CN104382675A - Rapid forming based self-power driven artificial limb and manufacturing method thereof - Google Patents
Rapid forming based self-power driven artificial limb and manufacturing method thereof Download PDFInfo
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- CN104382675A CN104382675A CN201410776757.XA CN201410776757A CN104382675A CN 104382675 A CN104382675 A CN 104382675A CN 201410776757 A CN201410776757 A CN 201410776757A CN 104382675 A CN104382675 A CN 104382675A
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Abstract
The invention discloses a rapid forming based self-power driven artificial limb and a manufacturing method thereof. The artificial limb comprises a palm, a forearm, an upper arm and fingers which are mutually connected, as well as driving ropes and elastic resetting ropes which are arranged among the palm, the forearm and the upper arm and fingers; when the palm or the forearm is buckled, the driving ropes are driven to move, and the fingers are buckled to generate a gripping action; when the palm or the forearm are unbent, the driving ropes are loosened, the fingers are unbent by the elastic resetting ropes, and accordingly, the gripping function of the fingers is completed only through buckling and unbending activity of the palm and the forearm. According to the rapid forming based self-power driven artificial limb and the manufacturing method, components can be rapidly formed through 3D printing, the artificial limb is simple and convenient to manufacture, the period is short, used materials and other components such as the elastic ropes and the like are easy to obtain, therefore, the price is low, and the application range is wide. Besides, the artificial limb is simple to assemble and train and is conveniently worn and used by a user, the complicated training and adaption process can be effectively avoided, and the artificial limb is easy to use and is basic artificial limb with good market significance.
Description
Technical field
The present invention relates to the prosthesis technique field that self power drives, more specifically, relate to a kind of self power based on rapid shaping having more cost performance and operability and drive artificial limb, and the manufacture method of this artificial limb.
Background technology
Artificial limb, also claim " artifucial limb ", be for amputee with the artificial limb of compensatory defect limb part function, common are upper extremity prosthesis and artificial leg.The multiplex aluminium sheet of artificial limb in the past, timber, leather, plastic or other material make, and joint adopts metal parts, and the main flow of artificial limb circle is titanium alloy and carbon fiber material now.
The artificial limb of current market Shang Ge company or mechanism's development, can be divided into aesthetic function artificial limb and operating function artificial limb according to function, operating function artificial limb can be roughly divided into cable-operated prosthesis and myoelectric-controlled prosthesis according to power typing.The emulator of operating function artificial limb is quite high, can realize the activity of different dimensions, and corresponding component can be coordinated to realize self adaptation, sensor feedback, brain wave control, idea control etc.But the manufacturing process of operating function artificial limb is complicated, corollary equipment is many, and some also needs complicated computer program design, and therefore price is high, and assembling is complicated, and cycle of training is long, and the grasp difficulty of user is also large.These problems limit the application of artificial limb in vast general patient undoubtedly.
Sum up, the artificial limb of unusual shortage high performance-price ratio on market, for example, hands is as the artificial limb the highest to requirement on flexibility, its substantially the most most important function be grip function, but, the grip function of hands can be realized simply, economically, cycle of training is short, allows patient hold wield hands prostheses and does not really also occur at present.
Summary of the invention
The present invention is intended to solve the problems of the technologies described above at least to a certain extent.
The self power that first object of the present invention is to provide based on rapid shaping drives artificial limb, preferably can be applicable to the patient of finger, palm or forearm excalation, the patient more than elbow joint (not having forearm) and lack can not directly use, and needs additional other to fix and driving device.
Another object of the present invention is to provide the manufacture method of the joint drive artificial limb based on rapid shaping.
For solving the problems of the technologies described above, technical scheme of the present invention is as follows:
Self power based on rapid shaping drives artificial limb, comprises interconnective palm, forearm, upper arm, and palm is provided with how group hands refers to simultaneously; Wherein, point, between palm and upper arm, be provided with driving rope, be provided with elastic reset rope between finger and palm simultaneously; When flexing palm or forearm, drive and drive rope to move, and then make FF produce grasp motion; When palm or front arm stretching, drive rope to loosen, elastic reset rope resets and makes finger stretch, and so only needs the flexing of palm, forearm, stretches the movable grip function just completing finger.
Point and be made up of 1 distal digit joint and 1 ~ 2 near-end finger segments; The rear end of distal digit joint is provided with near-end axis hole; The front end of near-end finger segments is provided with distal axial bore, and the rear end of near-end finger segments is provided with near-end axis hole.
In addition, be equipped with the upper finger hole road and lower finger hole road that distribute up and down in the distal digit joint of finger and near-end finger segments, wherein, lower finger hole road drives rope process for guiding, and upper finger hole road passes through for guiding elastic reset rope.
Upper arm comprises upper arm stationary plane, and two protuberances are extended in the left and right sides along upper arm stationary plane front end, and protuberance is equipped with distal axial bore.
In addition, upper arm dorsal part is provided with the fixing duct identical with pointing quantity, and fixing duct is used for the end of fixed drive rope.
Forearm comprises forearm stationary plane, and the left and right sides of forearm stationary plane front end is equipped with distal axial bore, and the left and right sides of forearm stationary plane rear end is equipped with near-end axis hole.
In addition, dorsal forearm is provided with the cableway guide channel identical with pointing quantity, and cableway guide channel drives rope to pass through and the path of fixed drive rope for guiding.
