CN115025454B - Limb joint integrated static progressive traction trainer - Google Patents
Limb joint integrated static progressive traction trainer Download PDFInfo
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- CN115025454B CN115025454B CN202210958016.8A CN202210958016A CN115025454B CN 115025454 B CN115025454 B CN 115025454B CN 202210958016 A CN202210958016 A CN 202210958016A CN 115025454 B CN115025454 B CN 115025454B
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- 230000000750 progressive effect Effects 0.000 title claims abstract description 39
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- 230000033001 locomotion Effects 0.000 claims abstract description 62
- 238000012549 training Methods 0.000 claims abstract description 57
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- 208000012659 Joint disease Diseases 0.000 description 1
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
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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
-
- 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
-
- 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
- A61H2201/1253—Driving means driven by a human being, e.g. hand driven
- A61H2201/1261—Driving means driven by a human being, e.g. hand driven combined with active exercising of the patient
- A61H2201/1269—Passive exercise driven by movement of healthy limbs
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- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention relates to a limb joint integrated static progressive traction trainer, which comprises a flexion and extension training mechanism and a rotary training mechanism, wherein the flexion and extension training mechanism comprises a flexion and extension handle, a flexion and extension transmission gear train, a joint adjacent proximal end fixing device, a first locking switch, a joint adjacent end support and a joint adjacent distal end support; the rotary training mechanism comprises a rotary handle, a second locking switch, a joint adjacent far-end telescopic shell, a joint adjacent far-end fixing device and a rotary transmission wheel train; the flexion and extension handle is used for inputting torque to the flexion and extension transmission gear train; the flexion-extension transmission gear train is used for converting the input torque into the rotary motion of the joint adjacent distal end support relative to the joint adjacent end support; the rotating handle is used to input torque to the rotating drive train, which is used to convert the input torque into rotational motion of the articulating adjacent distal fixation device.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a limb joint integrated static progressive traction trainer.
Background
The joints play an important role in connecting, driving and guiding all the surrounding joints, but the joint mobility is reduced due to diseases such as joint adhesion and the like, so that obvious limb dysfunction is caused. In addition, long-term braking after surgery can aggravate adhesion between tissues, change the morphological structure, biochemistry, biomechanics and the like of articular cartilage, and further reduce the joint mobility.
Static progressive distraction is an effective treatment for restoring joint motion, relying on a static progressive distraction trainer. Static progressive traction works on the basis of a stress relaxation principle, joint tissues are placed at the limit joint moving position which can be accepted by a patient, at the moment, the tissues can adapt to deformation and creep, the traction resistance is gradually reduced, the joint displacement is continuously increased after a period of time, and the effect of progressive traction is achieved.
Joint motion includes physiological motion and accessory motion. When the joints are stiff and limited in movement, both physiological and accessory movements are limited. When the joint physiological motion recovers, but the collateral motion is still affected by the pathology, the patient experiences pain and stiffness in joint motion. Static progressive distraction training requires a combination of treatment for a range of movements including physiological movements and collateral movements of the joint to maximize joint mobility.
At present, some mature static progressive stretching trainers exist in the market, and the application objects of the static progressive stretching trainers cover multiple joints on human bodies such as shoulders, elbows, wrists, knees, ankles and the like. However, most of the static progressive stretching trainers in the prior art are single bidirectional passive stretching trainers, and the stretching training can be performed only for one degree of freedom of one joint. For example, the existing limb joint stretching trainer and limb joint twisting trainer are two different types of static gradual stretching trainer training devices, and a patient needs to frequently switch between the two devices when training and rehabilitating the limb joint.
For example, chinese utility model patent document CN202023093017.6 discloses a limb joint brace, which comprises a thigh support, a shank support, a thigh brace, a shank brace, an adjusting mechanism, and an elastic band. The scheme can provide support for flexion and extension of limb joints and is suitable for changes of thigh contours in flexion and extension movements. However, the limb joint support is a passive training support, and needs to be externally applied with active force in the implementation process, so that the passive training support is mainly suitable for flexion and extension movements of the limb joint, and the thigh and the shank can rotate, but has general adaptability to auxiliary movements of the limb joint.
Disclosure of Invention
The invention aims to provide a limb joint integrated static gradual traction trainer, and the technical problem to be solved at least comprises the use experience of improving the static gradual traction trainer of a patient with limb joint diseases.
