Figure 10 is a top view of the keel of the foot shown in Figure 9.

11 is another version of the keel of the foot of the prosthetic foot according to the invention for a person with Saima amputation; keel of the foot provides the prosthetic foot with high and low dynamic characteristics, as well as the possibility of two-plane movement.

Fig - top view of the keel of the foot shown in the drawing of Fig.11.

Fig - lateral projection of the keel of the foot according to the invention, in which the thickness of the keel is reduced, for example, uniformly decreases from the middle section of the foot to the hindfoot of the keel.

Fig - lateral projection of another shape of the keel of the foot, in which the thickness decreases from the middle part of the foot to the forefoot and to the rear foot of the keel.

Fig. 15 is a side view and a little top view of a parabola-shaped shank post of the prosthetic foot according to the invention; the thickness of the tibia is reduced to its upper end.

Fig. 16 is a side view similar to Fig. 15, but another tibia is shown tapering from the middle to both its upper and lower ends.

Fig - lateral projection of a C-shaped resistant leg for the prosthetic foot; the thickness of the tibial strut decreases from the middle to its upper and lower ends.

Fig. 18 is a side view of another example of a C-shaped leg support of the prosthetic foot; the thickness of the tibia is evenly reduced from its center to its upper end.

Fig. 19 is a side view of an S-shaped tibia for the prosthetic foot; the thickness of both ends evenly decreases from its middle.

FIG. 20 is another example of an S-shaped tibia, the thickness of which decreases only at its upper end.

Fig. 21 is a side view of a J-shaped tibial leg tapering at each end for a prosthetic foot according to the invention.

Fig. 22 is a view similar to Fig. 21, but the thickness of the J-shaped leg of the tibia evenly decreases only to its upper end.

FIG. 23 is a side view and a little top view of a metal alloy or plastic connecting member used in the adjustable mount according to the invention for attaching a calf stand to the keel of the foot shown in FIG. 3.

Fig is a side view and a little front view of the adapter of the pylon used in the prosthesis of the foot according to Fig.3-5, and also applicable to the foot according to Fig.28 and 29 for connecting the foot with a pylon attached to the leg of an amputee.

Fig - side view of another prosthetic foot according to the invention, similar to the prosthetic foot according to Fig.3, but showing the use of a connecting element with two detachable fasteners spaced in the longitudinal direction connecting the element with the leg keel of the foot, respectively.

Fig. 26 is an enlarged side view of the connecting member shown in Fig. 25.

Fig. 27 is an enlarged side view of the prosthetic calf of the prosthetic foot according to Fig. 25.

Fig. 28 is a side view of another embodiment of the prosthetic foot, in which the tibia is located inside the decorative case.

Fig.29 is a top view of the prosthetic foot shown in Fig.28.

Fig. 30 is a cross section of the prosthetic foot shown in Figs. 28 and 29 along line 30-30 shown in Fig. 29.

Figa and 31B are sections of wedges of different thicknesses, which can be used in the stopper rear bending of the connecting element shown in Fig.30.

Fig. 32 is a side view of another embodiment of the prosthetic foot, according to which the lower end of the tibial leg has a reverse curvature in the form of a spiral and is placed in a connecting element formed integrally with the front part of the foot of the keel of the foot and rests on this element.

Fig.33 is a vertical projection of the prosthesis according to Fig.32.

Fig. 34 is a rear view of the prosthesis according to Fig. 32.

Fig. 35 is a side view of yet another embodiment of a prosthesis in which the posterior component of the keel of the foot is connected to a reverse curved upper end of the connecting member formed integrally with the forefoot of the keel.

Fig - side view of another view of the invention, where the connecting element is made integrally with the keel of the foot.

Fig. 37 is a side view of yet another embodiment of a prosthesis according to the invention, the connecting element being connected at its rear end to the keel of the foot with a fastener.

Fig. 38 is a side view of yet another embodiment of a prosthesis in which a connecting element is connected to the keel of the foot at the trailing end of the keel of the foot.

Fig. 39 is a side view of the tibial leg and the posterior tibia of the device according to the embodiments of Figs. 35-38, shown disconnected from the keel of the foot and its connecting member.

FIG. 40 is a perspective view of the left and back of the prosthetic foot of yet another embodiment of the invention in which the features of several other embodiments are combined.

Optimum Embodiment

Turning to the drawings, the prosthetic foot 1 according to an exemplary embodiment of FIGS. 3-5 comprises a longitudinally extending keel 2 of the foot having a front section 3 of the foot at one end, a rear section of 4 feet at the opposite end, and an upwardly curved middle Division 5 of the foot between the front and rear sections of the foot. The midfoot section 5 of the foot is curved upwardly over its entire longitudinal length between the front and rear sections of the foot in an exemplary embodiment.

The vertical leg 6 of the foot of the foot 1 is attached on a part of its convex-curved lower end 7 directed downward to the proximal rear surface of the middle part 5 of the keel foot with a detachable fastener 8 and a connecting element 11. The fastener 8 in this exemplary embodiment is one bolt with a nut and washers, but it can also be a removable clamp or other fastener for fixing positioning and fixing the calf shank on the keel of the foot when tightening the fastener .

A longitudinal hole 9 is formed on the proximal posterior surface of the middle section 5 of the foot of the keel - Fig. 8. A longitudinal hole 10 is also formed in the curved lower end 7 of the lower leg 6, for example, according to FIG. The removable fastener 8 passes through the holes 9 and 10 and makes it possible to control the alignment of the tibia and foot keel with respect to each other in the longitudinal direction AA in Figure 5 when loosening or removing the fastener 8 in order to precisely control the performance of the prosthetic foot for its settings for a specific task. Thus, the fastener 8, the connecting element 11, and the longitudinal holes 9 and 10 form an adjustable mount for attaching the tibia to the keel of the foot to form the ankle joint of the prosthetic foot.

The results of adjusting the alignment of the shank rack 6 of the lower leg and keel of the foot 2 with respect to each other are presented in the drawings of Figures 1 and 2, where two adjacent radii R ₁ and R ₂ are adjacent to each other, facing each other dome-shaped or convexly curved surfaces of the middle section 5 of the foot keel and racks of 6 legs. If these two radii are considered next to each other, then the ability to move takes place perpendicular to the tangent line A in Figure 1, A ₁ in Figure 2 between two radii. The relationship of these two radii determines the direction of the resulting movement. Therefore, in foot 1, the strength of the dynamic reaction depends on this relationship. The larger the concavity radius, the greater the possibility of a dynamic reaction. But the smaller the concavity radius, the faster its reaction.

The ability to align the tibia and keel of the foot in the prosthetic foot relative to each other allows you to shift the radii to change horizontal or vertical linear speeds in accordance with the sports movements of the foot. For example, to increase the horizontal linear speed of the prosthetic foot 1, alignment can be changed to affect the relationship between the radius of the tibia and the radius of the keel of the foot. That is, to improve the characteristics of horizontal linear velocity, the lower radius R _{2 of the} keel of the foot is displaced distal from its initial position: Figure 2 in comparison with Figure 1. Due to this, the dynamic reactions change, and the resulting movement of the foot 1 is now directed more horizontally, and due to this, it is possible to increase the horizontal linear velocity with the same applied forces.

An amputee can, in practice, determine the necessary position for each kind of movements he / she needs with respect to horizontal and vertical linear speeds. For jumping or basketball, for example, you need a lift that is more vertical than for sprinting. The connecting element 11 is a leveling connection made of plastic or a metal alloy (Figs. 3, 4 and 23) and located between the attached keel of the foot 2 and the leg 6 of the lower leg. Detachable fastener 8 passes through hole 12 in the connecting element. The connecting element extends along the attached part of the tibia and along the proximal posterior surface of the middle section of the 5th foot of the keel.

The curved lower end 7 of the lower leg 6 has a parabolic shape, and the smallest radius of curvature of this parabola is at the lower end and extends upward and initially forward in the shape of a parabola. The backward concavity is formed by the curvature of the tibia, as shown in FIG. 3. The parabolic shape has the advantage that it provides increased dynamic characteristics in terms of creating an increased horizontal linear velocity, which is due to the relatively large radii of its proximal end, and it has a smaller radius of curvature at its lower end, which provides a faster response. Due to the large radii of curvature at the upper end of the parabola, the tangent A according to FIGS. 1 and 2 remains more horizontally oriented with alignment changes, thereby increasing the horizontal linear velocity.