Palm comprises palm stationary plane; Palm stationary plane front end surface is provided with organizes fixing hole more; The passage identical with pointing quantity is provided with in palm stationary plane.
Passage can guide and drive rope to pass through; Part passage being positioned at palm stationary plane front end connects with the upper near-end finger segments near palm of finger.
The position corresponding with each passage, palm front end place is equipped with distal axial bore; The left and right sides, palm rear end all extends back formation lobe, and lobe is equipped with near-end axis hole.
Palm proximal lateral outwardly convex, and this projection is provided with outside axis hole; Outside axis hole and palm axis are 15 degree ~ 145 degree at the angle of horizontal plane, and outside axis hole and palm axis are 45 degree ~ 120 degree at the angle of vertical simultaneously.
Between the distal digit joint of finger and near-end finger segments, and near-end finger segments is all connected with near-end shaft hole matching lateral pin by the distal axial bore of correspondence position each other.
In addition, the distal axial bore on palm is connected by transverse axis with between the near-end axis hole of each close near-end finger segments, is linked together side by side by each finger.
In addition, be connected by lateral pin between the near-end axis hole that distal axial bore and the distal digit of near-end finger segments save.Be connected by lateral pin between the near-end axis hole of forearm and the distal axial bore of upper arm; Be connected by lateral pin between the distal axial bore of forearm and the near-end axis hole of palm; Be connected by lateral pin between the distal axial bore of upper arm and the near-end axis hole of forearm.
Drive rope quantity identical with finger, one end of rope is driven to be fixed on the distal digit joint of finger, drive the other end of rope to be fixed in the fixing duct of upper arm dorsal part simultaneously, drive the body of rope successively through lower finger hole road, the passage of palm, the postcubital cableway guide channel of finger;
Elastic reset rope quantity is identical with finger, and one end of elastic reset rope is fixed on the distal digit joint of finger, and the other end of elastic reset rope is also fixed on one by one through the upper finger hole road of finger in the fixing hole on palm.
Palm stationary plane, forearm stationary plane, upper arm stationary plane all can by tie up multiple band corresponding be fixed on patient palm, forearm, on upper arm.
The invention also discloses the manufacture method of the self power driving artificial limb based on rapid shaping, first each for artificial limb component processing become to have contralateral limbs integral outer appearance and be matched with the mechanical dimension of disabled limbs stump, then carrying out assembling use, specifically comprising the steps.
Step1: use Optical measuring tool or other survey tools such as infrared ray 3d scanner, the complete limbs of homonymy of patient's offside healthy limb or Healthy People are measured, obtains shape datas such as comprising upper arm, forearm, palm, the profile of finger, surface angle and relative position relation; Wherein, Healthy People Ipsilateral limb is measured, be when patient do not have offside healthy limb or cannot face to face surface sweeping patient offside healthy limb carry out.
Step2: use Optical measuring tool or other survey tools such as infrared ray 3d scanner, block deformed limb end to patient to measure, obtain the shape data of deformed limb end, computer picture software is used to it, oppositely get shape, obtain the reversal shape of deformed limb end, this reversal shape be exactly artificial limb pod inside profile, in addition, the shape of pod also can be designed to the shape in packing material contact limbs face, and packing material and artificial limb contact surface use other can inlay fixing simple shape.
Step3: by outline data inside the prosthesis socket that obtains in the shape data that obtains in step 1 and step 2, import PaintShop: wherein, when getting the shape data of patient's offside healthy limb in step 1, get the mirror image of contralateral limbs, the three-dimensional solid image of the artificial limb profile of these side limbs is obtained again by PaintShop, when the shape data of the complete limbs of the homonymy getting Healthy People in step 1, through the expansion of proper proportion or after reducing adjustment, the three-dimensional solid image of the artificial limb profile of these side limbs is obtained by PaintShop, described proper proportion is the size between Healthy People limbs and patient health contralateral limbs, after obtaining the artificial limb profile of these side limbs, according to the inner side profile of pod, the three-dimensional solid image of the artificial limb profile obtained is taken, three-dimensional solid image obtains the shape of profile inside prosthesis socket.
Step4: through above step, can obtain has profile equally with offside and inside pod, profile mates the artificial limb of deformed limb profile completely, by its from three-dimensional solid image data format be converted into can 3D print formatted file, import 3D printer, respectively each parts such as upper arm, forearm, palm, finger are made; By following step, each parts are assembled again, obtain and have the self power of emulation profile to drive artificial limb.
Step5: arrange upper arm stationary plane on upper arm, makes the left and right sides of upper arm stationary plane front end extend two protuberances, and arrange distal axial bore on this protuberance.
Forearm arranges forearm stationary plane, in the left and right sides of forearm stationary plane front end, all distal axial bore is set, near-end axis hole is all set in the left and right sides of forearm stationary plane rear end.
Finger is cut into 1 distal digit joint and 1 ~ 2 near-end finger segments; In the rear end of distal digit joint, near-end axis hole is set; Distal axial bore is set in the front end of near-end finger segments simultaneously, near-end axis hole is set in the rear end of near-end finger segments.
