CN110478100A - Children with cerebral palsy intelligence ankle foot rectificative training device - Google Patents
Children with cerebral palsy intelligence ankle foot rectificative training device Download PDFInfo
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- CN110478100A CN110478100A CN201910682268.0A CN201910682268A CN110478100A CN 110478100 A CN110478100 A CN 110478100A CN 201910682268 A CN201910682268 A CN 201910682268A CN 110478100 A CN110478100 A CN 110478100A
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- 206010008129 cerebral palsy Diseases 0.000 title claims abstract description 27
- 210000003423 ankle Anatomy 0.000 title claims abstract description 26
- 238000012549 training Methods 0.000 title claims abstract description 13
- 210000002683 foot Anatomy 0.000 claims abstract description 48
- 210000000544 articulatio talocruralis Anatomy 0.000 claims abstract description 40
- 230000033001 locomotion Effects 0.000 claims abstract description 14
- 239000003638 chemical reducing agent Substances 0.000 claims description 44
- 210000001699 lower leg Anatomy 0.000 claims description 42
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 claims description 10
- 239000008280 blood Substances 0.000 claims description 10
- 210000004369 blood Anatomy 0.000 claims description 10
- 229910052760 oxygen Inorganic materials 0.000 claims description 10
- 239000001301 oxygen Substances 0.000 claims description 10
- 239000002344 surface layer Substances 0.000 claims description 9
- 210000000878 metatarsophalangeal joint Anatomy 0.000 claims description 4
- 238000012937 correction Methods 0.000 claims description 3
- 238000001441 oximetry spectrum Methods 0.000 claims description 3
- 210000002414 leg Anatomy 0.000 claims 1
- 238000012544 monitoring process Methods 0.000 abstract 1
- ZMNSRFNUONFLSP-UHFFFAOYSA-N mephenoxalone Chemical compound COC1=CC=CC=C1OCC1OC(=O)NC1 ZMNSRFNUONFLSP-UHFFFAOYSA-N 0.000 description 11
- 229960001030 mephenoxalone Drugs 0.000 description 11
- 230000000694 effects Effects 0.000 description 8
- 238000000034 method Methods 0.000 description 5
- 208000012661 Dyskinesia Diseases 0.000 description 4
- 206010033799 Paralysis Diseases 0.000 description 4
- 230000006870 function Effects 0.000 description 4
- 244000309466 calf Species 0.000 description 3
- 230000002490 cerebral effect Effects 0.000 description 3
- 230000000399 orthopedic effect Effects 0.000 description 3
- 206010011985 Decubitus ulcer Diseases 0.000 description 2
- 208000004210 Pressure Ulcer Diseases 0.000 description 2
- 208000005392 Spasm Diseases 0.000 description 2
- 210000004556 brain Anatomy 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 230000036541 health Effects 0.000 description 2
- 239000010410 layer Substances 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000007659 motor function Effects 0.000 description 2
- 210000003813 thumb Anatomy 0.000 description 2
- 208000022306 Cerebral injury Diseases 0.000 description 1
- 206010010904 Convulsion Diseases 0.000 description 1
- 241001269238 Data Species 0.000 description 1
- 230000002159 abnormal effect Effects 0.000 description 1
- 208000028752 abnormal posture Diseases 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 239000004411 aluminium Substances 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000036461 convulsion Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000007405 data analysis Methods 0.000 description 1
- 210000000852 deltoid muscle Anatomy 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 230000004064 dysfunction Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000021317 sensory perception Effects 0.000 description 1
Classifications
-
- 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
- A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices; Anti-rape devices
- A61F5/01—Orthopaedic devices, e.g. splints, casts or braces
- A61F5/0102—Orthopaedic devices, e.g. splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations
- A61F5/0127—Orthopaedic devices, e.g. splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations for the feet
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0266—Foot
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- 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
- A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices; Anti-rape devices
- A61F5/01—Orthopaedic devices, e.g. splints, casts or braces
- A61F5/0102—Orthopaedic devices, e.g. splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations
- A61F2005/0132—Additional features of the articulation
- A61F2005/0155—Additional features of the articulation with actuating means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/164—Feet or leg, e.g. pedal
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/164—Feet or leg, e.g. pedal
- A61H2201/1642—Holding means therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5069—Angle sensors
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5071—Pressure sensors
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5084—Acceleration sensors
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/12—Feet
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2230/00—Measuring physical parameters of the user
- A61H2230/20—Blood composition characteristics
- A61H2230/207—Blood composition characteristics partial O2-value
- A61H2230/208—Blood composition characteristics partial O2-value used as a control parameter for the apparatus