The parabolic stance of the tibia responds to the forces of the initial contact with the ground when walking with the fact that it contracts or spirals. In this case, the radii of the parabola curve decrease, and as a result, the resistance to compression decreases. On the contrary, since the parabolic stance of the lower leg responds by expanding to the reaction forces of the support to lift the heel off the ground while walking, this makes the radii of the curve of the parabola larger, and as a result, the resistance increases much compared to the mentioned compression resistance. These resistances relate to the function of the anterior muscle and the posterior muscle of a person’s calf while walking. At initial contact with the plane of the foot while walking, the smaller front group of calf muscles reacts to the reaction forces of the support - it eccentrically contracts to lower the foot to the ground, and this creates a moment of back flexion. From the moment of the flat sole to the moment the fingers are torn off, the larger group of the posterior calf muscles responds to the reaction forces of the support with an eccentric contraction, and a stronger moment of the plantar bend is created. The magnitude of this moment refers to the difference between the size of the front and rear muscle groups of the calf. As a result, the resistance of the prosthetic leg shank is simulated by the moments of dorsal and plantar flexion during walking, and a normal gait is ensured. The variable resistance of the parabolic curves imitates the muscle function of the human calf during walking, running and jumping, and as a result, the effectiveness of the prosthesis increases. Tests have shown that the prosthetic foot according to the invention provides 86% of the kinetic energy generation of a normal human ankle joint, more than twice as compared to the test results of a conventional prosthetic foot of the above type, having a convex-curved ankle and lower leg, which are turned back. It is assumed that at least one factor of this significant increase in kinetic energy in the sagittal plane generated by the prosthesis of the present invention is that due to the ankle convexly bent forward and executed as a single elastic shin, the angular velocity increases when responding to compressive force under load in the late stage of the midfoot position, while the angular speed of the prior art prosthesis decreases in response to this load. This improvement according to the present invention reduces the user's energy expenditures when walking, increases walking speed and provides a more normal gait.

A person walks at a speed of approximately three miles per hour. A person running one mile in four minutes runs 12 miles in 1 hour and 10 seconds; a 100-meter sprinter runs at 21 mph. That is, the ratio is 1: 4: 7. The horizontal component of each of these types of movement increases with increasing speed of this type of movement. Therefore, the magnitude of the radii of the leg of the prosthesis can be determined in advance. A walker needs a parabolic curved tibia with shorter radii than a long-distance runner or sprinter. For a sprinter, you need a parabolic curved stance of the lower leg, which is seven times larger. This relationship shows how to determine the radii of a parabola for walkers, runners and sprinters. This is important because sprinters need to comply with a wider range of motion requirements, and their calf shafts must be stronger to absorb the increased loads of this type of movement. A wider or larger parabolic tibia will have a relatively flatter curve corresponding to increased structural strength for a wider range of motion.

The adapter 13 of the pylon is connected to the upper end of the leg stand 6 by the fasteners 14. In turn, the adapter 13 is attached to the lower end of the pylon 15 by the fasteners 16. The pylon 15 is mounted on the lower extremity of the amputated person using a supporting structure (not shown) attached to stump of the feet.

In an exemplary embodiment, the forefoot, middle and hindfoot sections of the keel 2 are formed from a single elastic material. For example, you can use a solid plastic material that retains its shape when bent under the influence of the reaction force of the support. In particular, the keel of the foot and also the tibia can be made of a layered material with a reinforcing fiber in the layers of the polymer base material. For example, high-strength graphite laminated with epoxy thermosetting resins, or extruded plastic with the Delran brand name, or degassed polyurethane copolymers can be used to form the keel of the foot and leg support. The functional qualities of these materials provide high strength with low weight and with minimal plastic deformation. Thermosetting epoxies are laminated in vacuo in accordance with industry standards for the manufacture of prostheses. Polyurethane copolymers can be cast in negative forms, and extruded plastic can be machined. Each of these materials used has its advantages and disadvantages. It was found that the layered composite material for the keel of the foot and the tibia can also be predominantly molded sheet thermoformed laminated composite material (prepreg), manufactured according to industry standards, with a reinforcing fiber and a thermoplastic polymer matrix material to provide good mechanical tensile characteristics. The corresponding commercially available composite material of this kind is known as CYLON, which is manufactured by Cytec Fiberite Inc., of Havre de Grace, Maryland. Alternatively, the keel of the foot and the calf of the leg in accordance with this and other implementations according to this description can be made of an elastic metal alloy, for example, of grade 5 titanium alloy with heat treatment for solid solution and subsequent aging (STOA), and with shot peening in accordance with specifications that increase fatigue resistance due to the introduction of compressive stresses on the surface.

All the physical properties of an elastic material with respect to stiffness, flexibility and strength are determined by the thickness of the material. Thinner material bends more easily than thicker material of the same density. The materials used, as well as their physical properties, are related to the stiffness characteristics depending on the flexibility of the prosthetic keel of the foot and lower leg. The thickness of the keel of the foot and lower leg is uniform or symmetrical in the embodiment according to FIGS. 3-5, but the thickness along the length of these components can vary according to the description below, for example, the back and front sections of the foot can be made thinner and more responsive to the average bend department of the foot.

To provide the prosthetic foot 1 with high and low dynamic response characteristics, the middle section 5 of the foot is formed in the form of a longitudinal arc, so that the median aspect of the longitudinal arc has relatively higher dynamic response characteristics than the flank aspect of the longitudinal arc. For this purpose, in this embodiment, the median aspect of the concavity of the longitudinal arc has a larger radius than its flank aspect.

The relationship between the values of the median radius and the flank radius of concavity of the longitudinal arch of the middle section of the 5th foot is also defined as bearing the weight of the surface area of the front and rear plantar surface of the keel of the 2nd foot. The T ₁ -T _{2 line} on the front section 5 of FIG. 8 represents the weight-bearing region of the front plantar surface. Line P ₁ -P ₂ represents the rear plantar weight bearing surface of section 5. The plantar weight bearing surfaces on the lateral side of the foot are represented by the distance T ₁ -P ₁ . Sole weight-bearing surfaces on the medial side of the foot 2 are represented by the distance P ₂ -T ₂ . The distances represented by T ₁ -P ₁ and P ₂ -T ₂ determine the magnitude of the radii, and therefore the ratio of high and low dynamic reactions is determined and depends on the convergence or divergence of these two lines T ₁ -T ₂ and P ₁ -P ₂ . Thus, high and low dynamic reactions can be determined when designing the structure.

The posterior end 17 of the posterior part 4 of the foot has the shape of an upwardly curved arc that responds to the reaction forces of the support when the heel is lowered to the ground with its compression to absorb. The heel formed by the posterior portion of the foot 4 is formed by the posterior lateral angle 18 located further back and more laterally than the medial angle 19 to facilitate eversion of the posterior portion of the foot during the initial contact phase when walking. The front end 20 of the anterior section 3 of the foot has the shape of an upwardly curved arc, simulating the fingers of a person’s foot flexing backwardly in the heel raising position in the last phase of the foot position when walking. From the bottom of the front and rear sections of the foot, rubber or foam pads 53 and 54 are installed as pillows.

The characteristic of the improved two-plane movement of the prosthetic foot is created by the medial and lateral compensation openings 21 and 22, passing through the front section 3 of the foot, located between its dorsal and plantar surfaces. Compensatory joints 23 and 24 extend forward from the corresponding holes to the front edge of the forefoot, forming the medial, middle and lateral longitudinal bending planes 25-27, due to which the ability to two-plane movement of the forefoot of the keel of the foot improves. The compensation holes 21 and 22 are located along the line BB in FIG. 5 in the transverse plane, which extends at an angle α 35 ° to the longitudinal axis AA of the keel of the foot, while the compensation medial hole 21 is shifted forward further than the lateral compensation hole 22.