Palm arranges palm stationary plane; Arrange at palm stationary plane front end surface and organize fixing hole more; The passage identical with finger quantity is set in palm stationary plane; Make palm proximal lateral outwardly convex, this projection arranges outside axis hole; The position corresponding with each passage in palm front end all arranges distal axial bore; Make the left and right sides of palm rear end all extend back formation lobe, and all arrange near-end axis hole in this lobe, wherein, part passage being positioned at palm stationary plane front end can connect with the upper near-end finger segments near palm of finger; In addition, order outside axis hole and palm axis are 15 degree ~ 145 degree at the angle of horizontal plane, and order outside axis hole and palm axis are 45 degree ~ 120 degree at the angle of vertical.
Step6: the cableway guide channel identical with finger quantity is set at dorsal forearm; In the distal digit joint of finger and near-end finger segments, the upper finger hole road and lower finger hole road that distribute up and down are all set; At upper arm dorsal part, the fixing duct identical with finger quantity is set.
Step7: the driving rope identical with finger quantity is set, be fixed on the distal digit joint of finger by driving one end of rope, to the other end of rope be driven to be fixed in the fixing duct of upper arm dorsal part simultaneously, make the body of driving rope successively through lower finger hole road, the passage of palm, the postcubital cableway guide channel of finger.
The elastic reset rope identical with finger quantity is set, one end of elastic reset rope is fixed on the distal digit joint of finger, the other end of elastic reset rope is passed through the upper finger hole road of finger and selects in a fixing hole be fixed on palm.
Wherein, cableway guide channel can guide and drive rope to pass through and the path of fixed drive rope; Wherein, lower finger hole road can guide and drive rope process, and upper finger hole road can guide elastic reset rope to pass through; Fixing duct can the end of fixed drive rope.
Step8: the upper near-end axis hole of distal digit joint of order finger and the distal axial bore of near-end finger segments overlap and form interphalangeal joint, order overlaps near the near-end axis hole of the near-end finger segments of palm and the distal axial bore of palm and forms metacarpophalangeal joints, make palm near-end axis hole and distal forearm axis hole overlap and form carpal joint, make forearm near-end axis hole and upper arm distal axial bore overlap and form elbow joint.
Step9: connect each joint by lateral pin, makes artificial limb global formation; Concrete, between the distal digit joint of finger and near-end finger segments, and near-end finger segments is all connected with near-end shaft hole matching lateral pin by the distal axial bore of correspondence position each other; In addition, the distal axial bore on palm is connected by transverse axis with between the near-end axis hole of each close near-end finger segments; So each finger is linked together side by side.
In addition, the distal axial bore of forearm and the near-end axis hole of palm is connected by lateral pin.
In addition, the distal axial bore of upper arm and the near-end axis hole of forearm is connected by lateral pin.
Step10: add packing material at pod, avoid artificial limb to the damage of deformed limb skin, the artificial limb of wearable use complete like this completes.
Wherein, the material of elastic reset rope is elastomeric polymer, and this elastomeric polymer is one or more elastomeric polymers formed in metal, alloy, plastics, fiber.
The material driving rope is non-elastic material, can comprise the polymer such as corresponding metal, alloy, plastics, fiber.
Packing material is elastomeric polymer, and this elastomeric polymer can be silica gel, rubber or sponge.
When 3D prints finger, palm, forearm, upper arm and lateral pin, printed material can be mixture of one or more compositions of metal, alloy, fiber, polylactic acid, mixture containing polylactic acid, acrylonitrile-butadiene-styrene copolymer, mixture containing acrylonitrile-butadiene-styrene copolymer, polyamide, mixture containing polyamide, hydroxyl phosphorus ash, stone tricalcium phosphate carbon, and printed material also can be mixture that is grey containing hydroxyl phosphorus or stone tricalcium phosphate carbon; In addition, printed material can also be the mixture of one or more compositions in silica gel, rubber, gelatin, industrial starch, agar, poly-glucosamine, alginate, gelatin, collagen glue, cellulose, silicone.
Compared with prior art, the beneficial effect of technical solution of the present invention is:
The invention provides the artificial limb that self power drives, used unit all can print rapid shaping through 3D, and it is simple for production,, convenient, the cycle is short, and material therefor and miscellaneous part such as elastic rope etc. are all easy to obtain, therefore cheap, applied widely, in addition, artificial limb of the present invention is easily assembled, training is simple, and user is worn and easy to use, effectively can avoid complicated training procedure of adaptation, being easy to use, is therefore the basic type artificial limb having very much market significance.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of a preferred embodiment of the present invention;
Fig. 2 is the side view of Fig. 1;
Fig. 3 is the structural representation of the upper arm of a preferred embodiment of the present invention;
Fig. 4 is the side view of Fig. 3;
Fig. 5 is the structural representation of the forearm of a preferred embodiment of the present invention;
Fig. 6 is the side view of Fig. 5;
Fig. 7 is the structural representation of the palm of a preferred embodiment of the present invention;
Fig. 8 is the side view of Fig. 7;
Fig. 9 is the structural representation of the finger of a preferred embodiment of the present invention;
Figure 10 is the structural representation of the near-end finger segments of a preferred embodiment of the present invention;
Figure 11 is the structural representation of the nearly distal digit joint of a preferred embodiment of the present invention.
Detailed description of the invention
Accompanying drawing, only for exemplary illustration, can not be interpreted as the restriction to this patent.
To those skilled in the art, in accompanying drawing, some known features and explanation thereof may be omitted is understandable.