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- General Health & Medical Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Biomedical Technology (AREA)
- Vascular Medicine (AREA)
- Heart & Thoracic Surgery (AREA)
- Engineering & Computer Science (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Nursing (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a kind of children with cerebral palsy intelligence ankle foot rectificative training devices, are related to field of medical device, provide a kind of children with cerebral palsy ankle rectifier that infant ankle and foot can be assisted to move and be capable of monitoring data.The rectificative training device includes left rectifier, right rectifier and power supply module；Left rectifier includes shank attachment device, corrective shoes, ankle-joint component and control case assembly, corrective shoes can obtain foot to the pressure data of corrective shoes, ankle-joint component is connect with shank attachment device and corrective shoes, and ankle-joint component can drive corrective shoes to rotate and obtain pivoting angle data；Controlling case assembly includes master controller and data transmitter-receiver set, master controller can receive pressure data and pivoting angle data and be transferred to data transmitter-receiver set and export data, data transmitter-receiver set can receive external data and be transferred to master controller, and master controller can control the movement of ankle-joint component according to external data；Left rectifier and right rectifier are symmetrical；Power supply module is for powering.
Description
Technical field
The present invention relates to field of medical device more particularly to a kind of children with cerebral palsy intelligence ankle foot rectificative training devices.
Background technique
Cerebral palsy is abnormal posture and fortune caused by the non-progressive cerebral injury as caused by period from prenatal to postnatal a variety of causes
Dynamic dysfunction, is often accompanied by the obstacle of intelligence, language, vision and sensory perception, and these obstacles often restrict motor function
Rehabilitation efficacy.Therefore, the rehabilitation of children with cerebral palsy should take comprehensive, comprehensive method, gradually improve infant motor function
Educational rehabilitation is carried out while obstacle, to improve its level of intelligence.Cause infant dyskinesia one it is big the reason is that foot plantar
In the wrong and dorsiflex.
When improving infant dyskinesia, it is often necessary to which Physical rehabilitation teacher pulls heel string, processing shank deltoid muscle, manpower
Cost input is big, and often produces little effect.
Also there is the equipment for assisting children with cerebral palsy rehabilitation, such as application No. is 200710134586 Chinese patents to disclose
A kind of shoe for correcting cerebral paralysis, including orthopedics, calf support and connector, the heel of orthopedics and calf support passes through company
Fitting connection, the angle between orthopedics and calf support are between 88 degree to 92 degree.The shoe for correcting cerebral paralysis and shank branch
Support member is through respectively on infant foot and shank, so that foot motion range when walking to infant limits, to be rectified
The effect of positive infant foot motion.The shortcomings that shoe for correcting cerebral paralysis, is: 1, unpowered device, can only limit foot when infant walking
Portion's actuating range, and infant foot cannot be helped to move in normal fashion, recovering aid effect is limited.2, health cannot be learnt
The data of multiple process, can not check rehabilitation course and effect assessment, it is even more impossible to accordingly adjust and correct the mistake of rehabilitation course,
It is unfavorable for improving rehabilitation efficacy.
Summary of the invention
The technical problem to be solved by the present invention is providing one kind can assist infant foot to be moved and can monitor health
The children with cerebral palsy intelligence ankle foot rectificative training device of ankle motion parameter during multiple.
In order to solve the above problem the technical solution adopted is that: children with cerebral palsy intelligence ankle foot rectificative training device includes left correction
Device, right rectifier and power supply module；Left rectifier includes shank attachment device, corrective shoes, ankle-joint component and controls case assembly,
Corrective shoes can obtain foot to the pressure data of corrective shoes, and ankle-joint component is connect with shank attachment device and corrective shoes, ankle
Joint assembly can drive corrective shoes to rotate and obtain the pivoting angle data of corrective shoes, control case assembly and shank attachment device
Connection；Control case assembly includes master controller and data transmitter-receiver set, and master controller can receive pressure data and rotation angle
Data are simultaneously transferred to data transmitter-receiver set and export data, and data transmitter-receiver set can receive external data and be transferred to main control
Device, master controller can control the movement of ankle-joint component according to external data；Left rectifier is identical with right rectifier structure and phase
Symmetrically；Power supply module can power to left rectifier and right rectifier.