In order to achieve the purpose, the invention provides a limb joint integrated static progressive traction trainer, which comprises a flexion and extension training mechanism and a rotation training mechanism, wherein the flexion and extension training mechanism comprises a flexion and extension handle 1, a flexion and extension transmission gear train 2, a joint adjacent proximal end fixing device 4, a first locking switch 5, a joint adjacent end support 6 and a joint adjacent distal end support 7; the rotary training mechanism comprises a rotary handle 8, a second locking switch 9, a joint adjacent far-end telescopic shell 10, a joint adjacent far-end fixing device 11 and a rotary transmission wheel train 12; the joint adjacent proximal end fixing device 4 is connected with the joint adjacent end support 6 through the first locking switch 5; the joint adjacent far-end support 7 is connected with the joint adjacent far-end telescopic shell 10 through the second locking switch 9; the flexion and extension handle 1 is used for inputting torque to the flexion and extension transmission gear train 2; the flexion-extension transmission gear train 2 is used for converting the torque input by the flexion-extension handle 1 into the rotary motion of the joint adjacent distal end support 7 relative to the joint adjacent end support 6; the rotating handle 8 is used for inputting torque to the rotating transmission gear train 12, and the rotating transmission gear train 12 is used for converting the torque input by the rotating handle 8 into the rotating motion of the joint adjacent distal end fixing device 11; the telescopic shell 10 at the far end adjacent to the joint is fixedly connected with the shell of the rotary transmission gear train 12, the rotary transmission gear train 12 is directly connected with an additional freedom degree self-adaptive mechanism 15, the rotary transmission gear train 12 is further connected with the far end fixing device 11 adjacent to the joint through the additional freedom degree self-adaptive mechanism 15, and the rotary transmission gear train 12, the additional freedom degree self-adaptive mechanism 15 and the far end fixing device 11 adjacent to the joint are synchronous in rotary motion; the additional degree of freedom adaptation mechanism 15, the input of which is the input shaft 150 cooperating with the rotating worm gear 122, is able to provide a planar degree of freedom of motion in a direction perpendicular to the input shaft 150, but no additional rotational degree of freedom, and therefore the input is synchronized with the rotational motion of the output, the output of which is the joint adjacent distal fixation device 11.
The main body of the additional degree of freedom adaptive mechanism 15 is a set of vertical cross-shaped guide rails, the vertical cross-shaped guide rails comprise a first slide rail 151, a slide block 152, a second slide rail 153 and a locking switch 154, and the first slide rail 151 and the input shaft 150 are fixedly connected; the second slide rail 153 is fixedly connected with the joint adjacent distal fixing device 11; the locking switch 154 is used for fixedly locking the sliding block 152 on the first sliding rail 151 and the second sliding rail 153; when the locking switch 154 is in a locking state, the sliding block 152, the first sliding rail 151 and the second sliding rail 153 are fixedly connected, and at this time, the input shaft 150 can drive the sliding block 152, the first sliding rail 151 and the second sliding rail 153 and the joint adjacent distal end fixing device 11 to rotate together; when the locking switch 154 is in the open state, the sliding block 152 can slide on the first sliding rail 151 along a first direction; the sliding block 152 can also slide on the second sliding rail 153 along the second direction; the first direction is perpendicular to the second direction.
Preferably, the flexion and extension training mechanism and the rotation training mechanism are independent in movement.
Preferably, the joint adjacent proximal end fixing device 4 and the joint adjacent distal end fixing device 11 are both provided with connecting points, and the elastic bandage is connected through the connecting points, so that the limb joint integrated static progressive traction trainer can comfortably position the limb.
The adjacent end support 6 of the joint is provided with a first middle hole slot, and the first locking switch 5 passes through the first middle hole slot to connect the adjacent end fixing device 4 of the joint and the adjacent end support 6 of the joint; the first locking switch 5 is screwed to ensure that the adjacent end fixing device 4 of the joint and the adjacent end support 6 of the joint realize self-locking through friction; the joint adjacent proximal end fixing device 4 and the joint adjacent end support 6 can slide relatively by unscrewing the first locking switch 5, so that the relative position between the joint adjacent proximal end fixing device 4 and the joint adjacent end support 6 can be adjusted to adapt to the limb length of the patient.
