CN111494078B

CN111494078B - Personalized dynamic joint orthosis and preparation method thereof

Info

Publication number: CN111494078B
Application number: CN202010290404.4A
Authority: CN
Inventors: 黄蓉; 王易珅
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-04-14
Filing date: 2020-04-14
Publication date: 2022-05-10
Anticipated expiration: 2040-04-14
Also published as: CN111494078A

Abstract

A personalized dynamic joint orthosis and a preparation method thereof are provided, wherein a support structure of the orthosis is designed according to the state of a target object when the target object is extruded at the utmost limit of the orthosis, so that the support structure can not extrude the skin. The support structure of the orthosis is designed according to the radian of the target object when the target object is maximally pressed against the orthosis. The prepared dynamic orthosis does not extrude skin when in use, and can customize the personalized dynamic orthosis according to the condition of a target object, thereby ensuring the matching of the radian of the joint.

Description

Personalized dynamic joint orthosis and preparation method thereof

Technical Field

The invention relates to the technical field of rehabilitation medical instruments, in particular to a personalized dynamic joint orthosis and a preparation method thereof.

Background

Fracture, cerebral apoplexy, poliomyelitis, myasthenia, osteoarthropathy and the like may leave different degrees of joint movement dysfunction, and various dysfunctions need to be prevented, corrected and the lost functions need to be compensated through various rehabilitation treatment aids.

The dynamic orthosis can effectively relieve the muscle tension and the muscle spasm of the affected limb, replace paralyzed muscles and prevent further muscle imbalance, and is an important treatment method for reducing the muscle tension of the affected limb of a patient with nerve injury and correcting the spastic state of the patient. The active flexion movement and the passive back extension movement of the joints are combined, the sliding distance of the tendon is increased, the tendon healing and the shaping of the tendon scar are promoted, and the functional scores of all the joints are improved.

The existing dynamic joint orthotics are mostly assembled by semi-finished products of low-temperature plastic sheet hand dynamic orthotics, are simply assembled and manufactured, and then are manufactured into dynamic splints by using splints, steel wires, springs, rubber bands and other accessories for traction to assist the active and movement-assisting activities of hands. Although the dynamic joint orthosis of the existing product can meet the joint control activity, the joint is in a suspended state, the supporting and load reducing and avoiding effects of the joint part are lacked, and meanwhile, the dynamic joint orthosis is complex in structure, heavy in weight and incapable of obtaining the accurate stress value of a patient.

Chinese patent CN 201621411951.9 discloses a glove-type functional auxiliary carrier of a dynamic orthosis for stroke hemiplegic upper limbs, wherein hand attachment points are connected with finger hooks on gloves through steel wires, and personalized support for joint parts is lacked. The hand attachment points on the wrist splint of the Saebo Glove rehabilitation Glove of the existing dynamic orthosis of electromyogram signals are also connected with the finger hooks on the Glove through rubber bands, and the support of joint parts which are matched individually is lacked.

A dynamic orthosis in the prior art is composed of a brace and a spring arranged between the braces as a support, and when the brace rotates along with a joint, an elastic support deforms to exercise the joint and muscles. In the dynamic orthoses in the prior art, the spring is easy to press or even clamp the skin when in a pressing state, which affects the use of the patient.

Therefore, it is necessary to provide a method for manufacturing a personalized dynamic joint orthosis to overcome the deficiencies of the prior art.

Disclosure of Invention

The invention aims to avoid the defects of the prior art and provides a preparation method of a personalized dynamic joint orthosis, the prepared dynamic orthosis does not extrude the skin when being used, the personalized dynamic orthosis can be customized according to the condition of a target object, and the matching of the radian of the joint is ensured.

The object of the invention is achieved by the following technical measures.

A method for manufacturing a personalized dynamic joint orthosis is provided, wherein a support structure of the orthosis is designed according to the state of a target object when the target object is maximally pressed on the orthosis, so that the support structure can not be pressed on the skin.

Preferably, the support structure of the orthosis is designed according to the arc of the target object when the target object is most compressed against the orthosis.