Below in conjunction with the Figure of description in the present invention, be clearly and completely described the technical scheme in invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
Embodiment one
The self power based on rapid shaping as Fig. 1 ~ Figure 11 shows that a preferred embodiment of the present invention drives artificial limb, wherein as shown in Fig. 1 ~ Fig. 2, comprises interconnective palm 7, forearm 10, upper arm 13, and palm 7 is provided with and organizes finger 25 more simultaneously; Wherein, finger 25, be provided with between palm 7 and upper arm 13 and drive rope 14, be provided with elastic reset rope 19 between finger 25 and palm 7 simultaneously; When flexing palm 7 or forearm 10, drive and drive rope 14 to move, and then make finger 25 flexing produce grasp motion; When palm 7 or forearm 10 stretch, drive rope 14 to loosen, elastic reset rope 19 resets and makes finger 25 stretch, and so only needs the flexing of palm 7 or forearm 10, stretches the movable grip function just completing finger 25.
As shown in Fig. 3 ~ Fig. 4, upper arm 13 comprises upper arm stationary plane 27, and two protuberances are extended in the left and right sides along upper arm stationary plane 27 front end, and protuberance are equipped with distal axial bore 2.
As shown in Fig. 5 ~ Fig. 6, forearm 10 comprises forearm stationary plane 26, and the left and right sides of forearm stationary plane 26 front end is equipped with distal axial bore 2, and the left and right sides of forearm stationary plane 26 rear end is equipped with near-end axis hole 3; Be connected by lateral pin 20 between the near-end axis hole 3 of forearm 10 and the distal axial bore 2 of upper arm 13.
As shown in Figure 9, point 25 to be made up of 1 distal digit joint, 1 and 1 ~ 2 near-end finger segments 4.
The rear end of distal digit joint 1 is provided with near-end axis hole 3.
The front end of near-end finger segments 4 is provided with distal axial bore 2, and the rear end of near-end finger segments 4 is provided with near-end axis hole 3; Be connected by lateral pin 20 between the near-end axis hole 3 that distal axial bore 2 and the distal digit of near-end finger segments 4 save 1;
As shown in Fig. 7 ~ Fig. 8, palm 7 comprises palm stationary plane 18; Palm stationary plane 18 front end surface is provided with many group fixing holes 39; The passage 21 identical with pointing 25 quantity is provided with in palm stationary plane 18; Palm 7 proximal lateral outwardly convex, and this projection is provided with outside axis hole 17.
Part passage 21 being positioned at palm stationary plane 18 front end connects with the near-end finger segments 4 near palm 7 on finger 25, and the position corresponding with each passage 21, palm 7 front end place is equipped with distal axial bore 2.
The left and right sides, palm 7 rear end all extends back formation lobe, and lobe is equipped with near-end axis hole 3,
Be preferably as follows for the position of outside axis hole 17 and direction: outside axis hole 17 and palm 7 axis are 15 degree ~ 145 degree at the angle of horizontal plane, outside axis hole 17 and palm 7 axis are 45 degree ~ 120 degree at the angle of vertical simultaneously.
Between the distal digit joint 1 of finger 25 and near-end finger segments 4, and near-end finger segments 4 all coordinates lateral pin 20 to be connected by the distal axial bore 2 of correspondence position with near-end axis hole 3 each other; In addition, the distal axial bore 2 on palm 7 is connected by transverse axis 20 with between the near-end axis hole 3 of each close near-end finger segments 4.And then each finger 25 is linked together side by side.
Be connected by lateral pin 20 between the distal axial bore 2 of forearm 10 and the near-end axis hole 3 of palm 7.
Be connected by lateral pin 20 between the distal axial bore 2 of upper arm 13 and the near-end axis hole 3 of forearm 10.
Forearm 10 dorsal part is provided with the cableway guide channel 22 identical with pointing 25 quantity, and cableway guide channel 22 drives rope 14 to pass through and the path of fixed drive rope 14 for guiding.
Be equipped with the upper finger hole road 23 and lower finger hole road 24 that distribute up and down in the distal digit joint 1 of finger 25 and near-end finger segments 4, wherein, lower finger hole road 24 drives rope 14 process for guiding, and upper finger hole road 23 passes through for guiding elastic reset rope 19.
The passage 21 of palm 7 drives rope 14 to pass through for guiding.
Upper arm 13 dorsal part is provided with the fixing duct 15 identical with pointing 25 quantity, and fixing duct 15 is for the end of fixed drive rope 14.
Drive rope 14 quantity identical with finger 25, one end of rope 14 is driven to be fixed on the distal digit joint 1 of finger 25, drive the other end of rope 14 to be fixed in the fixing duct 15 of upper arm 13 dorsal part simultaneously, drive the body of rope 14 to pass through lower finger hole road 24, the passage 21 of palm 7, the cableway guide channel 22 of forearm 10 dorsal part of finger 25 successively.
Elastic reset rope 19 quantity is identical with finger 25, and one end of elastic reset rope 19 is fixed on the distal digit joint 1 of finger 25, and the other end of elastic reset rope 19 is also fixed on one by one through the upper finger hole road 23 of finger 25 in the fixing hole 39 on palm 7.
Palm stationary plane 18, forearm stationary plane 26, upper arm stationary plane 27 are all separately fixed at by tying up multiple band 16 on the palm of patient, forearm, upper arm.
Through such assembling, can drive when patient's flexing palm or forearm and drive rope to move, FF is made to produce grasp motion, rope is driven to loosen when palm or front arm stretching, elastic reset rope resets and stretches finger, so only needs the flexing of the palm of patient or forearm, stretches the movable grip function just completing hands.
