CN101340864B - 手假肢 - Google Patents

手假肢 Download PDF

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CN101340864B
CN101340864B CN2006800483763A CN200680048376A CN101340864B CN 101340864 B CN101340864 B CN 101340864B CN 2006800483763 A CN2006800483763 A CN 2006800483763A CN 200680048376 A CN200680048376 A CN 200680048376A CN 101340864 B CN101340864 B CN 101340864B
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joint
spring element
hands prostheses
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CN101340864A (zh
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G·普奇哈默
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Otto Bock Healthcare GmbH
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/54—Artificial arms or hands or parts thereof
    • A61F2/58—Elbows; Wrists ; Other joints; Hands
    • A61F2/583—Hands; Wrist joints
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    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
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    • A61F2/58—Elbows; Wrists ; Other joints; Hands
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
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    • F16F1/373—Springs made of rubber or other material having high internal friction, e.g. thermoplastic elastomers characterised by having a particular shape
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    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F1/00—Springs
    • F16F1/36—Springs made of rubber or other material having high internal friction, e.g. thermoplastic elastomers
    • F16F1/42—Springs made of rubber or other material having high internal friction, e.g. thermoplastic elastomers characterised by the mode of stressing
    • F16F1/48—Springs made of rubber or other material having high internal friction, e.g. thermoplastic elastomers characterised by the mode of stressing loaded mainly in torsion
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F1/00—Springs
    • F16F1/36—Springs made of rubber or other material having high internal friction, e.g. thermoplastic elastomers
    • F16F1/42—Springs made of rubber or other material having high internal friction, e.g. thermoplastic elastomers characterised by the mode of stressing
    • F16F1/52—Springs made of rubber or other material having high internal friction, e.g. thermoplastic elastomers characterised by the mode of stressing loaded in combined stresses
    • F16F1/54—Springs made of rubber or other material having high internal friction, e.g. thermoplastic elastomers characterised by the mode of stressing loaded in combined stresses loaded in compression and shear
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F1/00—Springs
    • F16F1/36—Springs made of rubber or other material having high internal friction, e.g. thermoplastic elastomers
    • F16F1/42—Springs made of rubber or other material having high internal friction, e.g. thermoplastic elastomers characterised by the mode of stressing
    • F16F1/52—Springs made of rubber or other material having high internal friction, e.g. thermoplastic elastomers characterised by the mode of stressing loaded in combined stresses
    • F16F1/54—Springs made of rubber or other material having high internal friction, e.g. thermoplastic elastomers characterised by the mode of stressing loaded in combined stresses loaded in compression and shear
    • F16F1/545—Neidhart-type rubber springs
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2002/5003—Prostheses not implantable in the body having damping means, e.g. shock absorbers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
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    • A61F2002/5007—Prostheses not implantable in the body having elastic means different from springs, e.g. including an elastomeric insert
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2002/5038—Hinged joint, e.g. with transverse axle restricting the movement
    • A61F2002/5039—Hinged joint, e.g. with transverse axle restricting the movement allowing only for single rotation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2002/5081—Additional features
    • A61F2002/5083—Additional features modular

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Abstract

本发明涉及一种手假肢，该手假肢具有基架(1)和用于使该手假肢固定在臂残肢上的耦合元件(2)并且具有至少一个用于使该手假肢相对于这些耦合元件(2)屈曲和伸展的关节。根据本发明，给该基架(1)配置至少一个弹簧元件(3)，所述弹簧元件设置在所述关节中、具有渐增的弹簧特性曲线并且在屈曲角度或伸展角度增大时提供递增的反力，该基架抵抗该弹簧元件(3)的弹簧力保持在中性位置中。