The angle α of line B-B to the longitudinal axis AA in FIG. 5 can be 15 ° and still provide high and low dynamic characteristics. When this angle α is changed, the angle Z of the line T ₁ -T ₂ shown in FIG. 8 must also change. The compensation openings 21 and 22 in the projection onto the sagittal plane are inclined at an angle of 45 ° to the transverse plane, the dorsal aspect of these holes being shifted forward with respect to the plantar aspect. The distance from the detachable fastener 8 to the compensation lateral hole 22 is shorter than the distance from the detachable fastener to the medial compensation hole 21, and therefore the lateral part of the prosthetic foot 1 has a shorter finger lever than the medial, thereby ensuring high and low dynamic characteristics of the middle department of the foot. In addition, the distance from the detachable fastener 8 to the lateral sole of the weight bearing surface represented by the T ₁ line is shorter than the distance from the detachable fastener to the weight of the surface of the medial sole surface represented by the T ₂ line, as a result of which the lateral part of the prosthetic foot 1 has a shorter the lever of the fingers than the medial, providing high and low dynamic characteristics of the middle part of the foot.

The front of the rear section 4 of the foot of the keel 2 also has a compensation hole 28 passing through the rear section of the 4 feet between its dorsal and plantar surfaces. The compensating joint 29 extends back from the opening 28 to the posterior edge of the hindfoot, forming compensating planes 30 and 31 of the longitudinal bend. Due to this, the ability to two-plane movement of the back of the foot increases.

The dorsal aspect of the middle section 5 of the foot and the anterior section 3 of the foot of the keel 2 forms an upward concavity 32, Fig. 3, as a result of which the function of the five-beam axis of movement of the human foot is simulated. That is, concavity 32 has a longitudinal axis CC, oriented at an angle β of 15 ° -35 ° to the longitudinal axis AA of the keel of the foot, while the medial part extends forward further lateral, facilitating a five-beam movement during walking, as in an inclined axis of rotation "Lower gear" metatarsus from second to fifth in the foot of a person.

The ability to move in two planes is important when an amputee has to walk on rough terrain or when an athlete puts his foot medially or laterally. The direction of the support reaction force vector changes from sagittally oriented to a direction having a component in the frontal plane. The reaction force of the support will act medially in the opposite direction to the foot, repelling laterally. As a result of this, the tibia stance is tilted medially, and weight is applied to the medial structure of the keel of the foot. In response to these pressures, the medial planes 25-31 of the longitudinal bend of the compensating joint of the keel 2 feet are dorsally bent (bent up) and vice versa, and the lateral compensation planes 27 and 30 are plantarly bent (bent down) and twisted. This movement puts the plantar surface of the foot flat on the ground (plantar stage).

In the prosthetic foot of yet another embodiment according to the invention, another keel of the foot 33 according to the invention can be used, especially for the sprint, see FIGS. 6 and 7. The center of gravity of the body in the sprint becomes almost exclusively oriented in the sagittal plane. A prosthetic foot does not require a low dynamic response. Therefore, there is no need for an external rotational orientation within the range of 15 ° -35 ° of the longitudinal axis of concavity of the forefoot, middle sections of the foot as in the keel of foot 2. On the contrary, the longitudinal axis DD of the concavity orientation should become parallel to the frontal plane according to FIGS. 6 and 7. As a result of this stop in the sprint reacts only in the sagittal direction. In this case, the orientation of the compensation holes 34 and 35 in the fore and middle sections of the foot along the line Е-Е is parallel to the frontal plane, i.e. the lateral opening 35 is displaced in the forward direction and is in line with the medial opening 34 and parallel to the vertical plane. The front end 36 of the keel of the foot 33 also became parallel to the frontal plane. The posterior end region 37 of the heel of the keel of the foot is also parallel to the frontal plane. These modifications adversely affect the multipurpose nature of the prosthetic foot. However, these performance metrics are tailored to a specific setting. Another change in the keel of the foot 33 when running for a short distance occurs in the area of the fingers in the radial region of the forefoot, where the 15 ° of the back bend in the keel of the foot 2 increases to 25-40 ° of the back bend in the keel of the foot 33.

Figures 9 and 10 show another keel of the foot 38 according to the present invention for the prosthetic foot, especially applicable for sprint by a Saimaa amputated foot. To do this, the middle part of the foot of the keel 38 has a rear, concavity upward 39, in which the curved lower end of the tibial leg is attached to the keel of the foot with a removable fastener. This keel of the foot can be used by all people with an amputated lower limb. The keel of foot 38 corresponds to the longer remaining limb in a person with a Saimaa amputated limb. Its performance is clearly faster in terms of dynamic response. Its use is not limited to this level of amputation. It can be used on all tibial and femoral amputations. The keel 40 of the foot in the implementation according to FIGS. 11 and 12 also has concavity 41 for a person with a Saima amputated limb, which keel provides an orthopedic foot with high and low dynamic response and also with the ability to two-plane movement, similar to the implementation according to FIG. 3 -5 and 8.

The functional characteristics of several keels of the foot for the prosthetic foot 1 are associated with features of shape and design, because they relate to concavities, bulges, size of radii, stretching, compression, and physical properties of the material, and all these properties relate to the forces of resistance of the support during walking, running and jumping and react to these forces.

The keel of the foot 42 according to FIG. 13 is similar to the keel of the implementation according to FIGS. 3-5 and 8, except that the thickness of the keel of the foot decreases from the midfoot to the back of the hindfoot. The keel 43 of the foot according to FIG. 14 has a uniformly decreasing thickness at its front and rear ends. Similar changes in thickness are shown in lower leg 44 in FIG. 15 and lower leg 45 in FIG. 16, which can be used in prosthetic foot 1. Each design of the foot keel and lower leg provides different functional results, because they relate to horizontal and vertical linear speeds that improve performance in various sports modes of movement. The possibility of many configurations and adjustments in relation to the tibia in the mutual settings of the keel of the foot and the tibia creates the relationship between the tibia of the prosthetic foot, which gives the person with an amputated limb and / or prosthetist the ability to fine tune the prosthetic foot for maximum performance in a single action from among various walking or outdoor activities.

Other lower leg racks for the prosthetic foot 1 are shown in FIGS. 17-22 and include C-leg legs 46 and 47, S-leg legs 48 and 49 and modified J-legs 50 and 51. The upper end of the tibia can also have a straight vertical end with a pyramidal mounting plate attached to this proximal end. The male pyramid can be screwed to and through this vertical end of the calf shank. Plastic or aluminum fillers can also be provided in the elongated holes of the proximal and distal ends of the calf shank to accommodate the proximal male pyramid and distal keel of the foot. The prosthetic foot according to the invention is a modular system, preferably constructed with unified components and with unified dimensions for flexibility and variety of use.

All track and field athletics run counterclockwise. Another additional feature of the invention takes into account the forces acting on the foot moving along such a curved path. Centripetal acceleration acts toward the center of rotation when an object moves along a curved path. Newton’s third law applies to the action of energy. There is an equal opposing force. Those. for each “centripetal” force there is a “centrifugal” force. The centripetal force acts toward the center of rotation, while the centrifugal force, i.e. counteracting, the force acts from the center of rotation. If an athlete runs along a path along a curved path, then the centripetal force pulls the runner to the center of the curved path, and the centrifugal force pushes him away from the center of the curved path. To counteract the centrifugal force that pushes the runner out, the runner leans inward. If the direction of rotation of the runner on the track is always counterclockwise, then the left side is the inside of the track. Therefore, according to the present invention, the left side of the right and left racks of the legs of the prosthetic foot can be made thinner than the right side, and to improve the running performance on a curved path in a person with an amputated limb.

The keels 2, 33, 38, 42 and 43 of the foot in several embodiments all have a length of 29 cm with the proportions of the foot 1 shown in scale in FIGS. 3, 4 and 5, and in several views of different racks of the legs and keels of the foot.

