CN110916978B - Hand fracture rehabilitation robot - Google Patents
Hand fracture rehabilitation robot Download PDFInfo
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- CN110916978B CN110916978B CN201911255866.6A CN201911255866A CN110916978B CN 110916978 B CN110916978 B CN 110916978B CN 201911255866 A CN201911255866 A CN 201911255866A CN 110916978 B CN110916978 B CN 110916978B
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- hand
- fracture rehabilitation
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- 206010019114 Hand fracture Diseases 0.000 title claims abstract description 44
- 230000033001 locomotion Effects 0.000 claims abstract description 24
- 230000008878 coupling Effects 0.000 claims description 15
- 238000010168 coupling process Methods 0.000 claims description 15
- 238000005859 coupling reaction Methods 0.000 claims description 15
- 210000003813 thumb Anatomy 0.000 claims description 11
- 230000005540 biological transmission Effects 0.000 claims description 9
- 210000000511 carpometacarpal joint Anatomy 0.000 claims description 9
- 230000007246 mechanism Effects 0.000 claims description 6
- 210000003811 finger Anatomy 0.000 description 21
- 238000012549 training Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 210000000236 metacarpal bone Anatomy 0.000 description 2
- 210000000056 organ Anatomy 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 206010017076 Fracture Diseases 0.000 description 1
- 208000010040 Sprains and Strains Diseases 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 238000001467 acupuncture Methods 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 210000004247 hand Anatomy 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 230000003340 mental effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Classifications
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- 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
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0285—Hand
- A61H1/0288—Fingers
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a hand fracture rehabilitation robot, comprising: a body support structure secured to a metacarpal portion of the hand; a slider axially slidable in predetermined x, y directions of the body support structure; a rigid link rotatably connected to the first rotating body of the slider; a phalangeal support structure pivotally connected to the rigid link by a second swivel; an actuating means for applying a rotational torque to the rigid link through the first rotator and to the phalangeal support structure through the second rotator. The hand fracture rehabilitation robot can be completely suitable for fingers of different sizes of different human bodies, ensures the adjustability of the axes of the joints of the hand fracture rehabilitation robot and the axes of the joints when the proximal phalanx moves, and effectively reduces the motion constraint between the proximal phalanx and the metacarpal joint.
Description
Technical Field
The invention relates to the field of limb rehabilitation, in particular to a hand fracture rehabilitation robot.
Background
It is well known that the hand is one of the most important organs in a human body and is also one of the most frequently used organs in daily life. When a fall accident happens, people often use hands to support, at the moment, sprains or fractures easily occur to palms or fingers, and the palms or fingers are often recovered slowly after being damaged. The traditional hand treatment method is mainly to gradually recover the hand motion function of a patient by massaging, acupuncture and moxibustion and other methods. However, this treatment not only puts a great deal of manual, material and financial stress on the patient's home, but also puts a great deal of mental stress on the physician in a one-to-one manner. The use of robotics has made hand rehabilitation patients more hopeful again. Experts at home and abroad strive to develop a great deal of research work relative to the hand rehabilitation robot and obtain a great research result. The modern treatment means of using the robot technology to carry out the rehabilitation training on the fingers of the patient is gradually accepted by people, and the patient can carry out the finger training rehabilitation at any time and any place mainly by means of advanced rehabilitation equipment, so that the rehabilitation training efficiency is greatly improved.
Structurally, the current hand rehabilitation robot mainly is rigidity finger rehabilitation robot, adopts rigid material processing to form mostly, and control accuracy is higher relatively, nevertheless leads to the fact the secondary injury to the patient easily, and the robot quality is great moreover, can cause the tired sense of patient's training in-process. In addition, in order to reduce the resistance in bending or stretching, the existing hand rehabilitation robot usually ensures that the joint axis of the finger robot is consistent with the axis of the human body joint, but for the movement of the proximal phalanx, the proximal phalanx and the metacarpal bone not only rotate around one axis, but also perform adduction and expansion movement with the metacarpal bone; meanwhile, the existing hand rehabilitation robot cannot adapt to the sizes of fingers of different people.
Disclosure of Invention
In view of this, the present invention is directed to a hand fracture rehabilitation robot, which is completely suitable for fingers of different sizes of different human bodies, and simultaneously ensures adjustability between the axis of the joint of the hand fracture rehabilitation robot and the axis of the joint when the proximal phalanx moves, thereby effectively reducing the motion constraint between the proximal phalanx and the metacarpal joint.
