CN106963524B - Three D print myoelectrical bionic artificial limb arm - Google Patents

Three D print myoelectrical bionic artificial limb arm Download PDF

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Publication number
CN106963524B
CN106963524B CN201710173025.5A CN201710173025A CN106963524B CN 106963524 B CN106963524 B CN 106963524B CN 201710173025 A CN201710173025 A CN 201710173025A CN 106963524 B CN106963524 B CN 106963524B
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arm
finger
elbow joint
built
palm
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CN201710173025.5A
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CN106963524A (en
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张烨
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JILIN University OF ARTS
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张烨
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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
    • 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
    • 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
    • A61F2/582—Elbow joints
    • 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
    • A61F2/68—Operating or control means
    • A61F2/70—Operating or control means electrical
    • A61F2/72—Bioelectric control, e.g. myoelectric
    • 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
    • A61F2002/543—Lower arms or forearms
    • 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
    • A61F2002/546—Upper arms

Abstract

Three D of one kind print myoelectrical bionic artificial limb arm, belong to the field of medical instrument technology, upper arm, forearm, elbow joint and palm, upper arm is connect by elbow joint with forearm, elbow joint is built-in with rotating electric machine and bending electric machine, and the top of elbow joint and the bottom end of upper arm buckle；Forearm includes the upper section arm, middle section arm and lower section arm being connected, the top of upper section arm is flexibly connected with the bottom end of elbow joint, the bottom end of disconnected arm is flexibly connected with palm down, upper section arm is built-in with circuit board, middle section arm is built-in with control motor, lower section arm is built-in with branch hole, control motor, bending electric machine and rotating electric machine respectively with circuit board electrical connection；Palm includes five fingers, and the draught line fixed part for fixed traction line is built-in at the finger tip of every finger, and the draught line in every finger both passes through two branch holes and is looped around between corresponding draught line fixed part and control motor.The present invention is obtained by three D printing, so that the appearance of artificial limb matches beauty with patient, it is high to wear compactness.