But the specialist, it is obvious that the specific dimensions of the prosthetic foot can be changed depending on the size, weight and other characteristics of the person using this keel of the foot. The foot, ankle, lower leg and soft supporting tissues of a person are loaded with kinetic energy during the phase positions of the foot when walking and while running. A longer prosthetic leg stand stores more energy. Therefore, a greater amount of kinetic energy of the ankle joint is used to perform work when walking, while running and jumping. Therefore, the prosthesis of the tibia can be attached to the most proximal sections of the stump hole, for example, at the height of the tibial tubercle.

The following is a description of the action of the prosthetic foot 1 in cycles of the phase positions of the foot when walking and while running. Newton’s three laws of motion, which relate to the law of inertia, acceleration and action-reaction, are the basis of the kinematics of the movement of the foot 2. From Newton’s third law, the law of action and reaction, it is known that the support repels the foot in a direction that is similar and opposite to the direction which foot is lowered on a support. This repulsion is known as support reaction forces. In the field of study of walking, running and jumping, committed by man, a lot of scientific research has been conducted. Studies using force-measuring plates have shown that Newton’s third law applies when walking. From these studies, we know the direction of action on the foot from the side of the support.

The phases of the foot position when walking / running can be divided into phases of deceleration and acceleration. When the prosthetic foot touches the ground, the foot first falls to the ground, and the ground pushes it in the same and opposite direction, i.e. the ground pushes the prosthetic foot backward. Due to this, the prosthetic foot moves. The analysis of the phases of the foot position when walking and running starts from the contact point, which is the rear lateral angle 18, Figs. 5 and 8, which are shifted more backward and laterally than the medial side of the foot. This displacement at the initial contact causes the eversion of the foot and plantar bend of the tibia. The tibia stand always tends to a position that transfers the body weight through the tibia, for example, tends to ensure that its long vertical element is in a position opposite to the reaction forces of the support. For this reason, it moves the back plantar bends to counteract the reaction force of the support, which pushes the foot back.

Under the influence of the opposing reaction forces, the legs of the lower leg 6, 44, 45, 46, 47, 50, and 51 and the lower leg are compressed in other embodiments, and the proximal end moves backward. In the racks 48 and 49 of the lower leg, if the distal concavity is compressed in response to the opposing reaction forces of the support, the proximal concavity will expand, and the lower leg will move fully backward. Under the influence of the reaction forces of the support, which are initially loading, the lower end of the tibial strut is compressed, and the proximal end moves back. The lower smaller radius of the tibial strut is reduced, simulating the plantar bend of the human ankle joint, and the front of the foot due to compression is reduced to the ground. At the same time, the rear aspect of the keel, represented by the rear foot 4 and indicated by 17, is compressed upward due to compression. Both of these compressive forces act as shock absorbers. This cushioning is also enhanced by the laterally displaced lateral heel 18, which causes the eversion of the foot, and this also acts as a shock absorber after the tibia has stopped moving in the plantar bend and when the reaction force of the support began to push the foot back.

The compressed elements of the keel of the foot and legs of the lower leg then begin to unload, i.e. they begin to take their original shape, and the accumulated energy is released, as a result of which the proximal end of the tibia is accelerated forward. When the tibia is approaching its vertical initial position, the reaction forces of the support change: they cease to act in the backward direction and now act vertically upward towards the foot. Since the prosthetic foot has front and rear weight-bearing areas of the plantar surface, and these areas are connected by the non-supporting middle part of the foot in the form of a long arc, therefore, vertically directed forces from the prosthesis load the middle part of the foot in the form of a long arch with extension. The rear and front weight-bearing surfaces diverge. These vertically directed forces accumulate in the long arc-shaped midfoot, as the opposing reaction forces of the support change from vertically directed forward forces. The lower end of the tibial strut expands to simulate the back flexion of the ankle. As a result of this, the prosthetic foot rotates from the front plantar weight bearing surface. When unloading the weight, the long arc of the middle section of the 5th foot stops expanding and begins to take its original shape, as a result of which the simulated straightening of the plantar group of flexor muscles occurs. In this case, the accumulated energy of the vertical compression force is released with an increase in expansion.

The long arch of the keel of the foot and the legs of the lower leg counteract the expansion of their respective structures. As a result of this, the forward movement of the tibial strut stops, and the foot begins to turn from the front bearing area of the plantar surface. The extension of the midfoot of the keel has a high and low dynamic response in the case of the keels of the foot in accordance with the embodiments according to Figs. 15-35 ° outward from the longitudinal axis of the foot, so the medial long arc is longer than the lateral long arc. This is important because the medial aspect of the foot is used in the natural foot during acceleration or deceleration.

A longer medial arch of the prosthetic foot has better dynamic characteristics compared to the lateral arch. The lateral shorter finger lever is used when walking or running at low speed. The body's center of gravity moves in space along a sinusoid. It moves in the medial, lateral, proximal and distal directions. When walking slowly or running, the center of gravity of the body moves more in the medial and lateral directions than when walking fast or when running fast. In this case, the moment or inertia is less, and the ability to overcome higher dynamic reactions is less. The prosthetic foot according to the invention takes into account these principles of applied mechanics.

In addition, in a person’s walking cycle in the midfoot, the center of gravity of the body moves laterally to the extent necessary for walking. From the middle position of the foot to the detachment of the fingers from the surface, the center of gravity of the body (CTT) moves from the lateral position to the medial. Therefore, the center of gravity of the body passes along the lateral side of the keel of 2 feet. At first (lower gear) and with the CTT moving forward, it moves in the medial direction on the keel of 2 feet (highest gear). As a result, the prosthetic keel of 2 feet has the effect of an automatic transmission. That is, it starts in a lower gear and switches to a higher gear with each step of a person with an amputated limb.

When the reaction force of the support acts in front of the prosthetic foot, which pushes the ground backward, and when the heel starts to rise, the front of the long arch of the midfoot applies these backward forces perpendicular to the plantar surface. This is the most effective and efficient way of applying these forces. The same can be said about the back of the prosthetic foot. It also has such a form, due to which the backward reaction forces of the support during initial contact are opposed by the plantar surface of the keel of the foot, perpendicular to the direction of their application.

At the subsequent stages of heel lifting, when walking and running with fingers apart, the radial section of the forefoot dorsally bends by 15-35 °. This upward arc allows the forward reaction forces of the support to compress this portion of the foot. This compression is less resistant than expansion, and there is a smooth transition into the swing phase of walking and running on the prosthetic foot. In the subsequent stages of the foot position phase, when walking, the expandable tibia and the expandable long arch of the midfoot release their accumulated energy, summing up with the forward movement of the lower limb, which soon begins to swing the lower limb in a person with an amputated limb.

One of the main mechanisms for communicating forward movement in a walking person is called the phase of active movement. When the heel rises, the body weight is in front of the supporting limb, and the center of gravity drops. When the body weight falls to the front of the foot according to Figure 5 along the line CC, acceleration goes down, as a result of which the body receives the greatest vertical force. The acceleration of the leg forward by the ankle, associated with the lifting of the heel, leads to a shift back with an emphasis on the ground. When the center of pressure moves forward to the pivot axis, this leads to a constantly increasing torque of the back flexion. This creates a fall completely forward, which generates the main force to move forward when walking. Signs of an effective function of the ankle during an active forward movement message: heel lift, minimal ankle joint movement and an almost neutral position of the ankle. For a normal heel lift sequence, a stable midfoot is essential.

The posterior aspect of the rear and forefoot keel sections have compensation openings and compensation bending planes in several embodiments, as noted above. Exposure compensation acts as chamfered holes 45 ^{of the} hinge, and two-plane motion capabilities are improved in order to enhance full contact characteristics of the plantar surface of the foot when walking on uneven terrain.

In Figs. 9-12, the keels of the foot in the case of Saimaa amputated limbs are clearly different in terms of the possibilities of a dynamic reaction, because these opportunities are related to walking, running and jumping. These keels of the foot differ in four distinct points, including the presence of a proximal concavity in the back of the midfoot for better than a flat surface to accommodate the distal residual shape of the Saimaa amputated limb. This concavity also reduces the height of the keel of the foot to accommodate a longer residual limb in a person with Saimaa amputated limb. For this alignment of the mutual position of the concavity, it is required that the corresponding front and rear radii of the arc-shaped midfoot of the keel are more effective and smaller in size. Therefore, all the radii of the long arch of the midfoot and the radii of the hindfoot are more compact and smaller. This circumstance significantly affects dynamic reactions. Smaller radii create less potential for a dynamic response. But the prosthetic foot reacts faster to all the mentioned opposing support reaction forces that act when walking, running and jumping. The result is a faster stop with less dynamic response.