Preferably, the method for manufacturing the personalized dynamic joint orthosis is carried out by the following steps,

s1, obtaining a joint structure of a target object to be customized, and generating an STL-format orthosis entity model and a joint entity model, wherein the orthosis entity model is provided with a brace, the brace is composed of a first brace and a second brace, and the first brace and the second brace correspondingly support a first part and a second part connected with a joint in the joint entity model;

s2, adjusting the joint solid model and the orthosis solid model to the limit extrusion bending position, and designing a support structure according to the joint radian in the limit extrusion bending position state;

s3, designing a supporting structure curve according to the radian of the joint, and generating spring parameters according to the supporting structure curve;

s4, fixing two sides of a spring with a first brace and a second brace respectively, connecting a joint shaft movable buckle between the first brace and the second brace, and forming an integral orthopedic model by the first brace, the second brace, the spring and the joint shaft movable buckle;

and S5, printing the orthosis model in the step S4 in a 3D mode to obtain the personalized dynamic joint orthosis.

Preferably, the spring parameters generated in step S3 include a spring radius, a number of turns, and a spring thickness.

Preferably, in step S1, the joint structure of the target object to be customized is obtained by a three-dimensional scanner or image data.

Preferably, in step S2, the solid joint model is adjusted to the limit squeezing bending position by CAD design software.

Preferably, in the method for manufacturing the personalized dynamic joint orthosis, the angle range for adjusting the solid joint model is 0-150 °.

Preferably, the method for preparing the personalized dynamic joint orthosis further includes performing stress analysis on the orthosis model designed in step S4, where the stress analysis specifically includes:

a, importing the STL-format orthosis model designed in the step S4 into the Geomagic Wrap software, and sequentially selecting commands: the method comprises the following steps of (1) accurately curving a surface, automatically curving, constructing a contour line, constructing a surface sheet, constructing a grating, fitting a surface, finally generating a Nurbs curved surface, and exporting and storing the generated Nurbs curved surface in an IGES format;

b, importing the established finite element model into Hypermesh software for grid reconstruction, and specifically comprising the following steps:

b-1, importing the Nurbs curved surface in the IGES format into Hypermesh software, entering a Geom-2D panel, selecting an automatic gridding subcommand, selecting a surface to be generated, setting the size and the type of a grid, carrying out segmentation after clicking a segmentation command, and adjusting the 2D grid with an angle or length-width ratio which is not in accordance with the angle or length-width ratio so that the 2D grid meets the requirements of the angle and the length-width ratio;

clicking a grid quality checking tool, selecting a 2-D command, checking whether the 2D grids meet the requirements of the angle and the length-width ratio, adjusting the non-met 2D grids until all the grids meet the requirements of the angle and the length-width ratio, and then generating tetrahedral and pentahedral entity grids;

b-2, selecting Rigids in the 1D panel, selecting elem type RBODY, and respectively connecting two ends of a spring with a first brace and a second brace; then, two ends of the joint shaft movable buckle are respectively connected with the first support and the second support up and down;

b-3, selecting a distance measuring module, finding circle centers of the rotating shafts with the buckles at the two sides, setting the circle centers as main nodes, setting the peripheries as slave nodes, and connecting the master nodes and the slave nodes by RBODY; then entering an Analysis module, selecting systems to establish a local X-axis rotation local coordinate system;

b-4, selecting Create to Create Cross Section, selecting a dot, setting a circle radius, and creating an analysis stress interface;

c, importing hypercrash to give material properties and set boundary conditions, and specifically comprising the following steps:

c-1, selecting a material module to endow the material with properties;

c-2, selecting Property to give material properties to the first brace and the second brace;

c-3, creating a boundary condition: making the six spatial degrees of freedom at the fixed point zero;

c-4, in order to prevent the deformation and extrusion of each component, establishing each component contact as Self-contact Self Impact;

c-5, selecting an Imposed in a Load case module to create a rotation time and rotation radian Function;

c-6, selecting a Section in the Data History module, and importing the Section established by the Section in Hypermesh software;

d, selecting a RADIOSS dynamic solver to calculate to obtain the values of the rotation angle, the displacement, the stress and the time curve; the method specifically comprises the following steps:

d-1, obtaining the shape of the spring in the joint movement range;

d-2, obtaining displacement and stress cloud pictures of all parts of the orthosis under the normal wearing condition;

d-3, obtaining time-stress graphs of different cross-sectional structures.