The joint adjacent far-end support 7 is provided with a hole groove, and the second locking switch 9 passes through the hole groove to connect the joint adjacent far-end telescopic shell 10 with the joint adjacent far-end support 7; the second locking switch 9 is screwed to ensure that the telescopic shell 10 adjacent to the joint and the support 7 adjacent to the joint realize self-locking through friction; by loosening the second locking switch 9, the joint adjacent far-end telescopic shell 10 and the joint adjacent far-end support 7 can slide relatively, so that the relative position between the joint adjacent far-end telescopic shell 10 and the joint adjacent far-end support 7 can be adjusted to adapt to the length of the limb of the patient.
Preferably, the flexion and extension training mechanism further comprises a first fixed pin shaft 3, and the first fixed pin shaft 3 is used for controlling the flexion and extension handle 1 and the motion freedom of the joint adjacent distal end support 7 to be synchronous; when the first fixing pin shaft 3 is pulled out, the joint adjacent far end support 7 is not controlled by the flexion-extension handle 1, and the joint adjacent far end support 7 can be freely adjusted to a comfortable position; when the first fixing pin shaft 3 is inserted, the bending and stretching handle 1 and the far end support 7 adjacent to the joint move synchronously, and the bending and stretching training mechanism can work normally.
Preferably, the rotation training mechanism further comprises a second fixed pin 13, and the second fixed pin 13 is used for controlling the degree of freedom of the movement of the rotating handle 8 and the joint-adjacent distal fixing device 11 to be synchronous; when the second fixing pin shaft 13 is pulled out, the joint adjacent far-end fixing device 11 is not controlled by the rotating handle 8, and the joint adjacent far-end fixing device 11 can be freely adjusted to a comfortable position; after the second fixing pin shaft 13 is inserted, the movement of the rotating handle 8 and the movement of the far-end fixing device 11 adjacent to the joint are synchronous, and the rotating training mechanism can work normally.
The flexion transmission gear train 2 and the rotation transmission gear train 12 are respectively packaged in different boxes.
Preferably, the flexion-extension transmission gear train 2 and the rotation transmission gear train 12 are driven by a motor, and flexion of the flexion-extension training mechanism and rotation of the rotation training mechanism are realized through the motor drive.
Compared with the prior art, the invention has the following beneficial effects:
the limb joint integrated static progressive traction trainer introduces a bevel gear-reduction worm gear-straight gear transmission mechanism, and simultaneously introduces a synchronous belt-worm gear transmission mechanism, so that a flexion and extension training function can be realized, a movement range of 0-180 degrees can be provided for the angulation of the far-end limb at the adjacent end of the joint, a movement range of-90 degrees can be provided for the rotation angle of the far-end limb at the adjacent end of the joint, and the actual working angle can be limited according to the joint requirement in the maximum movement range to ensure the safety.
Drawings
The accompanying drawings are included to provide a further understanding of the present invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention.
Fig. 1 is a schematic structural diagram of a limb joint integrated static progressive traction trainer according to the invention.
Fig. 2 is a schematic composition diagram of the flexion-extension transmission structure of the present invention.
Fig. 3 is a schematic composition diagram of the flexion-extension transmission structure according to another aspect of the present invention.
Fig. 4 is a schematic structural view of a rotary drive train according to the present invention.
Figure 5 is a partial cross-sectional view of a rotary drive train according to the present invention.
Fig. 6 is a schematic structural diagram of the additional degree of freedom adaptive mechanism according to the present invention.
The reference numerals include:
the device comprises a flexion-extension handle 1, a flexion-extension transmission gear train 2, a driving bevel gear 20, a driven bevel gear 21, a flexion-extension worm 22, a flexion-extension turbine 23, a first mandrel 24 and a second mandrel 25; a first incomplete gear 26, a second incomplete gear 27, a first bearing 28, a first fixing pin 3 and a joint adjacent proximal end fixing device 4; the first locking switch 5, the joint adjacent end support 6 and the joint adjacent distal end support 7; the device comprises a rotating handle 8, a second locking switch 9, a joint adjacent far-end telescopic shell 10, a joint adjacent far-end fixing device 11 and a rotating transmission wheel train 12; the locking mechanism comprises a rotating worm 121, a rotating worm wheel 122, a synchronous pulley 123, an input shaft 150, a sleeve 125, a second bearing 127, a third bearing 128, a second fixed pin 13, an additional degree of freedom locking handle 14, an additional degree of freedom self-adapting mechanism 15, a first slide rail 151, a slide block 152, a second slide rail 153 and a locking switch 154.