Description

Three D print myoelectrical bionic artificial limb arm
Technical field
The invention belongs to the field of medical instrument technology, especially relate to three D of one kind printing myoelectrical bionic artificial limb arm.
Background technique
Physical disabilities will cause very big puzzlement to people's lives, and the artificial limb market demand that I crosses at present is extensive, but enable People is awkward, and prosthetic product quantity, the kind in China are rare, and performance is single, lacks innovation in time, with advanced international standard it Between there are larger gaps.China is mainly captured by overseas enterprise in prosthetic product market, but imported product is often at high price, and I The disabled people scholar of state 75% is distributed in vast cities and towns and rural area.It is false due to being largely the population below the poverty line in amputee The popularity rate of limb is not high, it is estimated that there are about 70% people not yet to install artificial limb；And upper extremity prosthesis currently on the market mainly includes For：Decorative emulation arm, wire-control type emulation arm and myoelectricity formula emulation arm, wherein although decorative emulation arm compared with Beauty, but without finger-joint, no grip perception, no grip control, also without practicability, and it is expensive；Wire-control type is imitative True arm can only passive opening and closing, and need certain use training；Myoelectricity formula emulation arm, grip control is more difficult, grasps Mode is not bionical enough, and myoelectricity formula emulation arm cannot achieve rotation；There are different problems in these upper extremity prosthesis.Therefore There is an urgent need for a kind of novel technical solutions in the prior art to solve the problems, such as this.
Summary of the invention
The technical problem to be solved by the present invention is to：Three D of one kind printing myoelectrical bionic artificial limb arm is provided, it is existing to solve The control of myoelectricity formula emulation arm grip it is more difficult, grip is not bionical enough, and the problem of cannot rotate.
Three D provided by the invention prints myoelectrical bionic artificial limb arm, including upper arm, forearm, elbow joint and palm, and upper arm is logical It crosses elbow joint to connect with forearm, elbow joint is built-in with the rotating electric machine for driving elbow joint rotation and drives the curved bending electricity of forearm Machine, and the top of elbow joint and the bottom end of upper arm buckle；Forearm includes the upper section arm, middle section arm and lower section arm being connected, upper section The top of arm is flexibly connected with the bottom end of elbow joint, and the bottom end of lower section arm is flexibly connected with palm, and upper section arm is built-in with circuit board, Middle section arm is built-in there are five motor is controlled, and lower section arm is built-in with ten branch holes, five control motors, bending electric machine and electric rotating Machine respectively with circuit board electrical connection；Palm includes five fingers, is built-in at the finger tip of every finger for fixed traction line Draught line fixed part, the draught line in every finger both passes through two branch holes and is looped around corresponding draught line fixed part and control Between motor processed.
Furthermore it is preferred that scheme be that palm further includes the centre of the palm, and, five fingers be respectively thumb, index finger, middle finger, Nameless and little finger, thumb, the third finger pass through a shaft respectively with little finger and connect with the centre of the palm.
Additionally, it is preferred that scheme be that thumb tool is there are two flexible finger joint, index finger, middle finger, the third finger and little finger It is respectively provided with three flexible finger joints.
Furthermore Preferable scheme is that three D printing myoelectrical bionic artificial limb arm further includes the myoelectricity induction being set on Disabled arm Bracelet, myoelectricity induction bracelet includes myoelectricity induction chip, and myoelectricity induction chip is converted into referring to for acquiring myoelectricity inductive signal Enable transmitting to circuit board.
Furthermore it is preferred that scheme be, three D print myoelectrical bionic artificial limb arm further comprise upper arm fixed jacket, upper Pullover mouth and arm mouth are offered on arm fixed jacket, upper arm is mounted on arm mouth.
Additionally, it is preferred that scheme be that upper arm fixed jacket includes left half body housing and right half body housing, left half body housing with Right half body housing rotation connection.
Furthermore it is preferred that scheme be to be also provided with air hole on upper arm fixed jacket.
Furthermore Preferable scheme is that in upper arm fixed jacket close to the position of arm mouth and in upper arm close to top Position offers pin hole, and two pin holes are connected by pin shaft.
Through the above design, the present invention can be brought the following benefits：
1, make the appearance of artificial limb match beauty with patient by three D printing techniques, it is high to wear compactness；
2, the rotation of artificial limb is realized by the rotating electric machine built in elbow joint；
3, thumb, the third finger and little finger are connect by rotary shaft with palm, keep grip more bionical；
4, except thumb tool is there are two in addition to finger joint, remaining four finger all has three finger joints, makes to grasp stronger.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the present invention is further illustrated：
Fig. 1 is the external structure schematic diagram that myoelectrical bionic artificial limb arm is printed according to three D of the embodiment of the present invention；
Fig. 2 is the schematic diagram of internal structure that myoelectrical bionic artificial limb arm is printed according to three D of the embodiment of the present invention；
Fig. 3 is to print the structure that myoelectricity incudes bracelet in myoelectrical bionic artificial limb arm according to three D of the embodiment of the present invention to show It is intended to；
Fig. 4 is that the structure for printing upper arm fixed jacket in myoelectrical bionic artificial limb arm according to three D of the embodiment of the present invention is shown It is intended to.
Appended drawing reference therein includes in figure：1- upper arm, 2- forearm, 21- circuit board, 22- control motor, 3- elbow joint, 31- rotating electric machine, 32- bending electric machine, 33- branch hole, 4- palm, 41- draught line, 5- shaft, 6- myoelectricity incude bracelet, 61- Myoelectricity induction chip, 7- upper arm fixed jacket, the left half body housing of 71-, the right half body housing of 72-, 73- air hole, 74- pin hole, 75- Rotary shaft.
Specific embodiment
Fig. 1 and Fig. 2 has gone out the external structure and internal junction of three D printing myoelectrical bionic artificial limb arm provided by the invention respectively Structure.