Further, children with cerebral palsy intelligence ankle foot rectificative training device includes blood oxygen transducer, blood oxygen transducer and master control
Device connection processed, master controller can receive oximetry data and be transferred to data transmitter-receiver set and export data.
Further, shank attachment device includes shank connecting plate and the gaiter band that is connected on shank connecting plate.
Further, ankle-joint component include speed reducer base, harmonic speed reducer, inner end cap, motor, angular encoder and
Export connecting rod；Speed reducer base structure is with connecting rod by the ring structure of notch, and speed reducer base is connect with shank attachment device；
Harmonic speed reducer is located on the outside of speed reducer base, and the shell of harmonic speed reducer is connect with speed reducer base；Motor and harmonic speed reducer connect
It connects；Output connecting rod is entered in speed reducer base by notch from connecting rod and is connect with the output panel of harmonic speed reducer；Inner end cap is located at
It is connect on the inside of speed reducer base and with speed reducer base；Angular encoder is mounted in inner end cap, angular encoder detection output connecting rod
Rotation angle.
Further, corrective shoes include sole and connect foot fixed structure with sole, sole include pressure sensor,
Pressure gasket and the sole bottom set gradually from bottom to top, the mid-sole of hard and sole surface layer flexible, sole
Sensor and line slot are provided in middle layer, pressure sensor is fixed in sensor and line slot, and the setting of pressure gasket exists
Between pressure sensor and sole surface layer；Mid-sole is connect with ankle-joint component.
Further, the quantity of pressure sensor is four, pressure gasket is arranged in a one-to-one correspondence with pressure sensor, brain
When paralysed children put on corrective shoes, the position of four pressure gaskets respectively with Metatarsophalangeal joint, the 5th articulationes metatarsophalangeae, heel and foot
Outside is corresponding.
Further, power supply module includes power supply and the waist bandage that connects to power supply.
Further, corrective shoes are adjustable at a distance from output connecting rod rotation center up and down and on front-rear direction.
Further, master controller can also be acted according to pre-set programs independent control ankle-joint component.
The beneficial effects of the present invention are: 1, corrective shoes and shank attachment device are through respectively on infant foot and shank, ankle
Joint assembly drives corrective shoes rotation, so that infant foot be driven to move in normal fashion, so as to improve ankle motion,
Control function gradually improves plantar flexion and dorsiflex situation, eliminates infant dyskinesia.
2, the present invention can obtain foot to the pivoting angle data of corrective shoes pressure data and corrective shoes, and by two item numbers
According to output.Corrective shoes bear pressure data and pivoting angle data is able to reflect resistance of the infant ankle and foot to normal walking mode
Degree, to reflect the plantar flexion of infant and the degree of dorsiflex.By these data, rehabilitation group member and patient household can be much of that
Solve the function of ankle-joint and the effect of rehabilitation.Rehabilitation group member can provide different rehabilitation strategies according to different situations,
Accelerate rehabilitation speed to improve rehabilitation efficacy.
Detailed description of the invention
Fig. 1 is children with cerebral palsy intelligence ankle foot rectificative training device structure chart；
Fig. 2 is left rectifier structure chart；
Fig. 3 is ankle-joint assembly assumption diagram；
Fig. 4 is corrective shoes structure chart；
Fig. 5 footwear sole construction figure；
Fig. 6 the application power supply control schematic diagram；
In the figure, it is marked as left rectifier 1, shank attachment device 11, shank connecting plate 111, gaiter band 112, ankle-joint group
Part 12, speed reducer base 121, connecting rod pass through notch 1211, harmonic speed reducer 122, motor 123, inner end cap 124, angular encoder
125, connecting flange 126, shaft coupling 127, output connecting rod 128, outer end cap 129, corrective shoes 13, sole 131, sole bottom
1311, mid-sole 1312, sole surface layer 1313, sensor and line slot 1314, foot fixed structure 132, shoes attachment base
133, shoes connecting hole 1331, route hole 1332, pressure sensor 134, pressure gasket 135, control case assembly 14, right rectifier 2,
Power supply module 3, power supply 31, waist bandage 32, route 4.
Specific embodiment
The present invention is further described with reference to the accompanying drawings and detailed description.