Self power based on rapid shaping drives the manufacture method of artificial limb, first becomes to have contralateral limbs integral outer appearance by each for artificial limb component processing and is matched with the mechanical dimension of disabled limbs stump, then carrying out assembling use, specifically comprising the steps:
Step1: use Optical measuring tool or other survey tools such as infrared ray 3d scanner, the complete limbs of homonymy of patient's offside healthy limb or Healthy People are measured, obtains the shape data such as profile, surface angle and relative position relation comprising upper arm 13, forearm 10, palm 7, finger 25; Wherein, Healthy People Ipsilateral limb is measured, be when patient do not have offside healthy limb or cannot face to face surface sweeping patient offside healthy limb carry out.
Step2: use Optical measuring tool or other survey tools such as infrared ray 3d scanner, block deformed limb end to patient to measure, obtain the shape data of deformed limb end, computer picture software is used to it, oppositely get shape, obtain the reversal shape of deformed limb end, this reversal shape be exactly artificial limb pod inside profile, in addition, the shape of pod also can be designed to the shape in packing material contact limbs face, and packing material and artificial limb contact surface use other can inlay fixing simple shape.
Step3: by outline data inside the prosthesis socket that obtains in the shape data that obtains in step 1 and step 2, import PaintShop: wherein, when getting the shape data of patient's offside healthy limb in step 1, get the mirror image of contralateral limbs, the three-dimensional solid image of the artificial limb profile of these side limbs is obtained again by PaintShop, when the shape data of the complete limbs of the homonymy getting Healthy People in step 1, through the expansion of proper proportion or after reducing adjustment, the three-dimensional solid image of the artificial limb profile of these side limbs is obtained by PaintShop, described proper proportion is the size between Healthy People limbs and patient health contralateral limbs, after obtaining the artificial limb profile of these side limbs, according to the inner side profile of pod, the three-dimensional solid image of the artificial limb profile obtained is taken, three-dimensional solid image obtains the shape of profile inside prosthesis socket.
Step4: through above step, can obtain has profile equally with offside and inside pod, profile mates the artificial limb of deformed limb profile completely, by its from three-dimensional solid image data format be converted into can 3D print formatted file, import 3D printer, respectively each parts such as upper arm 13, forearm 10, palm 7, finger 25 are made; By following step, each parts are assembled again, obtain and have the self power of emulation profile to drive artificial limb.
Step5: arrange upper arm stationary plane 27 on upper arm 13, makes the left and right sides of upper arm stationary plane 27 front end extend two protuberances, and arrange distal axial bore 2 on this protuberance.
Forearm 10 arranges forearm stationary plane 26, distal axial bore 2 is all set in the left and right sides of forearm stationary plane 26 front end, near-end axis hole 3 is all set in the left and right sides of forearm stationary plane 26 rear end.
Finger 25 is cut into 1 distal digit joint, 1 and 1 ~ 2 near-end finger segments 4; In the rear end of distal digit joint 1, near-end axis hole 3 is set; Distal axial bore 2 is set in the front end of near-end finger segments 4 simultaneously, near-end axis hole 3 is set in the rear end of near-end finger segments 4.
Palm 7 arranges palm stationary plane 18; At palm stationary plane 18 front end surface, many group fixing holes 39 are set; The passage 21 identical with finger 25 quantity is set in palm stationary plane 18; Make palm 7 proximal lateral outwardly convex, this projection arranges outside axis hole 17; The position corresponding with each passage 21 in palm 7 front end all arranges distal axial bore 2; Make the left and right sides of palm 7 rear end all extend back formation lobe, and all arrange near-end axis hole 3 in this lobe, wherein, part passage 21 being positioned at palm stationary plane 18 front end can connect with the near-end finger segments 4 near palm 7 on finger 25; In addition, preferably, order outside axis hole 17 is 15 degree ~ 145 degree with palm 7 axis at the angle of horizontal plane, and order outside axis hole 17 is 45 degree ~ 120 degree with palm 7 axis at the angle of vertical.
Step6: the cableway guide channel 22 identical with finger 25 quantity is set at forearm 10 dorsal part.
In the distal digit joint 1 and near-end finger segments 4 of finger 25, the upper finger hole road 23 and lower finger hole road 24 that distribute up and down are all set.
At upper arm 13 dorsal part, the fixing duct 15 identical with finger 25 quantity is set.
Step7: the driving rope 14 identical with finger 25 quantity is set, be fixed on the distal digit joint 1 of finger 25 by driving one end of rope 14, simultaneously by driving the other end of rope 14 to be fixed in the fixing duct 15 of upper arm 13 dorsal part, the body of driving rope 14 is made to pass through lower finger hole road 24, the passage 21 of palm 7, the cableway guide channel 22 of forearm 10 dorsal part of finger 25 successively.
The elastic reset rope 19 identical with finger 25 quantity is set, one end of elastic reset rope 19 is fixed on the distal digit joint 1 of finger 25, the other end of elastic reset rope 19 to be selected in a fixing hole 39 be fixed on palm 7 through the upper finger hole road 23 of finger 25.
Wherein, cableway guide channel 22 can guide and drive rope 14 to pass through and the path of fixed drive rope 14; Wherein, lower finger hole road 24 can guide and drive rope 14 process, and upper finger hole road 23 can guide elastic reset rope 19 to pass through; Fixing duct 15 can the end of fixed drive rope 14.