In order to achieve the purpose, the technical scheme of the invention is realized as follows: a hand fracture rehabilitation robot comprising:
a body support structure secured to a metacarpal portion of the hand;
a slider axially slidable in a predetermined gamma direction of the body support structure;
a rigid link rotatably connected to the first rotating body of the slider;
a phalangeal support structure pivotally connected to the rigid link by a second swivel;
an actuating device for applying a rotational torque to the rigid link through the first rotator and to the body support structure through the second rotator.
In particular, wherein the body support structure and the slide are placed on the movement device; wherein the motion device includes:
a sliding member that effects an axial sliding in a predetermined direction epsilon with respect to the phalangeal support structure;
the rotating structure is connected with the sliding block and the sliding block through two ends respectively, and the rotating structure is rotatably connected with the body structure.
In particular, a transmission mechanism is included, the transmission mechanism being disposed between the body support structure and the rigid link.
In particular, wherein the transmission mechanism comprises: a first shaft that rotates about its own axis relative to the body support structure through a first rotational coupling structure;
a first sub-shaft rotatably connected to the first shaft by a first rotating shaft;
a second sub-shaft rotatably connected to the first sub-shaft by a second rotating shaft;
the second shaft rotates around the axis of the second shaft through the second rotary coupling structure and relative to the second sub-shaft;
a second slider rotatably connected to the second shaft by a third rotation shaft.
In particular, the second slide generates an axial sliding movement, rotating with respect to the third rotation axis and along a predetermined direction, while it is also connected to the rigid connecting rod.
In particular, wherein the first and second rotation axes and the first and second rotational coupling structures may be driven by an actuation device, actively drivable with respect to the joint.
In particular, wherein the first rotary coupling structure assists the adduction movement of the carpometacarpal joint of the thumb, the first and second rotary shafts and the second rotary coupling structure assist the flexion and extension movement of the carpometacarpal joint.
The invention has the advantages that: the hand fracture rehabilitation robot can be completely suitable for fingers of different sizes of different human bodies to use, meanwhile, the adjustability of the axes of the joints of the hand fracture rehabilitation robot and the axes of the joints when the proximal phalanx moves is guaranteed, and the motion constraint between the proximal phalanx and the metacarpal joint is effectively reduced.
Drawings
FIG. 1A is a schematic view of a hand fracture rehabilitation robot according to the present invention;
FIG. 1B is a moment diagram of the hand fracture rehabilitation robot of FIG. 1A in relation to;
FIG. 2 is a schematic view of a hand fracture rehabilitation robot according to the present invention applied to an index finger of one hand;
FIG. 3 is an embodiment of the hand fracture rehabilitation robot of FIG. 2 applied to the index finger of one hand;
FIGS. 4A and 4B are schematic structural views of the hand fracture rehabilitation robot of the present invention in an extended state and a bent state when applied to the index finger of one hand;
FIG. 5 is a second embodiment of the hand fracture rehabilitation robot of the present invention;
FIG. 6 is a schematic view of a hand fracture rehabilitation robot according to the present invention applied to the thumb of one hand;
FIG. 7 is an embodiment of the hand-fracturable rehabilitation robot of FIG. 6 applied to a thumb of one hand;
FIG. 8 is another embodiment of the hand fracture rehabilitation robot of FIG. 6;
fig. 9 is an embodiment of a hand fracture rehabilitation robot applied to both the index finger and thumb.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
Fig. 1A is a schematic view of a hand fracture rehabilitation robot 100 according to the present invention, wherein the hand fracture rehabilitation robot 100 may assist the proximal phalanx 50 between the metacarpal and phalanx to move in a curved plane.
Wherein, a hand fracture rehabilitation robot 100 includes:
a body support structure 150 secured to a metacarpal portion of the hand;
a slider 101 axially slidable in a predetermined γ direction of the body support structure 150;
a rigid link 103 rotatably connected to the first rotating body 102 of the slider 101;
a phalangeal support structure 105 pivotally connected to the rigid link 103 via the second rotator 104;
actuating means for applying a rotational torque to the rigid link 103 via the first rotator 102 and to the phalangeal support structure 105 via the second rotator 104;
defining the axis of rotation of the proximal phalanx 50 as the origin O of a first coordinate system of the rotation plane R, defining the origin O' of a second coordinate system of the rotation plane R at the body support structure 150, the second coordinate system is displaced with respect to the first coordinate system in a vertical direction parallel to the y direction H and perpendicular to the y direction V, respectively.