As shown in Figures 1 to 6, children with cerebral palsy intelligence ankle foot rectificative training device includes left rectifier 1, right rectifier 2 and electricity
Source component 3；Left rectifier 1 includes shank attachment device 11, corrective shoes 13, ankle-joint component 12 and control case assembly 14, correction
Shoes 13 can obtain foot and connect to the pressure data of corrective shoes 13, ankle-joint component 12 and shank attachment device 11 and corrective shoes 13
It connects, ankle-joint component 12 can drive corrective shoes 13 to rotate and obtain the pivoting angle data of corrective shoes 13, control case assembly 14
It is connect with shank attachment device 11；Controlling case assembly 14 includes master controller and data transmitter-receiver set, and master controller can receive
Pressure data and pivoting angle data are simultaneously transferred to data transmitter-receiver set and export data, and data transmitter-receiver set can receive outside
Data are simultaneously transferred to master controller, and master controller can control ankle-joint component 12 according to external data and act；Left 1 He of rectifier
Right 2 structure of rectifier is identical and symmetrical；Power supply module 3 can power to left rectifier 1 and right rectifier 2.
The application corrective shoes 13 and shank attachment device 11 are through respectively on infant foot and shank, and ankle-joint component 12 drives
Dynamic corrective shoes 13 rotate, then infant foot is swung with corrective shoes 13.Infant sitting posture when foot is liftoff, can carry out infant foot
It takes exercise.When infant is walked, corrective shoes 13 drive infant foot to simulate normal mode and move.Therefore the application can help infant
Rehabilitation gradually improves plantar flexion and dorsiflex situation, eliminates infant dyskinesia.The application can not also drive, and infant is in no driving
In the case where autonomous analyzed so as to measurement data.When just starting to put on the walking of this rectifier, if infant can not
It adapts to, is trained by physiotherapist.It is wearable to go home after adaptation, prolonged exercise.
In addition, the present invention can obtain foot to the pivoting angle data of corrective shoes 13 pressure data and corrective shoes 13, and
Two item datas are exported.Wherein pivoting angle data specifically includes the angle of rotation, angular speed, acceleration.Corrective shoes 13 are born
Pressure data and pivoting angle data are able to reflect infant foot to the resistance degree of normal walking mode, to reflect infant
The degree of plantar flexion and dorsiflex.By these data, rehabilitation group member and patient household can learn infant rehabilitation situation, such as
It is compared by the data that each angle-data and pressure data are walked with normal person.Medical staff can be according to different situations
Different rehabilitation strategies are provided, accelerate rehabilitation speed to improve rehabilitation efficacy.
The mode that data transmitter-receiver set exports data can by a variety of, such as directly band display screen and data are shown.
It is also possible to the existing ways such as bluetooth, infrared to export data, mobile phone, apparatus such as computer is enabled to receive data.Hand is mechanical, electrical
Corresponding program, i.e. displayable data are installed in the equipment such as brain.The program can also preferably carry out remote transmission data, so that suffering from
Youngster carries out reconditioning at home, and doctor can also obtain data elsewhere, to provide for children with cerebral palsy customized
Rehabilitation scheme.Or customized rehabilitation scheme is provided for children with cerebral palsy by the methods of cloud big data analysis diagnosis.
Data transmitter-receiver set can receive data, and the mode for receiving data can be the existing ways such as bluetooth, infrared, the number
According to can by mobile phone, apparatus such as computer issue.Data transmitter-receiver set receives external data and is transferred to master controller, master controller
The movement of ankle-joint component 12, the specifically movement angle of ankle-joint component 12, speed and driving force are controlled according to external data.
The application data transmitter-receiver set is preferably existing blue-teeth data R-T unit.
It can be more smart according to different infant situations by way of ankle-joint component 12 acts although being controlled external data
The movement of ankle-joint component 12 really is controlled, but which needs to cooperate mobile phone or apparatus such as computer equipped with specific program to use.
In order to improve the scope of application of the application, master controller can also be acted according to pre-set programs independent control ankle-joint component 12.
Although, can be interim according to the movement effect of pre-set programs independent control ankle-joint component 12 not as good as customized external data
Meet rehabilitation when external condition deficiency.Left rectifier 1 is identical with the control program of right rectifier 2, but left and right foot and asynchronous
Movement, therefore required in program operation asynchronous.