Step8: make the near-end axis hole 3 of distal digit joint 1 and the distal axial bore 2 of near-end finger segments 4 on finger 25 overlap and form interphalangeal joint, order overlaps near the near-end axis hole 3 of the near-end finger segments 4 of palm 7 and the distal axial bore 2 of palm 7 and forms metacarpophalangeal joints, make palm 7 near-end axis hole 3 and forearm 10 distal axial bore 2 overlap and form carpal joint, make forearm 10 near-end axis hole 3 and upper arm 13 distal axial bore 2 overlap and form elbow joint.
Step9: connect each joint by lateral pin 20, makes artificial limb global formation; Concrete, between the distal digit joint 1 of finger 25 and near-end finger segments 4, and near-end finger segments 4 all coordinates lateral pin 20 to be connected by the distal axial bore 2 of correspondence position with near-end axis hole 3 each other; In addition, the distal axial bore 2 on palm 7 is connected by transverse axis 20 with between the near-end axis hole 3 of each close near-end finger segments 4; So each finger 25 is linked together side by side.
In addition, the distal axial bore 2 of forearm 10 and the near-end axis hole 3 of palm 7 is connected by lateral pin 20.
In addition, the distal axial bore 2 of upper arm 13 and the near-end axis hole 3 of forearm 10 is connected by lateral pin 20.
Step10: add packing material at pod, avoid artificial limb to the damage of deformed limb skin, the artificial limb of wearable use complete like this completes.
In the middle of reality, the material of elastic reset rope 19 preferably has elastic polymer, can be a kind of in metal, alloy, plastics, fiber or several elastomeric polymer be combined to form arbitrarily, such as rubber or IR fiber compositions.
The material driving rope 14 is non-elastic material, can comprise the polymer such as corresponding metal, alloy, plastics, fiber.
Packing material preferably has elastic polymer and makes, as selected silica gel, rubber or sponge etc.
The printed material of the parts such as finger 25, palm 7, forearm 10, upper arm 13 and lateral pin 20 can be mixture of one or more compositions of metal, alloy, fiber, polylactic acid, mixture containing polylactic acid, acrylonitrile-butadiene-styrene copolymer, mixture containing acrylonitrile-butadiene-styrene copolymer, polyamide, mixture containing polyamide, hydroxyl phosphorus ash, stone tricalcium phosphate carbon, and printed material also can be mixture that is grey containing hydroxyl phosphorus or stone tricalcium phosphate carbon; In addition, printed material can also be the mixture of one or more compositions in silica gel, rubber, gelatin, industrial starch, agar, poly-glucosamine, alginate, gelatin, collagen glue, cellulose, silicone.
Embodiment two
The technical scheme of the present embodiment and identical in embodiment one, difference is in the present embodiment, and palm stationary plane 18, upper arm stationary plane 27, forearm stationary plane 26 all can replace with sleeve, connect accordingly.
Embodiment three
The technical scheme of the present embodiment and identical in embodiment one, difference is in the present embodiment, drives the body of rope 14 to be screwed in and forms one rope together, and accordingly, the quantity of fixing duct 15 and cableway guide channel 22 also can become one.
Embodiment four
The technical scheme of the present embodiment and identical in embodiment one, difference is in the present embodiment, and the body of elastic reset rope 19 can be screwed in and form one rope together, and accordingly, the quantity of fixing hole 39 also can become one.
Embodiment five
The technical scheme of the present embodiment and identical in embodiment one, difference is, for having palm part but losing the patient of hold ability, then can cancel upper arm 13 position in the present invention, the end-transfer driving rope 14 to be fixed on upper arm 13 dorsal part is fixed to forearm 10 simultaneously.
In sum, obviously, the above embodiment of the present invention is only for example of the present invention is clearly described, and is not the restriction to embodiments of the present invention.For those of ordinary skill in the field, can also make other changes in different forms on the basis of the above description.Here exhaustive without the need to also giving all embodiments.All any amendments done within the spirit and principles in the present invention, equivalent to replace and improvement etc., within the protection domain that all should be included in the claims in the present invention.
Claims (10)
1. the self power based on rapid shaping drives artificial limb, it is characterized in that comprising interconnective palm, forearm, upper arm, and palm is provided with how group hands refers to simultaneously; Wherein, point and to be saved by 1 distal digit and 1 ~ 2 near-end finger segments forms; In addition, point, between palm and upper arm, be provided with driving rope, be provided with elastic reset rope between finger and palm simultaneously; When flexing palm or forearm, drive and drive rope to move, and then make FF produce grasp motion; When palm or front arm stretching, drive rope to loosen, elastic reset rope resets and makes finger stretch, and is completed the grip function of finger by the flexing of palm, forearm, the activity of stretching.
2. the self power based on rapid shaping according to claim 1 drives artificial limb, it is characterized in that the rear end of the distal digit joint of described finger is provided with near-end axis hole; The front end of near-end finger segments is provided with distal axial bore, and the rear end of near-end finger segments is provided with near-end axis hole;
In addition, be equipped with the upper finger hole road and lower finger hole road that distribute up and down in the distal digit joint of finger and near-end finger segments, wherein, lower finger hole road drives rope process for guiding, and upper finger hole road passes through for guiding elastic reset rope.