Another object of the present invention is to provide a personalized dynamic joint orthosis made by the above method.

Preferably, the personalized dynamic joint orthosis is provided with a data storage module, a command input module, a driving module and a main control module;

the data storage module stores the data of the rotation angle, the displacement, the stress and the time-stress diagram of the orthosis and is connected with the main control module;

the instruction input module inputs stress to be applied to the target object or rotation angle information of the orthosis to the main control module;

the main control module outputs an adjusting mode signal to the driving module according to the rotation angle information of the orthosis input by the instruction input module, or the main control module performs conversion processing according to the input stress applied to the target object and the data stored by the data storage module to obtain the rotation angle information of the orthosis under the stress and outputs the adjusting mode signal to the driving module;

the driving module drives the joint shaft movable buckle to rotate by a corresponding angle according to the adjusting mode signal.

According to the personalized dynamic joint orthosis and the preparation method thereof, the support structure of the orthosis is designed according to the state of the target object when the target object extrudes the orthosis at the utmost limit, so that the support structure can not extrude the skin. The prepared dynamic orthosis does not extrude skin when in use, and can customize the personalized dynamic orthosis according to the condition of a target object, thereby ensuring the matching of the radian of the joint.

Drawings

The invention is further illustrated by means of the attached drawings, the content of which is not in any way limiting.

Fig. 1 is a schematic diagram of an orthosis solid model and a joint solid model according to embodiment 1 of a method for manufacturing a personalized dynamic joint orthosis of the present invention.

Fig. 2 is a schematic structural diagram of a personalized dynamic joint orthosis in a use state according to the invention.

Fig. 3 is a schematic structural diagram of a personalized dynamic joint orthosis of the present invention.

FIG. 4 is a schematic view of step b-3 in example 2 of the present invention.

Fig. 5 is a schematic view of a force-receiving interface created in embodiment 2 of the present invention.

Fig. 6 is a time-stress diagram of a different cross-sectional structure obtained in inventive example 5.

In fig. 1 to 6, there are included:

a joint solid model 600,

A first support 100, a second support 200, a joint axis movable buckle 300 and a spring 400.

Detailed Description

The invention is further illustrated by the following examples.

Example 1.

A method for manufacturing a personalized dynamic joint orthosis is used for designing a support structure of the orthosis according to the state of a target object when the target object is extruded at the utmost limit of the orthosis, so that the support structure can not extrude the skin. Specifically, the support structure of the orthosis is designed according to the radian of the target object when the target object is maximally compressed against the orthosis.

It should be noted that the personalized dynamic joint orthosis of the present embodiment may be an orthosis for any joint, such as a joint orthosis suitable for a wrist joint, a knee joint, an ankle joint, and the like. In this embodiment, a method for manufacturing a dynamic joint orthosis suitable for a wrist joint is described as an example.

In general, when a joint orthosis is designed, a support structure is designed in a state that a joint is naturally stretched, the radian condition of the support structure in a pressing or stretching state caused by the rotation of the joint is not considered, and particularly when the joint presses the support structure, the problem that the support structure presses the skin or clamps the skin often occurs.

The method of the embodiment firstly considers the radian of the joint when the joint is maximally pressed on the orthosis, and designs the support structure of the orthosis according to the radian of the joint at the moment. The joint is the most bending condition of the joint when the orthosis is squeezed at the utmost, and in the state of the orthosis, if the support structure of the orthosis does not squeeze the skin, the skin is not necessarily squeezed in other states. Therefore, the method of the embodiment adopts the design of the support structure of the orthosis according to the radian of the joint when the joint is maximally pressed against the orthosis, so as to ensure that the prepared dynamic joint orthosis cannot press the skin in use.

The preparation method of the personalized dynamic joint orthosis comprises the following steps:

s1, obtaining a joint structure to be customized by the target object, and generating an STL-formatted orthosis physical model and a joint physical model 600, where the orthosis physical model has a brace, and the brace is composed of a first brace 100 and a second brace 200, and the first brace 100 and the second brace 200 correspondingly support a first portion and a second portion of the joint physical model 600 connected to a joint, as shown in fig. 1.