The apparent motion in corrective shoes 13 should be avoided in infant foot, therefore when corrective shoes 13 are put on should pack tightly trouble to a certain degree
Youngster's foot, but should not tension cause discomfort.In order to monitor this situation, children with cerebral palsy intelligence ankle foot rectificative training device includes blood oxygen
Sensor, blood oxygen transducer are connect with master controller, and master controller can receive oximetry data and be transferred to data transmitter-receiver set
Data are exported.Blood oxygen transducer is prior art products, and when use is mounted on infant foot thumb.Blood oxygen transducer measured value mistake
It is low, then blood oxygen amount deficiency at thumb is represented, to represent 13 tension of corrective shoes, should suitably be unlayed.Master may further be provided
Director demon is automatically stopped motor 123 when blood oxygen transducer measured value is lower than a certain amount of.
The effect of shank attachment device 11 is worn on shank, and specific set-up mode is preferably that shank attachment device 11 is wrapped
The gaiter band 112 for including shank connecting plate 111 and being connected on shank connecting plate 111.Wearing mode is that shank connecting plate 111 is attached to
On shank, gaiter band 112 ties up shank connecting plate 111 on shank.
The specific set-up mode of ankle-joint component 12 as shown in figure 3, it is preferred that are as follows: ankle-joint component 12 includes speed reducer base
121, harmonic speed reducer 122, inner end cap 124, motor 123, angular encoder 125 and output connecting rod 128；121 knot of speed reducer base
Structure is the ring structure for passing through notch 1211 with connecting rod, and speed reducer base 121 is connect with shank attachment device 11；Harmonic speed reducer
122 are located at 121 outside of speed reducer base, and the shell of harmonic speed reducer 122 is connect with speed reducer base 121；Motor 123 and harmonic reduction
Device 122 connects；Output connecting rod 128 is entered from connecting rod by notch 1211 in speed reducer base 121 and defeated with harmonic speed reducer 122
Placing connection；Inner end cap 124 is located at 121 inside of speed reducer base and connect with speed reducer base 121；Angular encoder 125 is mounted on
In inner end cap 124, the rotation angle of the detection output connecting rod 128 of angular encoder 125.Specific speed reducer base 121 connects with shank
Fishplate bar 111 connects.
More specifically, settable connecting flange 126 connects 123 shell of motor and 122 shell of harmonic speed reducer.It is settable
The input hole of axis device 127 connection motor output shaft and harmonic speed reducer 122.Settable outer end cap 129 covers motor 123.Electricity
Machine 123, harmonic speed reducer 122 and angular encoder 125 are prior art products.
Motor 123 drives harmonic speed reducer 122, and harmonic speed reducer 122 exports slow-speed of revolution driving output connecting rod 128 and swings,
To drive corrective shoes 13 to swing.Main controller controls ankle-joint component 12 acts, and really main controller controls export connecting rod
128 speed, dynamics and the angles swung.Positive and negative rotation, revolving speed, torque and the rotation time that main control controls motor 123 control
Speed, angle and the dynamics that output connecting rod 128 is swung.Connecting rod is passed through in addition to having for output connecting rod 128 by notch 1211
Effect outside, also have the function of limitation output 128 limit swing angle of connecting rod.When breaking down, connecting rod 128 is exported
It swings excess and stopping then being contacted by the wall surface of notch 1211 with connecting rod, led to can avoid output connecting rod 128 and swing excess
It causes dangerous.
The plantar flexion of the foot of infant and dorsiflex make infant foot that can resist the movement of corrective shoes 13, that is, resist output connecting rod
128 swing, so that the output practical swing angle of connecting rod 128 and master controller predetermined angle have a small amount of difference, which can reflect
The plantar flexion and dorsiflex degree of the foot of infant.When plantar flexion, swinging can be smaller before exporting connecting rod 128；When dorsiflex, connecting rod is exported
Swinging can be smaller after 128.
The specific set-up mode of corrective shoes 13 is preferably as shown in Figure 4 and Figure 5: corrective shoes 13 include sole 131 and and sole
131 connection foot fixed structures 132, sole 131 include pressure sensor 134, pressure gasket 135 and successively set from bottom to top
The mid-sole 1312 of the sole bottom 1311, hard set and sole surface layer 1313 flexible are set on mid-sole 1312
It is equipped with sensor and line slot 1314, pressure sensor 134 is fixed in sensor and line slot 1314, and pressure gasket 135 is set
It sets between pressure sensor 134 and sole surface layer 1313；Mid-sole 1312 is connect with ankle-joint component 12.Specific shoes
Bottom middle layer 1312 is connect with output connecting rod 128.