3. the self power based on rapid shaping according to claim 1 drives artificial limb, and it is characterized in that described upper arm comprises upper arm stationary plane, two protuberances are extended in the left and right sides along upper arm stationary plane front end, and protuberance is equipped with distal axial bore;
In addition, upper arm dorsal part is provided with the fixing duct identical with pointing quantity, the end of fixing duct fixed drive rope.
4. the self power based on rapid shaping according to claim 1 drives artificial limb, it is characterized in that described forearm comprises forearm stationary plane, the left and right sides of forearm stationary plane front end is equipped with distal axial bore, and the left and right sides of forearm stationary plane rear end is equipped with near-end axis hole;
In addition, dorsal forearm is provided with the cableway guide channel identical with pointing quantity, and cableway guide channel drives rope to pass through and the path of fixed drive rope for guiding.
5. the self power based on rapid shaping according to claim 1 drives artificial limb, it is characterized in that described palm comprises palm stationary plane; Palm stationary plane front end surface is provided with organizes fixing hole more; The passage identical with pointing quantity is provided with in palm stationary plane;
Passage can guide and drive rope to pass through; Part passage being positioned at palm stationary plane front end connects with the upper near-end finger segments near palm of finger;
The position corresponding with each passage, palm front end place is equipped with distal axial bore; The left and right sides, palm rear end all extends back formation lobe, and lobe is equipped with near-end axis hole;
Palm proximal lateral outwardly convex, and this projection is provided with outside axis hole;
Outside axis hole and palm axis are 15 degree ~ 145 degree at the angle of horizontal plane, and outside axis hole and palm axis are 45 degree ~ 120 degree at the angle of vertical simultaneously.
6. the self power based on rapid shaping according to claim 1 drives artificial limb, it is characterized in that between the distal digit joint of described finger and near-end finger segments, and near-end finger segments is all connected each other with near-end shaft hole matching lateral pin by the distal axial bore of correspondence position;
In addition, the distal axial bore on palm is connected by transverse axis with between the near-end axis hole of each close near-end finger segments, is linked together side by side by each finger;
In addition, be connected by lateral pin between the near-end axis hole that distal axial bore and the distal digit of near-end finger segments save;
Be connected by lateral pin between the near-end axis hole of forearm and the distal axial bore of upper arm;
Be connected by lateral pin between the distal axial bore of forearm and the near-end axis hole of palm;
Be connected by lateral pin between the distal axial bore of upper arm and the near-end axis hole of forearm.
7. drive artificial limb according to the arbitrary described self power based on rapid shaping of claim 1 ~ 6, it is characterized in that described driving rope quantity is identical with finger, one end of rope is driven to be fixed on the distal digit joint of finger, drive the other end of rope to be fixed in the fixing duct of upper arm dorsal part simultaneously, drive the body of rope successively through lower finger hole road, the passage of palm, the postcubital cableway guide channel of finger.
8. drive artificial limb according to the arbitrary described self power based on rapid shaping of claim 1 ~ 6, it is characterized in that described elastic reset rope quantity is identical with finger, one end of elastic reset rope is fixed on the distal digit joint of finger, and the other end of elastic reset rope is also fixed on one by one through the upper finger hole road of finger in the fixing hole on palm.
9. drive artificial limb according to the arbitrary described self power based on rapid shaping of claim 1, it is characterized in that described palm stationary plane, forearm stationary plane, upper arm stationary plane all by tie up multiple band corresponding be fixed on patient palm, forearm, on upper arm.
10., based on the manufacture method of the self power driving artificial limb of rapid shaping, first each for artificial limb component processing become to have contralateral limbs integral outer appearance and be matched with the mechanical dimension of disabled limbs stump, then carrying out assembling use, specifically comprising the steps:
Step1: use Optical measuring tool or other survey tools such as infrared ray 3d scanner, the complete limbs of homonymy of patient's offside healthy limb or Healthy People are measured, obtains shape datas such as comprising upper arm, forearm, palm, the profile of finger, surface angle and relative position relation; Wherein, Healthy People Ipsilateral limb is measured, be when patient do not have offside healthy limb or cannot face to face surface sweeping patient offside healthy limb carry out;
Step2: use Optical measuring tool or other survey tools such as infrared ray 3d scanner, block deformed limb end to patient to measure, obtain the shape data of deformed limb end, computer picture software is used to it, oppositely get shape, obtain the reversal shape of deformed limb end, this reversal shape be exactly artificial limb pod inside profile, in addition, the shape of pod also can be designed to the shape in packing material contact limbs face, and packing material and artificial limb contact surface use other can inlay fixing simple shape;
Step3: by outline data inside the prosthesis socket that obtains in the shape data that obtains in step 1 and step 2, import PaintShop: wherein, when getting the shape data of patient's offside healthy limb in step 1, get the mirror image of contralateral limbs, the three-dimensional solid image of the artificial limb profile of these side limbs is obtained again by PaintShop, when the shape data of the complete limbs of the homonymy getting Healthy People in step 1, through the expansion of proper proportion or after reducing adjustment, the three-dimensional solid image of the artificial limb profile of these side limbs is obtained by PaintShop, described proper proportion is the size between Healthy People limbs and patient health contralateral limbs, after obtaining the artificial limb profile of these side limbs, according to the inner side profile of pod, the three-dimensional solid image of the artificial limb profile obtained is taken, three-dimensional solid image obtains the shape of profile inside prosthesis socket,