Detailed Description
The present invention is described in more detail below to facilitate an understanding of the present invention.
As shown in fig. 1 to 6, the limb joint integrated static progressive traction trainer of the present invention comprises a flexion and extension training mechanism and a rotation training mechanism, wherein the flexion and extension training mechanism comprises a flexion and extension handle 1, a flexion and extension transmission gear train 2, a joint adjacent proximal end fixing device 4, a first locking switch 5, a joint adjacent end support 6 and a joint adjacent distal end support 7; the rotary training mechanism comprises a rotary handle 8, a second locking switch 9, a joint adjacent far-end telescopic shell 10, a joint adjacent far-end fixing device 11 and a rotary transmission wheel train 12; the joint adjacent proximal end fixing device 4 is connected with the joint adjacent end support 6 through the first locking switch 5; the joint adjacent far-end support 7 is connected with the joint adjacent far-end telescopic shell 10 through the second locking switch 9; the flexion and extension handle 1 is used for inputting torque to the flexion and extension transmission gear train 2; the flexion-extension transmission gear train 2 is used for converting the torque input by the flexion-extension handle 1 into the rotary motion of the joint adjacent distal end support 7 relative to the joint adjacent end support 6; the rotating handle 8 is used for inputting torque to the rotating transmission gear train 12, and the rotating transmission gear train 12 is used for converting the torque input by the rotating handle 8 into the rotating motion of the joint adjacent far-end fixing device 11; the adjacent far end telescopic shell 10 of the joint is fixedly connected with the shell of the rotary transmission wheel train 12; the sleeve 125 of the rotary transmission gear train 12 is coaxial with the input shaft 150 of the additional degree of freedom adaptive mechanism 15, the sleeve 125 and the input shaft 150 are completely synchronous in rotation after the second fixing pin 13 is inserted, the sleeve 125 passes through a worm gear hole, and the circumferential direction fixing is performed by using a common flat key, so that the rotation of the rotary worm gear 122 can drive the input shaft 150 to rotate; the rotary transmission gear train 12 is directly connected with an additional degree of freedom self-adaptive mechanism 15, the joint adjacent far-end fixing device 11 is further connected through the additional degree of freedom self-adaptive mechanism 15, and the rotary transmission gear train 12, the additional degree of freedom self-adaptive mechanism 15 and the joint adjacent far-end fixing device 11 are synchronous in rotary motion; the additional degree of freedom adaptation mechanism 15, the input of which is the input shaft 150 cooperating with the rotating worm gear 122, is able to provide a planar degree of freedom of motion in a direction perpendicular to the input shaft 150, but no additional rotational degree of freedom, and therefore the input is synchronized with the rotational motion of the output, the output of which is the joint adjacent distal fixation device 11.
The main body of the additional degree of freedom adaptive mechanism 15 is a set of vertical cross guide rails, the vertical cross guide rails comprise a first slide rail 151, a slide block 152, a second slide rail 153 and a locking switch 154, and the first slide rail 151 is fixedly connected with the input shaft 150; the second slide rail 153 is fixedly connected with the joint-adjacent distal fixing device 11; the locking switch 154 is used for fixedly locking the sliding block 152 on the first sliding rail 151 and the second sliding rail 153; when the locking switch 154 is in a locking state, the sliding block 152, the first sliding rail 151 and the second sliding rail 153 are fixedly connected, and at this time, the input shaft 150 can drive the sliding block 152, the first sliding rail 151 and the second sliding rail 153 and the joint adjacent distal end fixing device 11 to rotate together; when the locking switch 154 is in the open state, the sliding block 152 can slide on the first sliding rail 151 along a first direction; the sliding block 152 can also slide on the second sliding rail 153 along the second direction; the first direction and the second direction are perpendicular to each other.
The locking switch 154 is connected to the locking handle 14 with additional degrees of freedom, and the locking handle 14 with additional degrees of freedom controls the locking switch 154 to switch between a locking state and an unlocking state.