Description

手假肢
本发明涉及一种手假肢，该手假肢具有基架和用于使该手假肢固定在臂残肢上的耦合元件并且具有至少一个用于使该手假肢相对于这些耦合元件屈曲和伸展的关节，其中，该基架抵抗弹簧力保持在中性位置中。
由US2004/0015240A1公知了一种在基架上具有握持元件的手假肢，该握持元件具有一个半圆形的转动元件。一个转动弹簧设置在基板与装配板之间并且使基架与电动驱动的握持元件保持在中性位置中。通过可移动的锁止板可使基架在不同的角度位置中锁止。
本发明的任务在于，这样改善手假肢，使得该手假肢提供尽可能自然的形态。
根据本发明，该任务通过一种手假肢来解决。手假肢，具有基架和用于使该手假肢固定在臂残肢上的耦合元件并且具有至少一个用于使该手假肢相对于这些耦合元件屈曲和伸展的关节，其中：给该基架配置至少一个弹簧元件，所述弹簧元件设置在所述关节中、具有渐增的弹簧特性曲线并且在屈曲角度或伸展角度增大时提供递增的反力，该基架抵抗该弹簧元件的弹簧力保持在中性位置中。
根据本发明的手假肢具有基架和用于使手假肢固定在臂残肢上的耦合元件并且具有至少一个用于使手假肢相对于耦合元件屈曲或伸展的关节，其中，基架抵抗弹簧力保持在中性位置中，该手假肢设置至少一个弹簧元件，所述弹簧元件配置给基架，所述弹簧元件具有渐增的弹簧特性曲线并且随着屈曲角度或伸展角度的增大提供递增的反力。为了获得手假肢的尽可能自然的形态，本发明提出，对自然手在其形态上不仅在功能方面而且在外表方面尽可能与自然一致地进行仿效，以便提供对于假肢穿戴者来说改善的可接收性。为了在与别人或物体接触时不产生人造身体部分的印象，在处于表面上的全部假肢件的软成形和在手以及尤其是在手关节区域中有目的地装入弹性件是必需的。在此，手假肢的关节本身构造成松的关节，该关节通过至少一个弹簧元件保持在中性位置或初始位置中。这种弹簧元件配置给基架并且相对于其它关节件、尤其是耦合元件或设置在中间的部件支撑该基架。在此这样构造弹簧元件，使得在屈曲角度或伸展角度增大时存在渐增的弹簧特性曲线，由此，在手的中性位置中，可实现在中性位置内以及在小角度范围中绕其具有软的特性和容易的运动性。抵抗手基架的对应的终端位置提供提高的反力，以便避免在运动界限上硬止挡。这提高手假肢的自然特性。
弹簧元件可构造成扭转弹簧，该扭转弹簧不仅在伸展方向上而且在屈曲方向上起作用。作为替换方案，每一个弹簧元件可抵抗伸展或屈曲起作用，其中，多个先后起作用的弹簧部件也可构成一个弹簧元件。弹簧元件也可构造成弹性体件，该弹性体件与屈曲角度或伸展角度相关地以提高的、尤其是渐增的弹簧力抵抗绕屈曲关节的扭转。该或这些弹簧元件可构造得可更换，以便可与假肢使用者的对应的手假肢或要求相适配。
除了唯一的屈曲和伸展，本发明提出，基架可绕一个基本上相对于臂残肢的纵向延伸平行的轴线转动地被支承着，以便可为手假肢的尽可能自然的形态提供手假肢中的另外的运动分量。
为了在握持住物体之后可抬高和保持该物体，本发明提出，在关节中存在一个闭锁装置，该闭锁装置使关节在所选择的位置中锁止。该闭锁装置被设置不仅用于屈曲-伸展关节而且用于旋转关节。原则上也可将这种闭锁装置分开地装入到手假肢中，而不必存在相应的弹簧特性或复位装置。闭锁装置在此尤其是可具有平面齿部，所述平面齿部为了使关节锁止而可啮合。这具有可容易松开和角度划分非常细的优点，由此，手假肢可在几乎任意一个角度位置中锁止。
为了可提供手假肢的尽可能自然的感觉，屈曲-伸展关节设置在基架的手掌区域中，特别地，关节的屈曲-伸展运动的轴线设置在基架的手掌区域中。用于闭锁功能的机构原理可如在圆珠笔中那样通过一次操作来接通并且通过重复操作来关断。闭锁装置的操作或者可手动地通过按钮或者通过可电操作的驱动单元来操作。
伸展-屈曲关节的关节轴线相对于臂残肢的纵向延伸成斜角、尤其是成钝角的取向组合了手假肢的屈曲以及同时外展的性能。这对于大部分日常工作是有利的。
下面借助于附图来详细描述本发明的实施例。附图表示：
图1一个手假肢的总体视图的俯视图；
图2根据图1的手假肢的侧视图；
图3一个手假肢关节的立体分解视图；
图4该假肢关节在中性位置中的剖面视图；
图5根据图4的A-A的剖面；
图6在扭转60°的位置中根据图4的视图；
图7一个屈曲闭锁件的立体剖面分解视图；以及
图8根据图7的屈曲闭锁件在装配好的位置中的剖面视图。
图1中以俯视图示出了一个手假肢100的总体视图，该手假肢具有一个基架101，该基架通过一个关节装置10不仅可在屈曲方向上而且可在伸展方向上绕摆动轴线4摆动地被支承着。关节装置10具有一个用于在手基架101上固定的装配板1，该关节装置在下面被称为关节。另外，在关节10中构造有一个壳体200，该壳体用于使手假肢100与臂残肢上的固定装置相耦合。壳体200可通过一个耦合元件2与装配板1相连接。也提出，壳体200以及由此手假肢100实现绕轴线5的转动运动。转动轴线5基本上相对于小臂柄的纵向延伸平行地取向。屈曲和伸展摆动轴线4相对于转动轴线5成直角。
在关节10上在侧面设置有一个用于设置在关节10内部的闭锁装置的弹性的操作装置6。通过操作元件6可使手基架101在所选择的角度位置中锁止。手基架101也可通过重新操作从锁止的位置转换到解锁的位置中。
图2中以侧视图示出了手假肢100，该手假肢具有基架101以及装配板1，手基架101通过孔14和合适的固定机构固定在该装配板上。手假肢100在图2中处于中性位置中并且可实施逆时针的伸展运动以及顺时针的屈曲运动，如通过双箭头所示。手指可通过基架101或壳体200内部的电机单独地或共同地驱动。手假肢100通过关节10中的弹簧元件保持在中性位置中，由此可实现手基架101到中性位置中的容易的运动性。