Step4: through above step, can obtain has profile equally with offside and inside pod, profile mates the artificial limb of deformed limb profile completely, by its from three-dimensional solid image data format be converted into can 3D print formatted file, import 3D printer, respectively each parts such as upper arm, forearm, palm, finger are made; By following step, each parts are assembled again, obtain and have the self power of emulation profile to drive artificial limb;
Step5: arrange upper arm stationary plane on upper arm, makes the left and right sides of upper arm stationary plane front end extend two protuberances, and arrange distal axial bore on this protuberance;
Forearm arranges forearm stationary plane, in the left and right sides of forearm stationary plane front end, all distal axial bore is set, near-end axis hole is all set in the left and right sides of forearm stationary plane rear end;
Finger is cut into 1 distal digit joint and 1 ~ 2 near-end finger segments; In the rear end of distal digit joint, near-end axis hole is set; Distal axial bore is set in the front end of near-end finger segments simultaneously, near-end axis hole is set in the rear end of near-end finger segments;
Palm arranges palm stationary plane; Arrange at palm stationary plane front end surface and organize fixing hole more; The passage identical with finger quantity is set in palm stationary plane; Make palm proximal lateral outwardly convex, this projection arranges outside axis hole; The position corresponding with each passage in palm front end all arranges distal axial bore; Make the left and right sides of palm rear end all extend back formation lobe, and all arrange near-end axis hole in this lobe, wherein, part passage being positioned at palm stationary plane front end can connect with the upper near-end finger segments near palm of finger; In addition, order outside axis hole and palm axis are 15 degree ~ 145 degree at the angle of horizontal plane, and order outside axis hole and palm axis are 45 degree ~ 120 degree at the angle of vertical;
Step6: the cableway guide channel identical with finger quantity is set at dorsal forearm;
In the distal digit joint and near-end finger segments of finger, the upper finger hole road and lower finger hole road that distribute up and down are all set;
At upper arm dorsal part, the fixing duct identical with finger quantity is set;
Step7: the driving rope identical with finger quantity is set, be fixed on the distal digit joint of finger by driving one end of rope, to the other end of rope be driven to be fixed in the fixing duct of upper arm dorsal part simultaneously, make the body of driving rope successively through lower finger hole road, the passage of palm, the postcubital cableway guide channel of finger;
The elastic reset rope identical with finger quantity is set, one end of elastic reset rope is fixed on the distal digit joint of finger, the other end of elastic reset rope is passed through the upper finger hole road of finger and selects in a fixing hole be fixed on palm;
Wherein, cableway guide channel can guide and drive rope to pass through and the path of fixed drive rope; Wherein, lower finger hole road can guide and drive rope process, and upper finger hole road can guide elastic reset rope to pass through; Fixing duct can the end of fixed drive rope;
Step8: the upper near-end axis hole of distal digit joint of order finger and the distal axial bore of near-end finger segments overlap and form interphalangeal joint, order overlaps near the near-end axis hole of the near-end finger segments of palm and the distal axial bore of palm and forms metacarpophalangeal joints, make palm near-end axis hole and distal forearm axis hole overlap and form carpal joint, make forearm near-end axis hole and upper arm distal axial bore overlap and form elbow joint;
Step9: connect each joint by lateral pin, makes artificial limb global formation; Concrete, between the distal digit joint of finger and near-end finger segments, and near-end finger segments is all connected with near-end shaft hole matching lateral pin by the distal axial bore of correspondence position each other; In addition, the distal axial bore on palm is connected by transverse axis with between the near-end axis hole of each close near-end finger segments; So each finger is linked together side by side;
In addition, the distal axial bore of forearm and the near-end axis hole of palm is connected by lateral pin;
In addition, the distal axial bore of upper arm and the near-end axis hole of forearm is connected by lateral pin;
Step10: add packing material at pod, avoid artificial limb to the damage of deformed limb skin, the artificial limb of wearable use complete like this completes;
Wherein, the material of elastic reset rope is elastomeric polymer, and this elastomeric polymer is the elastomeric polymer of a kind of and several formation in metal, alloy, plastics, fiber;
Packing material is elastomeric polymer;
When 3D prints finger, palm, forearm, upper arm and lateral pin, the constituent of printed material is the mixture of a kind of and several formation in metal, alloy, fiber, polylactic acid, mixture containing polylactic acid, acrylonitrile-butadiene-styrene copolymer, mixture containing acrylonitrile-butadiene-styrene copolymer, polyamide, mixture containing polyamide, hydroxyl phosphorus ash, stone tricalcium phosphate carbon mix, silica gel, rubber, gelatin, industrial starch, agar, poly-glucosamine, alginate, gelatin, collagen glue, cellulose, silicone.
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| CN106003132A (en) * | 2016-07-27 | 2016-10-12 | 昆山塔米机器人有限公司 | Flexible finger of robot |
| CN107009612A (en) * | 2017-06-07 | 2017-08-04 | 珠海天威飞马打印耗材有限公司 | The forming method of the threedimensional model of threedimensional model and rejected region |
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| CN107260487A (en) * | 2017-07-03 | 2017-10-20 | 天津理工大学 | Portable upper limb rehabilitation robot and its Digital Simulation implementation method based on LabVIEW |
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| RU183424U1 (en) * | 2017-11-29 | 2018-09-21 | Федеральное государственное автономное образовательное учреждение высшего образования "Сибирский федеральный университет" (СФУ) | ACTIVE TRACTION BRUSH PROSTHESIS |
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