And S2, adjusting the joint solid model and the orthosis solid model to the limit extrusion bending position, and designing a support structure according to the radian of the joint in the limit extrusion bending position state as shown in fig. 1. The adjustable angle of the joint solid model ranges from 0 to 150 deg.. The angle a of the crush bend support structure ranges from 0 to 80 as shown in fig. 1; the angle B of the counter-stretching support structure is in the range of 0-70 deg., as shown in fig. 2, the angle in the natural stretching state being 0 deg.. The specific adjustment angle is based on the range required by the actual target object.

S3, designing a supporting structure curve according to the radian of the joint, and generating parameters of the spring 400 according to the supporting structure curve, wherein the generated parameters of the spring comprise the radius of the spring, the number of turns of torsion and the thickness of the spring. The support structure is made up of a plurality of springs 400.

S4, fixing the two sides of the spring 400 to the first brace 100 and the second brace 200 respectively, connecting the joint axis movable buckle 300 between the first brace 100 and the second brace 200, and forming an integral orthopedic model by the first brace, the second brace, the spring and the joint axis movable buckle, as shown in fig. 3. It should be noted that the structures of the first brace, the second brace and the joint shaft movable buckle are common knowledge in the art, and are not described herein again.

And S5, 3D printing the orthosis model in the step S4 to obtain the personalized dynamic joint orthosis.

According to the preparation method of the personalized dynamic joint orthosis, the target object is used as a design basis, the support structure of the orthosis is designed according to the radian of the joint of the target object when the orthosis is extruded at the utmost limit, and the prepared dynamic joint orthosis cannot extrude the skin when in use. The personalized dynamic orthosis can be customized according to the condition of the target object, and the matching of the radian of the joint is ensured.

Example 2.

A method of making a personalized dynamic joint orthosis, the other features being the same as in example 1, except that: further comprising performing stress analysis on the orthotics model designed in step S4, wherein the stress analysis specifically comprises:

b-2, selecting Rigids in the 1D panel, selecting an elem type to be RBODY, and respectively connecting two ends of the spring with the first brace and the second brace; then, two ends of the joint shaft movable buckle are respectively connected with the first support and the second support up and down;

b-3, selecting a distance measuring module, finding the circle centers of the rotating shafts with the buckles at the two sides, setting the circle centers as a main node and the peripheries as slave nodes, and connecting the master node and the slave node through RBODY, as shown in the figure 4; then entering an Analysis module, selecting systems to establish a local X-axis rotation local coordinate system;

b-4, selecting Create to Create Cross Section, selecting a dot, setting a circle radius, and creating an analysis stress interface as shown in FIG. 5;

c-1, selecting a material module to endow the material with properties;

c-3, creating boundary conditions: making the six spatial degrees of freedom at the fixed point zero;

d-1, obtaining the shape of the spring in the joint movement range;

d-3, obtaining time-stress graphs of different cross-sectional structures.

According to the invention, the stress-strain distribution condition of the brace structure of the joint in the movable range is obtained through early-stage CAD design and dynamic finite element analysis, so that whether the design structure of the personalized brace part is reasonable and whether the rotating shaft alignment is stable can be well evaluated; the supporting parts with different angle structures can be made according to the requirements of patients, so that the supporting parts are comfortable and do not extrude the skin, and the stress meets the clinical requirements.

Through the design and finite element analysis, the 3D printing (die) is combined to manufacture a real object, the accurate stress of patients with different cases (fracture, hand external, cerebral apoplexy, myasthenia) and the like can be reversely released according to the wearing condition of the patients, and the elastic force of the supporting part can be reasonably controlled. The method of the invention, in addition to enabling aesthetic improvements, facilitates its morphological structural analysis from the biomechanical direction. The personalized dynamic orthosis is customized according to the state of an illness of a patient, the matching of the radian of the joint is ensured, the rotation angle, the displacement, the stress and the time curve value are obtained according to the braces made of different materials, planned and stepped rehabilitation function training can be carried out, a new design thought is provided for the development of new medical technology, the rationality of material and structural design can be evaluated, meanwhile, the personalized dynamic orthosis is developed towards light weight and portability, and the personalized dynamic orthosis has better practicability and compliance for the patient.