As Fig. 1 and Fig. 2 jointly shown in, three D provided by the invention prints myoelectrical bionic artificial limb arm, including upper arm 1, forearm 2, elbow joint 3 and palm 4, upper arm 1 are connect by elbow joint 3 with forearm 2, and forearm 2 is connect with palm 4, and upper arm 1 is for wrapping up Disabled Arm is internally provided with rotating electric machine 31 and bending electric machine 32 in elbow joint 3, and rotating electric machine 31 is used to that elbow joint 3 to be driven to rotate, To drive forearm 2 and palm 4 to rotate, bending electric machine 32 is for driving forearm 2 to be bent, to make forearm 2 to the direction of upper arm 1 Bending, the top of elbow joint 3 are mutually buckled with the bottom end of upper arm 1, realize the connection of elbow joint 3 and upper arm 1, the bottom end of elbow joint 3 With a protruding portion, bending electric machine 32 is arranged in the protruding portion, and rotation direction is perpendicular to horizontal plane, and rotating electric machine 31 In the top of bending electric machine 32, rotation direction is parallel to the horizontal plane.
Forearm 2 includes upper section arm, middle section arm and the lower section arm being connected, and the top of upper section arm forms fluted, elbow joint 3 The protruding portion of bottom end limits in the groove of upper section arm, realizes the rotation connection of elbow joint 3 and upper section arm, the bottom end of lower section arm and Palm 4 is flexibly connected, and is internally provided with circuit board 21 in upper section arm, arm is internally provided with five control motors in middle section 22, in ten branch holes 23 that are internally provided with of lower section arm, for passing through for draught line, branch hole 23 can prevent branch hole 23 It influences each other between draught line.Five control motors 22, bending electric machine 32 are electrically connected with circuit board 21 respectively with rotating electric machine 31, The rotation of five control motors 22, bending electric machine 32 and rotating electric machine 31 is controlled by circuit board 21.
Palm 4 includes five fingers and the centre of the palm, and five fingers are respectively thumb, index finger, middle finger, the third finger and small thumb Refer to, the traction for fixed traction line is provided at the finger tip inside thumb, index finger, middle finger, nameless and little finger Line fixed part, the draught line 41 in thumb, index finger, middle finger, the third finger and little finger are each passed through two branch holes 23 and surround Between corresponding draught line fixed part and control motor 22, i.e., thumb, index finger, middle finger, the third finger and little finger lead to respectively Cross the control of control motor 22 and realize bending function, controlled respectively by five control motors 22 thumb, index finger, middle finger, Draught line in nameless and little finger realizes the grip function of palm 4.
In order to keep the grip of palm 4 more bionical, thumb, nameless and little finger pass through a shaft 5 respectively It is connect with the centre of the palm, each shaft 5 is obliquely installed, and enables thumb, nameless and little finger from different directions to the centre of the palm Rotation, to keep the grip of palm 4 more bionical.
In order to keep the grasping of palm stronger, on thumb setting there are two flexible finger joint, index finger, it is middle refer to, Nameless to be respectively provided with little finger there are three flexible finger joint, five fingers realize bending function by finger joint respectively, make hand 4 grasping of the palm is stronger,
Three D printing myoelectrical bionic artificial limb arm provided by the invention further includes a myoelectricity induction bracelet, and myoelectricity incudes hand Ring set is located on Disabled arm.Fig. 3 shows myoelectricity induction hand in three D printing myoelectrical bionic artificial limb arm according to an embodiment of the present invention The structure of ring, as shown in figure 3, myoelectricity induction bracelet 6 is surrounded by myoelectricity induction chip 61, myoelectricity induction chip 61 is for acquiring flesh Inductance induction signal, and it is converted into instruction issue to circuit board, after the instruction that board receiver to myoelectricity induction chip 61 is sent, Control the rotation of five control motors, bending electric machine and rotating electric machine.
Three D printing myoelectrical bionic artificial limb arm provided by the invention further comprises upper arm fixed jacket, and upper arm is fixed outer The structure of set is as shown in figure 4, the shape of upper arm fixed jacket 7 corresponds on upper arm fixed jacket 7 similar to short vest is moved The position on user head offers the pullover mouth for pullover, and the position of user's arm is corresponded on upper arm fixed jacket 7 It sets and offers at least one arm mouth, two arm mouths are shown in Fig. 4, each arm mouth can install a prosthetic hand Arm, in conjunction with Fig. 2, upper arm 1 is mounted on arm mouth, offers pin hole 74 close to the position on top in upper arm, fixed outer in upper arm Set 7 also offers pin hole 74 close to the position of arm mouth, and two pin holes 74 pass through a pin shaft connection, that is to say, that upper arm 1 is logical A pin shaft is crossed to be mounted on arm mouth.
In order to improve the level of comfort of upper arm fixed jacket 7 on the user's body, upper arm fixed jacket 7 includes outside left half body Set 71 and right half body housing 72, left half body housing 71 are connected with right half body housing 72 by a rotation of rotary shaft 75, left half body Housing 71 and right half body housing 72 are respectively provided with an arm mouth, and left half body housing 71 is encircled into pullover with right half body housing 72 Mouthful, in user's movement, keep upper arm fixed jacket 7 more comfortable by the rotation of left half body housing 71 and right half body housing 72 It is personal, to improve the level of comfort of the wearing of upper arm fixed jacket 7 on the user's body, and pass through left half body housing 71 and right half The rotation of body housing 72 can make the wearing of upper arm fixed jacket 7 more convenient.
In order to make upper arm fixed jacket 7 that there is gas permeability, on upper arm fixed jacket 7 except pullover mouth, two arm mouths it Outer place offers at least one air hole 73, and the gas permeability of air hole more than 73, upper arm fixed jacket 7 is better.
The structure of three D printing myoelectrical bionic artificial limb arm provided by the invention is described in detail in above content, and three D print flesh The bionical artificial limb arm working principle of electricity is as follows：
Myoelectricity incudes the myoelectricity inductive signal of bracelet acquisition Disabled arm, is converted into circuit board instruction and is sent to circuit board, circuit Plate incudes instruction control rotating electric machine, bending electric machine and the five control motor work that bracelet is sent according to myoelectricity, passes through rotation The rotation of motor drives the rotation of forearm and palm, drives bending of the forearm to upper arm direction by the rotation of bending electric machine, from And realize the rotoflector of three D printing myoelectrical bionic artificial limb arm, draught line is controlled by the rotation of five control motors, thus Realize the grasping and stretching, extension of palm.