Fig. 1B is a moment diagram of the hand fracture rehabilitation robot in fig. 1A, and referring to fig. 1, the following relational expression can be obtained.
The result from the above equation is that if the torque T1 and the torque T2 provided by the actuating means to the first rotating body 102 and the second rotating body 104 are equal, the constraint reaction existing on the proximal phalanx 50 is zero as the rotation θ varies over the predetermined range of H and V.
Fig. 2 is a schematic view of the hand fracture rehabilitation robot 100 according to the present invention applied to an index finger of one hand. In fig. 3, the hand fracture rehabilitation robot 100 according to the present invention is applied to an embodiment of an index finger of one finger. In this embodiment, the first rotating body 102 and the second rotating body 104 are realized by an idler and an actuating device. The actuation means bowden cable 120. And, the inner wire of the bowden cable 120 is wound on the first rotating body 102 and the second rotating body 104.
Fig. 4A and 4B are schematic structural views of the hand fracture rehabilitation robot 100 in an extended state and a bent state, respectively, when applied to the index finger of one hand. Wherein the dotted line represents the joint chain described by the hand fracture rehabilitation robot 100, and the dotted line represents the joint chain of the finger.
Fig. 5 is a second embodiment of the hand fracture rehabilitation robot 100 of the present invention, wherein the body support structure 150 and the slider 101 are placed on the movement device 200, the movement device 200 allowing the hand fracture rehabilitation robot 100 to passively assist the proximal phalanx 50 in adduction.
The exercise device 200 includes:
a slide 201 that enables axial sliding in a predetermined direction γ with respect to the phalangeal support structure 105;
the sliding piece 201 slides in the axial direction on the adduction plane of the metacarpophalangeal bones;
the rotating structure 202 is connected with the sliding block 101 and the sliding block 201 through two ends respectively, so that the hand fracture rehabilitation robot 100 can be rotatably connected.
Fig. 6 is a schematic view of the hand fracture rehabilitation robot 100 according to the present invention applied to the thumb of one hand, and the region corresponding to the joint region includes the proximal phalanx 50 and the carpometacarpal joint 40. In fig. 7, the hand fracture rehabilitation robot 100 is applied to an embodiment of a thumb of one hand. In this embodiment, the first rotating body 102 and the second rotating body 104 are realized by an idler and an actuating device. The actuation means bowden cable 120. And, the inner wire of the bowden cable 120 is wound on the first rotating body 102 and the second rotating body 104.
Fig. 8 is another embodiment of the hand fracture rehabilitation robot 100 of fig. 6, wherein a transmission structure 400 is disposed between the body support structure 150 and the rigid link 103, the transmission structure 400 allowing the hand fracture rehabilitation robot 100 to assist in the adduction and flexion movements of the carpometacarpal joint 40 of the thumb. Wherein the transmission structure 400 includes:
a first shaft 459 that rotates about its own axis with respect to the body support structure 150 through a first rotational coupling structure 460;
a first branch shaft 453 rotatably connected to the first shaft 459 by a first rotation shaft 452;
a second sub-shaft 455 rotatably connected to the first sub-shaft 453 through a second rotation shaft 454;
the second shaft 457 is rotated about its own axis and relative to the second sub-shaft 455 by the second rotary coupling structure 456;
a slide 451, which is rotatably connected to the second shaft 457 by a third rotation shaft 458. With this arrangement, the slider 451 generates an axial sliding movement in a predetermined direction while rotating with respect to the third rotation axis 458, while it is also connected to the rigid link 103;
wherein the first and second rotational axes 452, 454 and the first and second rotational coupling structures 460, 456 may be driven by an actuator, actively drivable with respect to the movement of the joint 40.
Wherein the first rotary coupling structure 460 primarily assists the adduction movement of the carpometacarpal joint 40 of the thumb, and the first and second rotary shafts 452, 454 and the second rotary coupling structure 456 primarily assist the flexion and extension movement of the carpometacarpal joint 40.
Fig. 9 is an embodiment of a hand fracture rehabilitation robot applied to both the index finger and thumb. For the sake of distinction, the numbers of the elements of the hand fracture rehabilitation robot 100 applied to the index finger are indicated by apostrophes, and the numbers of the elements of the hand fracture rehabilitation robot 100 applied to the thumb are indicated by two apostrophes.