Improved purpose-built functioning can be achieved by adjusting the alignment of the mutual position with the prosthetic foot according to the present invention, since these alignment changes affect the vertical and horizontal components of each specific motion set. The human foot is a multifunctional device - for walking, running and jumping. On the one hand, the structure of the tibia of the fibula and tibia is not a multifunctional device. This is a simple lever that exerts its efforts when walking, running, jumping parallel to its elongated proximal distal orientation. This is an incompressible structure, and it does not have the ability to accumulate energy. On the other hand, the prosthetic foot according to the invention has the potential for dynamic reactions, and these capabilities relate to the horizontal and vertical linear speed components during athletic walking, running and jumping, and in terms of their performance, these capabilities are superior to those of the tibia. Therefore, it is possible to improve athletic performance in an amputee. For these purposes, according to the invention, the fastener 8 is loosened and the alignment of the tibia and foot keel with respect to each other is regulated in the longitudinal direction of the foot keel. This change is shown in connection with FIGS. 1 and 2. The tibia leg is then attached to the keel of the foot in an adjusted position using the fastener 8. During this adjustment, the bolt of the fastener 8 passes relative to one or both of the opposite, relatively longer, longitudinally extending holes 9 and 10 in the keel of the foot and the tibia, respectively.

A change in alignment improves the performance of the runner who initially contacts the ground with a flat foot; for example, in a runner stepping on the ground with the middle part of the foot, the keel of the foot passes forward relative to the tibia, and the sole of the foot is bent to the tibia. This new relationship improves the horizontal running component. That is, when the tibia is plantarly bent to the foot, and the foot is in contact with the ground in the flat foot position, as opposed to the initial heel contact, the ground immediately pushes the foot back, and the foot pushes the ground forward. As a result, the tibia stance moves quickly forward (with expansion) and down. The forces of the dynamic reaction are created by the extension, which resists the direction of the tibia in the initial movement. As a result of this, the foot rotates on the weight-bearing area of the metatarsal plantar surface. This causes an extension of the region of the middle part of the keel, which is more resistant than compression. The result of expanding the tibia and expanding the middle part of the foot is that resistance to subsequent movement of the tibia forward leads to resistance, as a result of which the extension of the knee and hips of the user can more effectively move the center of gravity of the body forward and proximal (i.e., increases horizontal speed). In this case, it is more forward than upward, as opposed to a runner placing the foot from the heel to the finger, in which successive advancement of the tibial leg encounters less resistance due to the initial greater dorsiflexion (vertically) of the tibial leg compared to the runner flat-footed.

To study the function of the foot of the sprinter, the alignment of the tibial position relative to the keel of the foot is changed. The advantage is obtained when the longitudinal axis of all concavities of the keel of the foot is oriented parallel to the front plane. The tibia is bent to the sole and moves back on the keel of the foot. Thus, the distal circles are reduced even more than that of a runner flat-footed with a multi-purpose keel of the foot, for example, according to FIGS. 3-5 and 8. As a result, there is even greater horizontal movement potential and dynamic reactions are directed towards this improved horizontal movement ability.

Sprinters have an increased range of motion, effort and moment (inertia), and the moment is the primary mover. Since their deceleration phase in the phases of the foot position is shorter than the acceleration phase, increased horizontal speeds are provided. This means that during initial contact, when the fingers touch the ground, the ground pushes the foot in the rear direction, and the foot pushes the ground in the forward direction. The tibia, whose strength is increased and whose moment is increased, is forced to bend even more and move down more strongly than with the initial contact of the runner who is flat-footed. Due to the action of these forces, a long arc of concavity of the foot is loaded with expansion, and the tibia is loaded with expansion. These expansion forces are opposed more than all the other running forces mentioned above. As a result of this, the possibilities of a dynamic foot reaction are proportional to the applied force. The reaction of the tibia and tibia of the human leg is associated only with the potential of energy, since it is a direct construction and it cannot accumulate energy. These forces of expansion in the prosthetic foot according to the invention during sprinting have a value exceeding all the other forces mentioned above associated with walking or running. Therefore, the possibilities of the dynamic reaction of the foot are proportional to the applied forces and increased athletic performance of a person with an amputated limb is possible in comparison with the function of the human body.

The prosthetic foot according to FIG. 25 is similar to the foot according to FIG. 3 except for the attachment between the tibia and the keel of the foot, and the design of the upper end of the tibia for connection with the lower end of the pylon. In this exemplary embodiment, the keel of the foot 54 is controllably connected to the lower leg 55 by a connecting member 56 made of plastic or a metal alloy. The connecting element is attached to the keel of the foot and to the calf of the calf with corresponding detachable fasteners 57 and 58, which are separated from each other by the interval in the connecting element in the direction along the longitudinal direction of the keel of the foot. The fastener 58 connecting the coupling element to the tibia leg has a more rearward position than the fastener 57 connecting the keel of the foot and the connecting element. By increasing the active length of the calf stance in this way, the dynamic response of the calf stance itself is enhanced. Alignment changes are made in conjunction with the longitudinal holes in the tibia and foot keel, as in other implementations.

The upper end of the leg stand 55 has an elongated hole 59 for holding the pylon 15. After it is inserted into this hole, the pylon can be firmly clamped in the leg stand by tightening the bolts 60 and 61 to pull together the free edges 62 and 63 of the leg stand along the hole . This connection of the pylon is controlled by loosening the bolts, extending the pylon relative to the shank to the desired position and by re-clamping the pylon in the adjusted position by tightening the bolts.

An orthopedic foot 70 according to another embodiment of the invention is shown in FIGS. 28-31B. This foot 70 contains the keel 71 of the foot, the tibia foot 72 and the connecting member 73. The foot 70 is similar to the prosthetic foot 53 according to the embodiment of FIGS. 25-27, except that the tibia foot 72 has a downwardly convex curved forward the lower end 74, in the form of a spiral 75. The tibial leg extends upward in the front direction from the spiral to its vertical upper end, as shown in FIG. 28. This tibia can be advantageously made of a metal such as titanium, as mentioned above, but other elastic materials can be used to make the semi-rigid elastic tibia.

The spiral shape of the lower end of the calf shank has a radius of curvature that increases sequentially as the shank of the calf shafts extends outward from the radially inner end 76 and as the calf shank extends upward from its lower spiral end to its upper end, which may be curved in the longitudinal direction or may be straight. This design was found to create a prosthetic foot with the ankle joint and the tibia resistant as a whole, with a varying regulatory reaction of the radii, similar to the parabolic tibia according to the invention, with the connecting element 73 and the tibia 72 occupying a more posterior position on the keel 71. Therefore, the leg of the lower leg and the connecting element are more hidden in the center at the ankle and foot of the cosmetic coating 77, see Fig. 28.

The connecting element 73 is made of plastic or a metal alloy and is adjustable mounted with its front end to the rear of the keel 71 of the foot with a threaded fastener 78, see Fig. 30. The keel of the foot has a longitudinal hole 79 in its arcuate upwardly curved part, and a fastener 78 is included in this hole for adjusting the alignment of the calf shank and the keel of the foot relative to each other in the longitudinal direction, for example, along line 30-30 of FIG. 29 in accordance with the explanation given above for other implementations.

The rear end of the connecting element comprises a transverse element 80 fixed between two longitudinally arranged plates 81 and 82 of the connecting element with metal screws 83 and 84 at each end of the transverse element. The radially inner end 76 of the spiral 75 is attached to the transverse element 80 of the connecting element by a threaded fastener 85, see Fig. 30. From this point of connection with the transverse element, the tibia leg spirals around the radially inner end 76 above the heel of the keel of the foot and passes upward in the forward direction from the spiral through the hole 85 through the connecting element between the plates 81 and 82 in front of the transverse element 80. The transverse element 86 at the front end of the connecting element 73 is fixed between the plates 81 and 82 by fasteners 87 and 88 at each end, see Fig.28 and 30. The fastener 78 is placed in the threaded hole in the transverse element 86.