图3中示出了在该图中没有详细表示的手假肢的装配板1，该装配板具有一个圆形的框架11。在装配板1中构造有一些用于固定手假肢的其它部件的孔14。在框架11的中点也构造有中心的孔13，用于接收耦合元件2的转动轴颈23。在耦合元件2与装配板1或基架101的相应元件之间设置有呈弹性体本体构型的弹簧元件3。弹簧元件3具有中心的孔33，转动轴颈23在装配好的位置中插入在该中心的孔中。转动轴颈23在装配好的位置中伸入到装配板1的孔13中。
耦合元件2本身可固定在用于接收在臂残肢上的固定件或壳体200上，在该耦合元件上设置有或构造有一个销21，该销接收一个转动套筒41。在装配板1上也构造有一个销12，该销在图3中不可看到，该销接收位于对面的转动套筒42。转动套筒41、42靠置在弹簧元件3的表面上并且可在该表面上滚压。
图4中以剖面视图在中性位置中示出了假肢手关节10。两个转动套筒41、42布置在它们的对应的支承销21、12上并且彼此对置地贴靠在弹簧元件3的凹入部34上。弹簧元件3嵌入在圆形的框架11中，该圆形的框架构造在装配板1上，其中，弹簧元件3的外周缘局部地相应于框架11的内轮廓。在当前情况下，弹簧元件3构造得镜像对称，由此，不仅在伸展方向上而且在屈曲方向上存在相同的弹簧刚度。这可视使用目的而定来改变，由此在伸展和屈曲时存在不同的弹簧力。在弹簧元件中构造有凹口35，这些凹口影响弹簧性质。凹口35愈大，手假肢绕中性位置的支承就愈软。
在图5中在剖面视图中可看到，框架11与装配板1构造成一体，用于转动套筒42的支承销12也如此。支承销21一体地构造在耦合元件2上，转动轴颈23也如此。
如果现在手假肢100与装配板1一起相对于耦合元件2扭转，如图6中所示，则支承销21、12彼此相对移位。弹簧元件3在当前情况下构造成一体的弹性体件，该弹簧元件压缩，其中，通过弹簧元件3的当前构型可获得渐增的弹簧特性。这例如可通过在弹簧元件3内部加入的部件和与扭转角度相关地顺序激活这些部件或通过相应的造型来实现。在如图3中所示的中性位置中，弹簧元件3具有相对软的弹簧特性，由此，手假肢100与自然手相比相对松垮地在小臂运动时一起摆动。通过凹入部34引起中性位置的优选位置，由此，手假肢100由于弹簧元件3的复位力而总是复位到该中性位置中。手假肢100相对于耦合元件2扭转愈远，通过弹簧元件3施加的反力就愈提高，由此避免相对于端部止挡硬止挡。这相应于自然的运动过程和手形态并且还保护手假肢100的机械部件。
作为弹簧元件3的一体构型的替换方案，该弹簧元件也可由多个分开的弹簧元件来构造。例如对于伸展和屈曲可设置不同的弹簧元件。于是手假肢通过两个弹簧保持在中性位置中。
图7详细地示出了一个闭锁装置7，该闭锁装置安置在壳体200上。用于固定手基架101装配或基板1设置在闭锁装置7内部。在闭锁装置7的所示实施形式中没有示出前面描述的弹簧元件。但由于弹簧元件3的扁平构型，可在闭锁装置7内部或在壳体200上的突缘中实现容易的组合。
在壳体200上构造有一个外齿部201与一个径向环绕的接片202。在外齿部201与接片202之间的自由空间中插入一个内齿部环73，该内齿部环可与基架101一起相对于基板1扭转。该转动通过轴承滚珠8来实现，这些轴承滚珠在内齿部环73和基板1的轴承壳体79内部的相应的滚珠轨道中运动。密封环9用作壳体200与轴承壳体79之间的密封装置。在基板1的区域中在轴承壳体79内部构造有内齿部17。具有外齿部和平面齿部的平面齿部盘72与内齿部环73啮合。该平面齿部盘72在装配好的状态中在关节锁止的情况下与位于对面的第二平面齿部盘71啮合，该第二平面齿部盘也具有外齿部并且与轴承壳体79的内齿部啮合。平面齿部盘71、72通过弹簧环80和碟形弹簧26相互压并且保持啮合。碟形弹簧26通过压力罩77支撑在作为固定装置的弹性的罩6对面。弹性的罩6通过保持环16对水密封地固定在基板1或轴承壳体79上。碟形弹簧26和弹簧盘80通过压力盘81、82支撑在平面齿部盘71、72上。
在平面齿部盘71、72内部设置有一个分离机构，该分离机构在操作时使平面齿部盘71、72在轴向方向上相背运动。压力罩77可在朝壳体200的方向上移位并且使压力套筒76在朝壳体200的方向上运动，一个分离销75和一个滚珠78在该压力套筒中被导向。碟形弹簧26在朝壳体200的方向上压所述压力盘82并且在绕压力套筒76设置的分离套筒74上施加力。分离套筒74具有环绕的接片，该接片伸入到平面齿部盘71、72之间并且可形状锁合地与配置给内齿部环73的平面齿部盘72啮合。滚珠78在压力套筒76内部被导向并且与分离销75啮合，在其中构造有一个呈心脏形曲线的展开线形式的轨道导向装置，如在圆珠笔中那样。如果现在压力罩在朝壳体200的方向上运动，则碟形弹簧26通过压力盘82压在分离套筒74上并且使平面齿部盘72在轴向上运动离开平面齿部盘71，由此可进行绕关节轴线4的旋转。在压力罩77继续压时，处于预压紧下的碟形弹簧26开始移入，其中，滚珠78在固定的分离销75上沿着构造成心脏形的轨道导向装置在朝固定的壳体200的方向上被导向并且使压力套筒76在分离销75上通过滚珠78保持固定。绕轴线4的旋转由此继续保持可能。
通过重新操作压力罩77，滚珠8继续在分离销75的轨道导向装置中运动。通过滚珠78从闭锁的止点运动出来，分离套筒74返回到图8中所示的锁止位置中。该机构原理类似于圆珠笔或双推式元件工作。
闭锁装置7的相同机构原理也可在绕旋转轴线5的转动锁止和解锁时执行。