The invention has the advantages that: the hand fracture rehabilitation robot can be completely suitable for fingers of different sizes of different human bodies to use, meanwhile, the adjustability of the axes of the joints of the hand fracture rehabilitation robot and the axes of the joints when the proximal phalanx moves is guaranteed, and the motion constraint between the proximal phalanx and the metacarpal joint is effectively reduced.
In the description of the present invention, it is to be understood that the terms "front", "rear", "left", "right", "inner", "outer", "axial", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; may be mechanically coupled, may be electrically coupled or may be in communication with each other; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (4)
1. A hand fracture rehabilitation robot, comprising:
a body support structure (150) secured to a metacarpal portion of the hand;
a slider (101) axially slidable along a predetermined gamma direction of the body support structure (150);
a rigid link (103) rotatably connected to the first rotating body (102) of the slider (101);
a phalangeal support structure (105) pivotally connected to the rigid link (103) by a second rotation body (104);
actuating means for applying a rotational torque to the rigid link (103) by means of the first rotator (102) and to the body support structure (150) by means of the second rotator (104);
wherein the body support structure (150) and the slide (101) are placed on the movement device (200);
wherein the movement device (200) comprises:
a first slide (201) enabling an axial sliding in a predetermined epsilon direction with respect to the phalangeal support structure (105);
the rotating structure (202) is connected with the sliding block (101) and the first sliding piece (201) through two ends respectively, so that the rotating structure can be rotatably connected with the body structure (100);
further comprising a transmission mechanism (400), the transmission mechanism (400) being arranged between the body support structure (150) and the rigid link (103);
wherein the transmission mechanism (400) comprises:
a first shaft (459) that rotates about its own axis relative to the body support structure (150) through a first rotational coupling structure (460);
a first split shaft (453) rotatably connected to the first shaft (459) by a first rotation shaft (452);
a second sub-shaft (455) rotatably connected to the first sub-shaft (453) by a second rotation shaft (454);
the second shaft (457) is rotated about its own axis and relative to the second sub-shaft (455) by means of a second rotary coupling structure (456);
a second slide (451) rotatably connected to the second shaft (457) by a third rotation shaft (458).
2. The hand fracture rehabilitation robot according to claim 1, wherein: the second slide (451) generates an axial sliding movement in a predetermined direction, rotating with respect to the third rotation axis (458), while it is also connected to the rigid link (103).
3. The hand fracture rehabilitation robot according to claim 1, wherein: wherein the first (452) and second (454) rotational axes and the first (460) and second (456) rotational coupling structures are drivable by the actuation means, actively drivable relative to the carpometacarpal joint (40).
4. The hand fracture rehabilitation robot according to claim 3, wherein: wherein the first rotary coupling structure (460) assists the adduction movement of the carpometacarpal joint (40) of the thumb, and the first and second rotary shafts (452, 454) and the second rotary coupling structure (456) assist the flexion and extension movement of the carpometacarpal joint (40).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911255866.6A CN110916978B (en) | 2019-12-10 | 2019-12-10 | Hand fracture rehabilitation robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911255866.6A CN110916978B (en) | 2019-12-10 | 2019-12-10 | Hand fracture rehabilitation robot |
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| Publication Number | Publication Date |
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| CN110916978A CN110916978A (en) | 2020-03-27 |
| CN110916978B true CN110916978B (en) | 2021-11-12 |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101518491B (en) * | 2009-04-03 | 2011-06-01 | 北京航空航天大学 | Finger motor function rehabilitation robot |
| CN108201497B (en) * | 2016-12-20 | 2020-10-02 | 富伯生医科技股份有限公司 | Wearable hand rehabilitation aid system |
| CN108261311B (en) * | 2016-12-30 | 2020-02-04 | 富伯生医科技股份有限公司 | Wearable finger rehabilitation device |
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Effective date of registration: 20211022 Address after: 261200 30 meters east of Haiyuan road and 200 meters north of Zhujiang East Street, Binhai Industrial Park, high tech Zone, Binhai Economic and Technological Development Zone, Weifang City, Shandong Province Applicant after: Shandong Juntai ande Medical Technology Co.,Ltd. Address before: 257300 Guangrao people's Hospital, No.180 Huayuan Road, Guangrao County, Dongying City, Shandong Province Applicant before: Liu Tingbin |
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Denomination of invention: A hand fracture rehabilitation robot Effective date of registration: 20220831 Granted publication date: 20211112 Pledgee: Bank of Weifang Limited by Share Ltd. Dongming branch Pledgor: Shandong Juntai ande Medical Technology Co.,Ltd. Registration number: Y2022980014172 |
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