Claims (2)

1. three D of one kind print myoelectrical bionic artificial limb arm, it is characterized in that：Including upper arm (1), forearm (2), elbow joint (3) and hand It slaps (4), the upper arm (1) is connect by the elbow joint (3) with the forearm (2), and the elbow joint (3), which is built-in with, drives institute It states the rotating electric machine (31) of elbow joint (3) rotation and drives the curved bending electric machine of the forearm (2) (32), and the elbow joint (3) bottom end on top and the upper arm (1) buckles；
The forearm (2) includes the upper section arm, middle section arm and lower section arm being connected, the top of the upper section arm and the elbow joint (3) bottom end is flexibly connected, and the bottom end of the lower section arm is flexibly connected with the palm (4), and the upper section arm is built-in with circuit Plate (21), the middle section arm is built-in there are five controlling motor (22), and the lower section arm is built-in with ten branch holes (33), and described five A control motor (22), the bending electric machine (32) are electrically connected with the circuit board (21) respectively with the rotating electric machine (31)；
The palm (4) includes five fingers, is built-in at the finger tip of every finger solid for the draught line of fixed traction line Determine portion, the draught line (41) in every finger both passes through two branch holes (33) and is looped around corresponding draught line fixed part and control Between motor (22)；
The palm (4) further includes the centre of the palm, and, five fingers are respectively thumb, index finger, middle finger, the third finger and little finger, The thumb, the third finger pass through a shaft (5) with the little finger respectively and connect with the centre of the palm；
There are two flexible finger joint, the index finger, the middle finger, the nameless and described little fingers point for the thumb tool It Ju not be there are three flexible finger joint；
Further comprise upper arm fixed jacket (7), offers pullover mouth and arm mouth, institute on the upper arm fixed jacket (7) Upper arm (1) is stated to be mounted on the arm mouth；
The upper arm fixed jacket includes left half body housing (71) and right half body housing (72), the left half body housing (71) and institute State right half body housing (72) rotation connection；
Air hole (73) are also provided on the upper arm fixed jacket (7)；
In the upper arm fixed jacket (7) close to the position of the arm mouth and in the upper arm (1) close to the position on top It offers pin hole (74), two pin holes (74) are connected by pin shaft.
2. three D according to claim 1 prints myoelectrical bionic artificial limb arm, it is characterized in that：It further include being set on Disabled arm Myoelectricity incude bracelet (6), myoelectricity induction bracelet (6) includes myoelectricity induction chip (61), the myoelectricity induction chip (61) for acquiring myoelectricity inductive signal, and instruction issue is converted into the circuit board (21).
CN201710173025.5A 2017-03-22 2017-03-22 Three D print myoelectrical bionic artificial limb arm Active CN106963524B (en)

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CN106963524B true CN106963524B (en) 2018-11-27

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CN107336560A (en) * 2017-08-13 2017-11-10 重庆凌慧科技有限公司 A kind of thick material automatic Feeder Manipulator
CN108186170A (en) * 2018-01-11 2018-06-22 长春市漫思教育科技有限公司 A kind of printing prosthetic hand and its manufacturing method
CN108784891A (en) * 2018-04-13 2018-11-13 长春市漫思教育科技有限公司 A kind of bionical artificial limb arm of drawing power
CN109223259B (en) * 2018-08-30 2021-01-22 京东方科技集团股份有限公司 Artificial limb
CN109330749B (en) * 2018-11-27 2024-04-02 深圳市恒塔医疗器械有限公司 Artificial limb
CN110801317B (en) * 2019-10-29 2021-09-21 德林义肢矫型器（北京）有限公司 Artificial limb with elbow joint device

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