Claims (11)

1.手假肢，具有基架和用于使该手假肢固定在臂残肢上的耦合元件并且具有至少一个用于使该手假肢相对于这些耦合元件屈曲和伸展的关节(10)，其特征在于：给该基架(101)配置至少一个弹簧元件(3)，所述弹簧元件设置在所述关节中、具有渐增的弹簧特性曲线并且在屈曲角度或伸展角度增大时提供递增的反力，该基架抵抗该弹簧元件(3)的弹簧力保持在中性位置中。
2.根据权利要求1的手假肢，其特征在于：所述弹簧元件(3)构造成扭转弹簧。
3.根据权利要求1或2的手假肢，其特征在于：每一个弹簧元件(3)抵抗伸展或屈曲起作用。
4.根据上述权利要求1或2的手假肢，其特征在于：所述弹簧元件(3)构造成弹性体件。
5.根据上述权利要求1或2的手假肢，其特征在于：所述弹簧元件(3)由多个单个弹簧构成。
6.根据上述权利要求1或2的手假肢，其特征在于：所述弹簧元件(3)可更换。
7.根据上述权利要求1或2的手假肢，其特征在于：该基架(101)除了屈曲和伸展之外可绕一个基本上相对于该臂残肢的纵向延伸平行的轴线(5)转动地被支承着。
8.根据上述权利要求1或2的手假肢，其特征在于：在所述关节(10)中设置有一个闭锁装置(7)，该闭锁装置使所述关节(10)在所选择的位置中锁止。
9.根据权利要求8的手假肢，其特征在于：该闭锁装置(7)具有配置给所述关节(10)的平面齿部(71，72)，所述平面齿部为了使所述关节锁止而可啮合。
10.根据上述权利要求1或2的手假肢，其特征在于：所述关节(10)的屈曲-伸展运动的轴线(4)设置在手掌区域中。
11.根据上述权利要求10的手假肢，其特征在于：该关节的屈曲-伸展运动的轴线(4)相对于该臂残肢的纵向延伸成斜角地取向。
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