On the rear surface of the transverse element 86, a wedge 89 is mounted, for example made of plastic or rubber, and is attached 90 to the transverse element with glue. This wedge serves as a stopper, limiting during walking the back bending of the tibial leg extending upward. The wedge size can be selected wider - pos. 89 'in Fig. 31A, or narrower - pos. 89' 'in Fig. 31B to adjust the desired degree of back flexion. Many wedges can be used at a time, one on top of the other and glued to the connecting element to reduce the allowable back bending.

A prosthetic sleeve (not shown) attached to the stump can be connected to the upper end of the lower leg 72 by means of an adapter 92 attached to the upper end of the lower leg by fasteners 93 and 94, see FIG. 28. The adapter has a mount 91 in the form of an inverted pyramid connected to a mounting plate attached to the upper surface of the adapter. The pyramidal mount is mounted in a mating mount having a reciprocal shape on a corresponding prosthetic sleeve for connecting the prosthetic foot and the prosthetic sleeve.

32-34, the prosthetic foot 100 of the invention has a longitudinal foot keel 101 with the front foot 102 at one end, the rear foot 103 at the opposite end and the middle foot 104 extending between the front and rear foot. The vertical leg of the leg 105 is attached to the keel of the foot at the lower end of the leg of the leg and forms the ankle joint of the prosthetic foot, and extends upward from the keel of the foot in the form of the convex-curved portion 106 of the leg of the leg. The tibia is attached to the keel of the foot with a connecting element 107, which is integral with the forefoot 102 of the keel of the foot. The connecting element extends backward from the forefoot as a cantilever over the midfoot 104 and part of the hindfoot 103. The rear foot and the middle sections of the keel foot are made in one piece and are connected to the forefoot and made in one piece with the fasteners 108 and 109.

The lower end of the leg stand 105 is curved reversely in the form of a spiral 110. The radially inner end of the leg 110 is attached to the connecting element by a connector 111 in the form of a threaded bolt and nut passing through matching holes in the leg and the connecting element. The back portion 112 of the connecting element is reversely curved, accommodating the lower end of the shank of the tibia, resting at the upper end of the curved portion 112 on the connector 111.

The stopper 113, connected to the connecting element of the keel of the foot by fasteners 114 and 115, limits the back bending of the tibia. The cosmetic coating in front of the lower leg strut in the shape of a human foot and lower leg may be located above the keel of the foot 101 and at least at the lower end of the lower leg strut 105 with the lower leg extending upward from the keel of the foot inside the lower leg covering according to the explanation and description of implementation in accordance with Fig. 28.

The prosthetic foot 100 of the embodiment of FIGS. 32-34 has an increased springiness of the keel of the foot. An increase in the length of the elastic keel of the foot from the toe region to the connection with the lower end of the tibial leg with the help of the monolithically formed front part of the foot and the connecting element gives a significant improvement in the elastic characteristics of the spring. When the area of the fingers in the keel of the foot is loaded in the late phase of the middle position of the foot while walking, the downward concavity of the cantilever connecting element expands and bends reversely, the forward concavity at the rear end of the connecting element is compressed, and each of these elastic bends of the connecting element of the foot keel accumulates energy for its subsequent release, during unloading in a direction that facilitates the forward movement of the limb during walking. The ankle, formed by the lower end of the leg of the prosthesis, repeats the function of the ankle joint, and the prosthesis helps maintain momentum and inertia. The configuration of the keel of the foot in this embodiment is not limited to the configuration shown, but may be any configuration of the keel of the foot mentioned above, including configurations with only “low gear” or “high gear”, with one or more compensating joints, or with several longitudinal sections formed, eg. Similarly, the upper end of the tibia of this embodiment, for example, above the ankle and above the convex-curved portion extending upward from the keel of the foot, is configured differently, for example, as a configuration according to any other embodiment disclosed herein. The upper end of the tibia can be connected to a sleeve on the lower limb for use with an adapter, for example, according to FIG. 2, FIG. 27 or 28, or with another known adapter.

The prosthetic foot 100 according to FIGS. 32-33 also has a rear device 114 located at the back of the lower leg, which accumulates additional energy when the upper end of the lower leg is moved forward while walking. That is, the active phase of the message forward movement of the load from the walking force of the elastic prosthesis expands the concavity in the sagittal plane of the rack 105, formed by the convex-curved part of the calf of the leg facing forward, resulting in forward movement of the upper end of the calf of the leg relative to the lower end of the calf and foot keel . A flexible elongated element 116, preferably in the form of a belt, of the device 114 is connected to the upper part of the lower leg strut by fasteners 119 and to the lower part of the prosthetic foot, i.e., to the connecting element 107 and to the lower end 110 of the lower leg by connector 111, as described above. The length of the flexible belt, which may be resilient and / or inelastic, is stretched while walking, and its length can be fixed or adjusted using a sliding adjuster 117 between overlapping sections of the length of the belt.

The curved spring 118 rests on its base in an adjustable manner on the upper end of the lower leg, for example, between the lower leg and an adapter (not shown) attached to the lower leg by fasteners 119. The lower, free end of the spring is adapted to interact with a flexible belt. When pulling the belt, the spring changes the direction of the longitudinal passage of the belt. The forward movement of the upper end of the tibial strut during walking pulls / additionally pulls (if tension was originally applied to the belt) the belt and loads / additionally loads the spring to accumulate energy during the power load of the prosthetic foot during walking. The accumulated energy is returned by the spring when the power load of the prosthetic foot ceases to act, as a result of which the kinetic energy generated to give the driving force to the prosthetic foot during walking increases.

In the case of shortening the belt 116 by means of a sliding adjuster 117 for the initial pre-tension before using the prosthetic foot, the belt tension serves to move backward the upper end of the elastic post, and also to control the forward movement of the lower leg during use of the prosthesis. Facilitating backward movement may be appropriate in order to achieve a quick response of the flat foot of the prosthetic foot when the heel touches the original position of the foot while walking, similar to what happens in a person’s foot and ankle when the heel is lowered to the ground while walking, when the sole of the foot is bent.

Facilitating the backward movement and controlling the forward movement of the upper end of the elastic leg support using a prosthesis with the device 114 located behind the leg, both are effective for changing the ratio of the ankle torque of the prosthetic foot during walking by changing the bending characteristics in the sagittal plane for the longitudinal movement of the upper end of the leg lower legs when responding to a power load and to the cessation of this load during use of the prosthetic foot. The ratio of the ankle torque in a person’s natural foot while walking, defined as the ratio of ankle torque at maximum back flexion occurring in the late last position of the foot during walking, divided by the ankle torque when bending the sole, created by reacting to the initial flat foot load after lowering the heel while walking, according to the reported data is 11.33: 1. The purpose of changing the bend in the sagittal plane, characteristic of the longitudinal movement of the upper end of the tibial leg when using the device 114 located at the back of the tibia, is to increase the torque of the ankle to simulate what happens in the foot of a person while walking. This is important to ensure proper gait with the prosthesis and for people with one natural foot and one prosthetic foot to ensure a symmetrical gait. Preferably, by adjusting the forward movement and possibly facilitating backward movement with the device 114 located behind the lower leg, the ratio of the ankle torque in the prosthesis increases, as a result of which the ankle torque in the prosthesis at maximum back flexion is an order of magnitude higher than the ankle torque when bent soles. More preferably, the ankle torque is increased to a value of about 11: 1 compared to a ratio of 11.33: 1 in the case of a natural ankle, according to available data.