Example 3.

A personalized dynamic joint orthosis prepared by the method of the above example 1 or 2, which matches the radian of the joint of the user, ensuring comfort of use.

The personalized dynamic joint orthosis can be a joint orthosis suitable for wrist joints, knee joints, ankle joints and the like

Example 4.

A personalized dynamic joint orthosis has the same other characteristics as embodiment 3, and is also provided with a data storage module, an instruction input module, a driving module and a main control module;

the data storage module stores the data of the rotation angle, the displacement, the stress and the time-stress diagram of the orthosis, the data are obtained by the method of the embodiment 2, and the data storage module is connected with the main control module;

The specific structures of the data storage module, the instruction input module, the main control module and the driving module can be selected by people in the field according to needs and are not taken as the key point of the scheme. If adopt the memory can regard as data storage module, instruction input module can select touch screen or adopt the APP input of cell-phone end or adopt other modes input, and the main control module can select the STM32 chip to realize also can adopt the chip of other models to realize, and there are a lot of modes of drive module drive joint week activity buckle, such as motor drive or gear drive etc. and relevant components and parts can be selected according to the function that each module realized to the skilled person in the art.

According to the personalized dynamic joint orthosis, the support structure of the orthosis is designed according to the state of the target object when the target object is extruded at the utmost limit, so that the support structure can not extrude the skin. The prepared dynamic orthosis does not extrude skin when in use, and can customize the personalized dynamic orthosis according to the condition of a target object, thereby ensuring the matching of the radian of the joint.

The personalized dynamic joint orthosis stores the data of the rotation angle, the displacement, the stress and the time-stress diagram of the orthosis, can accurately control the stress adjustment control of the joint part of the target object according to the data, and can reasonably control the elasticity of the supporting part. The invention customizes the personalized dynamic orthotics according to the state of illness of the patient, ensures the matching of the radian of the joint, obtains the values of the rotating angle, the displacement, the stress and the time curve according to the braces made of different materials, can carry out planned and stepped rehabilitation function training, and provides a new design idea for the development of new medical technology.

Example 5.

A preparation method of a personalized dynamic joint orthosis comprises the following steps:

and S1, obtaining a joint structure of the target object to be customized through the three-dimensional scanner or the image data, and generating an STL-format orthosis entity model and a joint entity model, wherein the orthosis entity model is provided with a brace, and the brace is composed of a first brace and a second brace.

And S2, adjusting the joint solid model and the orthosis solid model to the limit extrusion bending position by utilizing CAD design software, and designing a support structure according to the joint radian under the limit extrusion bending position state.

And S3, designing a supporting structure curve according to the radian of the joint, and generating spring parameters according to the supporting structure curve, wherein the generated spring parameters comprise the spring radius of 2cm, the number of torsion turns of 16 circles and the spring thickness of 10 mm.

And S4, fixing the two sides of the spring with a first brace and a second brace respectively, connecting a joint shaft movable buckle between the first brace and the second brace, and forming an integral orthopedic model by the first brace, the second brace, the spring and the joint shaft movable buckle.

Performing stress analysis on the orthosis model designed in the step S4, wherein the stress analysis specifically includes:

b-1, importing the Nurbs curved surface in the IGES format into Hypermesh software, entering a Geom-2D panel, selecting an automatic gridding subcommand, selecting a surface to be generated, setting the size of a grid to be 1mm-4mm, selecting a triangle or a quadrangle according to the grid type, carrying out segmentation after clicking a segmentation command, and adjusting the 2D grid with an angle or length-width ratio which is not in accordance with the angle or length-width ratio so that the 2D grid meets the requirements of the angle and the length-width ratio;

b-4, selecting Create to Create Cross Section, selecting a dot, generally taking the center of the spring as the dot, setting the radius of the circle as 20-30cm, and creating an analysis stress interface;

c-1, selecting a material module to endow the material with properties, wherein the material is selected to be nylon in the embodiment;

c-2, selecting Property to give material properties to the first brace and the second brace; if the material is resin, selecting a shaping material, and inputting the material density, Poisson ratio and elastic modulus; selecting an elastic molding material for nylon, inputting density, Poisson's ratio, elastic modulus, a stress-strain curve and a spring input stiffness value;

and c-5, selecting the amplified created rotation time and rotation radian Function in the Load case module, specifically selecting the amplified displacement, and rotating along the X-axis direction (namely the local X-axis direction created in hypermesh in the step b-3), wherein the time is 0-0, 0.005s-1.278 radians and 0.01s-2.456 radians (140 degrees). And the radian is 0.01745 degrees when the angle is 1 pi/180, and the angle is 57.3 degrees when the angle is 1 pi/180.