Infant foot steps down in sole surface layer 1313 flexible, 1313 stress deformation of sole surface layer flexible, down force pressure
Gasket 135, pressure gasket 135 transmits the force to pressure sensor 134, to detect pressure.
The concrete mode that mid-sole 1312 is connect with output connecting rod 128 can be to be connected on mid-sole 1312
Shoes connecting hole 1331 and route hole 1332 are arranged on shoes attachment base 133 for shoes attachment base 133.It exports connecting rod 128 and is inserted into shoes connecting hole
It 1331 and is connect with shoes attachment base 133 by fastener.The route 4 of the power supply of pressure sensor 134 and signal is from line slot
1314 and route hole 1332 pass through.
The specific set-up mode of pressure sensor 134 is preferably as follows: the quantity of pressure sensor 134 is four, pressure pad
Piece 135 is arranged in a one-to-one correspondence with pressure sensor 134, when children with cerebral palsy puts on corrective shoes 13, the position of four pressure gaskets 135
It is corresponding with Metatarsophalangeal joint, the 5th articulationes metatarsophalangeae, heel and foot outside respectively.Above-mentioned set-up mode is conducive to more accurately anti-
Reflect the plantar flexion and dorsiflex degree of infant foot.When plantar flexion, corresponding pressure sensing at Metatarsophalangeal joint, the 5th articulationes metatarsophalangeae
134 measured values increase；When dorsiflex, corresponding 134 measured value of pressure sensing of heel increases.In addition setting foot outside respective sensor,
It can reflect foot lateral deviation situation.
Different infant foot size shapes is different.When difference is larger, the corrective shoes 13 of different size can be used.Difference
When smaller, foot fixed structure 132 can adjust with effectively fixed foot, and adjustable 135 position of pressure gasket is to adapt to.
When infant is walked about, in order to power, power supply module 3 should be moved together with human body.Therefore, the application power supply module 3 wraps
The waist bandage 32 for including power supply 31 and being connect with power supply 31.Waist bandage 32 ties up power supply 31 in infant waist.
The rotation center of output connecting rod 128 should suffer from joint face with infant, for the ease of face, upper and lower and front-rear direction
On, corrective shoes 13 are adjustable at a distance from output 128 rotation center of connecting rod.By corrective shoes 13 and 128 connection of connecting rod can be exported
The hole that hole and ankle-joint component 12 are connect with shank connecting plate 111 is set as long hole to realize above-mentioned adjusting.
Data and electric energy the transmitting evidence of the application as shown in Figure 1 and Figure 5 is realized by route 4.
Here further illustrating the application, other can measure data and can realize function.1, the plantar of ankle-joint when landing for the first time
Angle is bent, this data is closed in motor 123, measured when infant foot lands for the first time by angular encoder 125.2, phase of taking a step ankle closes
The maximum dorsiflex angle of section, this data are measured in the closing of motor 123, infant autonomous by angular encoder 125.3, it stands
The ankle dorsal flexion angle of phase exposed earlier, this data are closed in motor 123, and infant is measured when standing by angular encoder 125.
4, in standing phase latter stage and latter stage abnormal flex angle, this data motor 123 close, infant stand when by angular encoder
125 measure.5, pressure sore is avoided, each 134 measured value of pressure sensor is significantly greater than normal value, then represents corrective shoes 13 and give
The pressure of infant foot is excessive, may cause pressure sore, should suitably unlay corrective shoes or adjustment infant foot position.6, convulsion is realized
Contraction identification when walking, when 134 measured value of pressure sensor is normal always, but generates large change suddenly, then represents infant foot and go out
Existing spasm, should stop motor 123 at once at this time and infant is avoided to fall down；Settable primary controller procedure is realized automatically and is stopped when spasm
Only motor 123.
The application will be worn on human body.Light and comfortable in order to guarantee, each component of the application should be light as far as possible.On material
Light plastic material or aluminium should be selected, flexible pad should be sticked on the side that hard components are bonded with human body.The prior art produces
Light product is also selected in terms of product type selecting.Output power needed for the application is simultaneously little, therefore weight is within an acceptable range, Shen
The quality of the left rectifier 1 of practical trial product and right rectifier 2 of asking someone is 1.5kg, and the application gross mass is 3.5kg.