Another purpose of the device located at the back of the lower leg is to increase the effectiveness of the prosthetic foot during walking by accumulating additional elastic energy in the device spring 118 during the force load on the prosthesis and to return the accumulated elastic energy when the force ceases to increase the kinetic energy, generated by the driving force of the prosthetic foot while walking. The device 114 can be considered a device that serves in the prosthetic foot for the same purpose, for which the muscles in the foot, ankle and calf of a person serve while walking, i.e. to efficiently generate the driving force of the human body while walking by using the generated potential energy of the body during the power load on the foot and by converting this potential energy into kinetic energy for the driving force when the power load of the foot stops. Approaching or even exceeding the effectiveness of the human foot with the prosthetic foot according to the invention with a device located behind the lower leg is important for restoring the "normal functioning" of an amputated person. The forward movement control of the upper end of the calf shank 105 by the device 114 located behind the calf is effective for limiting the forward range of the upper end of the calf shank. The keel of the foot in the prosthetic foot 100 by expanding its elastic longitudinal arc in the connecting element 107 and by compressing the reverse curved portion 112 of the connecting element also contributes to the accumulation of energy under power load during walking, as described above. This potential energy is returned as kinetic energy to generate a driving force during the termination of the power load while walking.

The prosthesis 120 according to FIG. 35 has a keel 121 of the foot, an ankle 122 and a device 123 located behind the lower leg. An adapter 124 is connected by appropriate fasteners (not shown) to the upper end of the lower leg strut for attaching the prosthesis to the sleeve on the lower limb of the user. 32-34, the prosthesis connecting member 125 is integral with the forefoot 126 of the keel. The rear section 127 of the keel foot is connected to the upper end of the reverse curved part of the connecting element by a fastener 128, which is shown in Fig. 39 in a dismantled form prior to being connected to the connecting element and the leg leg. Said mount comprises a radially inner component 129 opposite the radially inner end of the reverse curved helix of the lower end of the tibial leg and a radially outer component 130 opposite the upper end of the back foot section 127. A mechanical fastener (not shown), which, for example, can be a through-bolt and nut, passes through the centered holes in components 129 and 130 and the responsely curved portions of the back of the foot, the connecting element, and the lower end of the lower leg, located one after another and connected together mount.

The device 123, located behind the lower leg, on the prosthetic foot 120 has a cylindrical spring 131, one end of which rests on the upper end of the lower leg strut to move with it. To the second free end of the coil spring with a metal clip 133, one end of the flexible elongated element, the belt 132, is attached. The clip is connected at one end to the first end of the belt and its other end is bent in clamping engagement with the free end of the coil spring according to Fig. 35. The intermediate portion of the flexible belt 132 extends down to the keel of the foot and the lower end of the calf shank, where it extends around the return 134 in the form of a cylindrical pin 135 mounted on the fastener component 130 130. To minimize the slip resistance of the belt over the pin, this pin 134 can be installed in component 130 rotatably. The second end of the belt is clamped at the upper end of the tibial strut between the back surface of the tibia and the spring holding member 135 having a complementary shape, which extends partially down the length of the lower leg. The upper end of the element 135 is secured between the upper end of the coil spring and the upper end of the lower leg with corresponding fasteners (not shown). The length of the flexible belt, which may be elastic and / or inelastic, is stretched while walking. This length is fixed or can be adjusted with a sliding regulator (not shown) between overlapping belt lengths, for example, near the connection to a metal clip 133.

The forward movement of the upper leg of the lower leg relative to the keel of the foot and the lower end of the lower leg during walking overcomes the resistance from the expansion of the coil spring 131 and bending backward of the lower end of the latch 135, accumulating energy during the force load of the prosthesis in the late phase of the middle foot position during walking, and this accumulated energy is released when the force ceases, thereby contributing to the generation of ankle energy in the prosthesis and increasing efficiency. The coil spring 131 in this embodiment is made of spring steel, but other alloys or non-metal materials, such as plastic, can also be used. The spring holding member 135 in this embodiment is made of carbon fiber encapsulated in an epoxy resin, but other materials such as a metal alloy or plastic can be used. The flexible belt 132 is similar to the belt 116 according to FIGS. 32-34 made of woven Kevlar (DuPont) 5/8 inch wide and 1/16 inch thick, but other materials and their dimensions that can be used will be obvious to a person skilled in the art in this implementation. The first end of the belt 132 passes through the hole at the end of the metal clip 133 and is applied back to the belt in a second layer, and there it is fixed in a controlled manner by a sliding regulator or other fastener.

The prosthesis 140 in the embodiment of FIG. 36 uses the tibia stand 122 and the device 123 located behind the lower leg used in the prosthesis 120 of FIG. The keel 141 of the prosthetic foot 140 has a reverse curved connecting member 142 connected to the lower end of the lower leg by a fastener 128 for receiving and installing the lower end of the spiral of the lower leg. In this embodiment, the connecting element is formed integrally with the front section 143 and the rear section 144 of the keel of the foot.

The prosthetic foot 150 according to the embodiment of FIG. 37 is similar to the embodiments of FIGS. 35 and 36, except that the connecting member 151 is formed as a separate member that is attached at the rear end by fastening 153 to the keel of the foot 152, forming the front, middle and rear sections of the foot 155, 156 and 157 keel of the foot. The connection area of the fastener 153 is located behind the connection of the tibia and the connecting element to increase the active length of the keel of the foot and increase the elastic characteristics of the spring in the late phase of the middle position of the foot while walking. This effect is manifested even more in the implementation according to Fig. 38, in which the connecting element 160 of the prosthesis 161 extends to the rear end of the keel of the foot 163, where it is connected to the keel of the foot with a fastener 164. The fastener can be a mechanical fastener, for example, a bolt and a nut, or another fixture made of a composite material consisting of encapsulated carbon fiber and epoxy resin, or of a composite material such as encapsulated aromatic polyamide fiber - Kevlar manufactured by Du Pont ", and epoxy. The lower front end 165 of the connecting element serves as a stopper for the forward movement of the lower leg when folding back. Or, in the implementation position 113 of FIGS. 32-34, a separate stop can be provided. In the embodiments of FIGS. 35 and 36, both types of stoppers can be used.

The prosthetic foot 170 of FIG. 40 is similar to the prosthetic foot of the implementation of FIGS. 28-31B. The prosthesis 170 contains the keel of the foot 171, the leg of the lower leg 172 and the connecting element 173. The lower leg 172 has a downward convex-curved lower end 174 that is reverse curved in the form of a spiral 175. The leg of the lower leg extends upward from the spiral to its vertical upper end, which may be curved in the longitudinal direction or may be straight.

The spiral shape at the lower end of the tibial strut has a radius of curvature that sequentially increases as the tibial strut spirals outward from the radially inner upper end 176, where it is attached to the connecting element by a connector (not shown) in the form of a threaded bolt and nut passing through combined holes in the leg of the leg and the connecting element, as in the implementations according to Fig.32-38.

The connecting element 173 serves as a housing for the spiral 175, and it is adjustable attached to the keel 171 feet threaded fastening, Fig.30. The keel of the foot has a longitudinal hole in its upper arcuate part, which includes a fastener for regulating the alignment of the tibia and the keel of the foot relative to each other in the longitudinal direction, see explanations of other implementations. Instead of the longitudinal plates 81 and 82 shown in FIGS. 28-30, the connecting element 173 has open sides and a forward-facing hole bounded laterally by laterally spaced lateral edges 177 of the front side of the connecting element. The leg of the lower leg extends upward through the forward facing opening, as in the embodiment of FIGS. 28-30. A stop (not shown) can be provided, as in FIGS. 28-30, to limit the back flexion of the tibia during walking.

The adapter 124, similar to the embodiments according to Figs. 35-39, is connected by corresponding fasteners (not shown) to the upper end of the lower leg strut for attaching the prosthesis to the sleeve on the lower limb of the user. The device 178, located behind the lower leg, on the prosthetic foot 170 is similar to the device 123 according to Fig. 35 and has a coil spring 179, one end of which rests on the upper end of the lower leg strut to move with it. One end of a flexible elongated element, a belt 180, is attached to the second free end of the coil spring by a metal clip 181. One end of this clip is attached to the first end of the belt and its other end is bent in clamping engagement with the free end of the coil spring, as in a device located behind the lower leg according to Fig. 35. The intermediate part of the flexible belt 180 extends down to the keel of the foot and the lower end of the calf shank, where it extends around the return 182 in the form of a cylindrical pin mounted on the attachment component 183 184 connecting the connecting element and the lower end of the calf shank. To minimize sliding resistance, pin 182 can be rotatably mounted in component 183. The second end of the belt is clamped at the upper end of the lower leg between the lower leg and the coil spring. The flexible belt may have a fixed length, or its length may be adjustable using a sliding adjuster (not shown) as in the embodiment of FIG. 35. The device 178 serves to accumulate energy during the force load of the prosthesis in the late phase of the midfoot position during walking, and this accumulated energy is released when the power load ceases, and this fact contributes to the generation of lower leg energy in the sagittal plane, according to the description of the implementation in accordance with FIG. 35.