d-1, obtaining the shape of the spring in the joint movement range;

d-3, obtaining a time-stress diagram of different cross-sectional structures, wherein as shown in fig. 6, the X axis represents time, the Y axis represents stress (Mpa), and the curve represents the pressure change of the brace from minus 80 degrees to plus 60 degrees when the S is 0 to 0.01S, for example, when the angle is plus 60 degrees, the total stress of the spring cross section is 60 Mpa.

And (4) after the stress analysis is finished, entering step S5, and performing 3D printing on the orthosis model in step S4 to obtain the personalized dynamic joint orthosis.

The stress-strain distribution condition of the brace structure of the joint in the movable range is obtained through early-stage CAD design and dynamic finite element analysis, and whether the design structure of the personalized brace part is reasonable and whether the rotating shaft is stable to the line can be well evaluated; the supporting parts with different angle structures can be made according to the requirements of patients, so that the supporting parts are comfortable and do not extrude the skin, and the stress meets the clinical requirements.

Through the design and finite element analysis, the 3D printing (die) is combined to manufacture a real object, the accurate stress of patients with different cases (fracture, hand external, cerebral apoplexy, myasthenia) and the like can be reversely released according to the wearing condition of the patients, and the elastic force of the supporting part can be reasonably controlled.

Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention and not for limiting the protection scope of the present invention, and although the present invention is described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions can be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.

Claims

1. A preparation method of a personalized dynamic joint orthosis is characterized by comprising the following steps: the personalized dynamic joint orthosis comprises a first brace and a second brace, the first brace and the second brace are movably connected through a joint shaft in a buckling mode, a supporting structure is a spring, two sides of the spring are respectively fixed with the first brace and the second brace of the orthosis, and the supporting structure of the orthosis is designed according to the maximum bending condition, namely the maximum extrusion bending position, of a joint of a target object when the joint of the target object extrudes the supporting structure of the orthosis at the maximum limit, so that the supporting structure can not extrude skin.

2. The method of making a personalized dynamic joint orthosis of claim 1, wherein: and designing a support structure of the orthosis according to the radian of the joint of the target object at the extreme extrusion bending position.

3. The method of making a personalized dynamic joint orthosis of claim 2, wherein: the method is carried out by the following steps,

4. The method of making a personalized dynamic joint orthosis of claim 3, wherein: the spring parameters generated in step S3 include the radius of the spring, the number of turns of the torsion, and the thickness of the spring.

5. The method of making a personalized dynamic joint orthosis of claim 3, wherein: step S1 obtains the joint structure of the target object to be customized through the three-dimensional scanner or the image data.

6. The method of making a personalized dynamic joint orthosis of claim 3, wherein: step S2 is to adjust the joint solid model to the limit extrusion bending position by using CAD design software.

7. The method of making a personalized dynamic joint orthosis of claim 6, wherein: the angle range of the joint solid model adjustment is within 150 degrees.

8. The method of making a personalized dynamic joint orthosis of claim 3, wherein: further comprising performing stress analysis on the orthotics model designed in step S4, wherein the stress analysis specifically comprises:

c-1, selecting a material module to endow the material with properties;

c-6, selecting a Section in a Data History module to establish a Section in Hypermesh software;

d-1, obtaining the shape of the spring in the joint movement range;

d-3, obtaining time-stress graphs of different cross-sectional structures.

9. A personalized dynamic joint orthosis, characterized by: prepared by the process of any one of claims 1 to 8.

10. The personalized dynamic joint orthosis of claim 9, wherein: the device is provided with a data storage module, a command input module, a driving module and a main control module;