Claims (9)
1. children with cerebral palsy intelligence ankle foot rectificative training device, it is characterised in that: including left rectifier (1), right rectifier (2) and power supply
Component (3)；Left rectifier (1) includes shank attachment device (11), corrective shoes (13), ankle-joint component (12) and control case assembly
(14), corrective shoes (13) can obtain foot to the pressure data of corrective shoes (13), and ankle-joint component (12) connect dress with shank
(11) and corrective shoes (13) connection are set, ankle-joint component (12) can drive corrective shoes (13) to rotate and obtain corrective shoes (13)
Pivoting angle data, control case assembly (14) are connect with shank attachment device (11)；Controlling case assembly (14) includes master controller
And data transmitter-receiver set, master controller can receive pressure data and pivoting angle data and be transferred to data transmitter-receiver set and will count
According to output, data transmitter-receiver set can receive external data and be transferred to master controller, and master controller can be according to external data
Control ankle-joint component (12) movement；Left rectifier (1) is identical and symmetrical with right rectifier (2) structure；Power supply module (3) energy
It is enough to power to left rectifier (1) and right rectifier (2).
2. children with cerebral palsy intelligence ankle foot rectificative training device according to claim 1, it is characterised in that: sensed including blood oxygen
Device, blood oxygen transducer are connect with master controller, and master controller can receive oximetry data and be transferred to data transmitter-receiver set and will count
According to output.
3. children with cerebral palsy ankle rectifier according to claim 1, it is characterised in that: shank attachment device (11) includes small
Leg connecting plate (111) and the gaiter band (112) being connected on shank connecting plate (111).
4. children with cerebral palsy ankle rectifier according to claim 1, it is characterised in that: ankle-joint component (12) includes slowing down
Device seat (121), harmonic speed reducer (122), inner end cap (124), motor (123), angular encoder (125) and output connecting rod
(128)；Speed reducer base (121) structure is to pass through the ring structure of notch (1211), speed reducer base (121) and shank with connecting rod
Attachment device (11) connection；Harmonic speed reducer (122) is located on the outside of speed reducer base (121), the shell of harmonic speed reducer (122) with
Speed reducer base (121) connection；Motor (123) is connect with harmonic speed reducer (122)；It exports connecting rod (128) and passes through notch from connecting rod
(1211) enter in speed reducer base (121) and connect with the output panel of harmonic speed reducer (122)；Inner end cap (124), which is located at, slows down
It is connect on the inside of device seat (121) and with speed reducer base (121)；Angular encoder (125) is mounted on inner end cap (124), and angle is compiled
Code device (125) detects the rotation angle of output connecting rod (128).
5. children with cerebral palsy ankle rectifier according to claim 1, it is characterised in that: corrective shoes (13) include sole
(131) and with sole (131) it connect foot fixed structure (132), sole (131) includes pressure sensor (134), pressure gasket
(135) and from bottom to top the mid-sole (1312) and sole flexible of the sole bottom (1311), hard that set gradually
Surface layer (1313) is provided with sensor and line slot (1314) on mid-sole (1312), and pressure sensor (134) is fixed on
In sensor and line slot (1314), pressure gasket (135) setting pressure sensor (134) and sole surface layer (1313) it
Between；Mid-sole (1312) is connect with ankle-joint component (12).
6. children with cerebral palsy ankle rectifier according to claim 5, it is characterised in that: the quantity of pressure sensor (134)
It is four, pressure gasket (135) is arranged in a one-to-one correspondence with pressure sensor (134), when children with cerebral palsy puts on corrective shoes (13), four
The position of a pressure gasket (135) is corresponding with Metatarsophalangeal joint, the 5th articulationes metatarsophalangeae, heel and foot outside respectively.
7. children with cerebral palsy ankle rectifier according to claim 1, it is characterised in that: power supply module (3) includes power supply
(31) and with power supply (31) the waist bandage (32) connecting.
8. children with cerebral palsy ankle rectifier according to claim 1, it is characterised in that: up and down and on front-rear direction, correction
Shoes (13) are adjustable at a distance from ankle-joint component (12) rotation center.
9. children with cerebral palsy ankle rectifier according to any one of claims 1 to 8, it is characterised in that: master controller can also
It is enough to be acted according to pre-set programs independent control ankle-joint component (12).
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