One of the differences between the prosthesis 170 according to FIG. 40 and the prosthesis 70 according to FIGS. 28-30 is that the ankle of the prosthesis 170 is higher above the ground than the ankle in the prosthesis 70. It should be noted that the lower end of the reverse curved ankle joint 174 of FIG. .40 is located above the arcuate upwardly curved middle section of the foot keel 171 according to FIG. 40 due to the upward and backward configuration of the connecting element 173, while the lower end 75 of the spiral 74 in the prosthesis 70 according to FIGS. 28-30 is lower than the height of the arcuate bent up mid about the division of the foot of the keel. It has been established that the height of this ankle region above the ground affects the angular change in the sagittal plane of the ankle, which occurs in the phase of the foot position while walking. A higher location of the ankle area will increase the angular change, while a lower position of the ankle will decrease the angular change. Therefore, the higher location of the ankle according to Fig has a higher potential angular velocity at the same value of the angular change occurring at the proximal end of the leg. This increase in angular velocity is of great importance, for example, an ankle height of two inches has a 35% smaller angular change than at a height of three and a half inches. The height of the ankle, as will be obvious to a person skilled in the art, in the prosthesis according to the invention is determined by several factors, including the size and configuration of the connecting element, the height of the longitudinal arc, the length of the front, middle and rear sections of the foot of the keel, etc.

This completes the presentation of exemplary implementations. Despite the fact that the invention is set forth in several illustrative examples, it should be mentioned that those skilled in the art will be able to envisage many other modifications and implementations within the scope and concept of the principles of the invention. For example, the lower end of the tibial foot in the prosthetic foot according to the invention is not limited to a parabolic or spiral shape, and it may have a hyperbolic configuration or another downward convex curvilinear configuration to provide the desired generated foot movements, in conjunction with the keel of the foot to form the ankle of the foot. A device located behind the lower leg is not limited to using a belt therein as a flexible elongated member, and other elements such as a flexible cable may be used. Similarly, the spring configuration in the device may differ from the configurations explained here. For example, an elastic tube made of metal or plastic extending transversely to the longitudinal location of the prosthesis may be located between the elongated element and the upper part of the lower leg for energy storage and release. Signs of various implementations, including materials for construction, can also be used with each other. In particular, within the framework of the above description, drawings, and the appended claims, it is possible to carry out suitable variations and modifications of the components and / or arrangements of the subject matter. Alternative uses will be apparent to those skilled in the art in addition to variations and modifications to components and / or arrangements.

Claims (26)

1. The system for the prosthesis of the lower limb, containing
a longitudinal foot having a forefoot at one end,
the back of the foot at the opposite end and the middle part of the foot, passing between the forefoot and hindfoot;
ankle attached to the foot;
vertical tibia extending upward from the ankle;
in which the ankle and lower leg are formed by an elastic element,
passing upward from the foot and having a convex-curved spiral part facing forward; and
in which the said element is attached to the foot by a connecting element formed integrally with the forefoot. 2. The system according to claim 1, in which the connecting element extends backward from the forefoot as a cantilever over the midfoot and part of the hindfoot. 3. The system according to claim 2, in which the rear and middle sections of the foot are formed integrally and connected to the forefoot and the connecting element formed integrally. 4. The system according to claim 1, in which the lower end of the elastic element is reverse curved. 5. The system according to claim 5, in which the connecting element contains a reverse curved lower end of the elastic element. 6. The system according to claim 4, in which the reverse curved lower end of the elastic element is made in the form of a spiral, forming the said spiral part. 7. The system according to claim 6, in which the radially inner end of the spiral of the elastic element is attached to the connecting element. 8. The system according to claim 1, in which the connecting element contains a stopper, limiting the back bending of the elastic element. 9. The system according to claim 1, which also contains a cosmetic coating in the form of a human foot and lower leg, said cosmetic coating being located above the foot, ankle and at least the lower end of the lower leg, the lower leg extending upward from the ankle in the lower leg covering. 10. The system according to claim 1, which also contains a device located on the back of the lower leg, on the prosthesis to store energy during the power load of the prosthesis and to return the accumulated energy when the power load is stopped, in order to increase the kinetic energy generated for the driving force of the prosthesis during walking . 11. The system of claim 10, wherein said device comprises at least one elongated element extending between the upper part of the lower leg and the lower part of the prosthetic foot, and at least one spring elastically biased by at least one elongated element in response to movement forward the upper end of the lower leg for energy storage. 12. The system according to claim 11, in which at least one spring is a cylindrical spring, the free end of which is connected to an elongated element, while the cylindrical spring is made with the possibility of elastic expansion in response to forward movement of the upper end of the lower leg during walking for accumulation energy. 13. Orthopedic foot containing
a longitudinal keel of the foot having the forefoot at one end, the hindfoot at the opposite end, and the midfoot between the forefoot and hindfoot;
a vertically oriented elastic shank of the leg attached to the keel of the foot at the lower end of the leg of the leg, which forms the region of the elastic ankle joint of the prosthetic foot, and extending mainly upward from the keel of the foot and having the convex-curved portion of the elastic leg of the leg facing forward;
in which the tibia is attached to the keel of the foot with a connecting element formed integrally with the forefoot of the keel. 14. The prosthetic foot of claim 13, wherein the connecting member extends backward from the forefoot as a cantilever over the midfoot and a portion of the back of the keel. 15. The prosthetic foot according to 14, in which the rear and middle sections of the keel foot are formed integrally and connected to the forefoot and the connecting element formed integrally. 16. The prosthetic foot according to item 13, in which the lower end of the elastic element is reverse curved. 17. The prosthetic foot according to clause 16, in which the connecting element accommodates the reverse curved lower end of the lower leg. 18. The prosthetic foot according to clause 16, in which the reverse curved lower end of the lower leg is made in the form of a spiral. 19. The prosthetic foot according to claim 18, wherein the radially inner end of the shank of the shank is attached to the connecting element. 20. The prosthetic foot according to item 13, in which the connecting element contains a stopper, limiting the back bending of the tibia. 21. The prosthetic foot according to item 13, which also contains a cosmetic coating in the form of a human foot and lower leg, and said cosmetic coating is located above the keel of the foot and at least the lower end of the lower leg, and the lower leg extends upward from the keel of the foot in the lower covering the legs. 22. The prosthetic foot according to item 13, which also contains a device located on the back of the lower leg, on the prosthesis for storing energy during the power load of the prosthesis and for returning the accumulated energy when the power load ceases to increase the kinetic energy generated for the driving force of the prosthesis during walk. 23. The prosthetic foot according to claim 22, wherein said device comprises at least one elongated element extending between the upper part of the calf post and the lower part of the prosthetic foot, and at least one spring elastically biased by at least one elongated element in response forward movement of the upper end of the lower leg for energy storage. 24. The prosthetic foot according to item 23, in which at least one spring is a cylindrical spring, the free end of which is connected to the elongated element, while the cylindrical spring is made with the possibility of elastic expansion in response to forward movement of the upper end of the lower leg while walking for energy storage. 25. System for a prosthetic lower limb containing
longitudinal foot;
ankle attached to the foot;
vertical tibia extending upward from the ankle;
moreover, the ankle and lower leg are formed by an elastic element, the reverse curved lower end of which is attached to the foot, forming an ankle, and which extends upward from the foot and has a convex-curved spiral part facing forward; and
the elastic element is attached to the foot by a connecting element containing the curved lower end of the element. 26. The system according A.25, in which the reverse curved lower end of the elastic element is made in the form of a spiral, forming the aforementioned spiral shape.

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