Since the main body of the additional freedom degree adaptive mechanism 15 is a group of vertical cross guide rails, the two ends connected with the additional freedom degree adaptive mechanism, the first slide rail and the second slide rail are allowed to perform a certain degree of two-freedom degree translation in the guide rail plane. At the side where the additional degree of freedom adaptive mechanism 15 is connected, i.e. the rotary transmission gear train, where the first slide rail 151 of the additional degree of freedom adaptive mechanism 15 is in fixed connection with the output end of the rotary transmission gear train; on the other side of the additional degree of freedom mechanism 15 connection, i.e. the joint adjacent distal fixation device 11, the second slide rail 153 of the additional degree of freedom adaptation mechanism 15 is in fixed connection with the joint adjacent distal fixation device 11.
The flexion and extension training mechanism and the rotation training mechanism are mutually independent in movement.
In order to realize the bending and stretching training function of the limb joint static progressive stretching trainer, the limb joint integrated static progressive stretching trainer introduces a bevel gear-reduction worm gear-straight gear transmission mechanism. The torque is input by the flexible extension handle 1, the rotation direction is changed through the bevel gear, the torque is increased through the speed reduction of the speed reduction worm gear, the speed reduction worm gear is meshed with the adjacent far-end support 7 of the joint through the tail-end straight gear, and therefore the adjacent far-end support 7 of the joint is driven to rotate relative to the adjacent end support 6 of the joint.
Specifically, as shown in fig. 2 and 3, the flexion-extension transmission gear train 2 includes a driving bevel gear 20, a driven bevel gear 21, a flexion-extension worm 22, a flexion-extension worm wheel 23, a first spindle 24, a second spindle 25, a first incomplete gear 26 and a second incomplete gear 27; the driving bevel gear 20 is connected with the telescopic handle 1, and torque is input to the driving bevel gear 20 from the telescopic handle 1; the driving bevel gear 20 is meshed with the driven bevel gear 21; the driven bevel gear 21 is arranged at the end part of the flexion-extension worm 22; the flexion and extension worm 22 is meshed with the flexion and extension turbine 23; the first incomplete gear 26 is arranged at the end part of the joint adjacent to the end support 6; the second incomplete gear 27 is arranged at the end part of the joint adjacent to the distal end support 7; the first incomplete gear 26 is meshed with the second incomplete gear 27; the flexion-extension worm wheel 23 and the second incomplete gear 27 are connected together through the second spindle 25; said first spindle 24 is vertically disposed on said first partial gear 26; the torque input to the drive bevel gear 20 by the flexion-extension handle 1 is transmitted to the joint adjacent end bracket 6 sequentially through a driven bevel gear 21, a flexion-extension worm 22, a flexion-extension worm wheel 23, a second spindle 25, a second incomplete gear 27 and a first incomplete gear 26, so that the joint adjacent distal end bracket 7 rotates relative to the joint adjacent end bracket 6.
Preferably, said first spindle 24 passes through the rotational axis of said first partial gear 26; the second spindle 25 passes through the rotation axes of the bending turbine 23 and the second incomplete gear 27 in sequence.
In order to realize the rotation training function of the limb joint static progressive traction trainer, the limb joint integrated static progressive traction trainer introduces a synchronous belt-speed reduction worm and gear transmission. The synchronous belt allows the position of the rotating handle 8 to move upwards, so that the patient can grasp the synchronous belt by himself. The torque inputted by the rotating handle 8 is transmitted to the worm gear through the synchronous belt, and the worm gear is rotated and synchronized with the fixing device 11 at the far end adjacent to the joint after the second fixing pin 13 is inserted, so that the rotating handle 8 is rotated to drive the rotating motion of the far end adjacent to the joint. The limb joint integrated static progressive traction trainer can provide a movement range of 0-180 degrees for the adjacent joint near end far end limb angulation, can provide a movement range of-90 degrees for the adjacent joint near end far end limb rotation angle, and can limit the actual working angle according to the joint requirement in the maximum movement range to ensure safety.
Specifically, as shown in fig. 4, the rotary transmission gear train 12 includes a rotary worm 121 and a rotary worm wheel 122, the rotary worm 121 is connected to the rotary handle 8 through a synchronous belt, the synchronous belt is located in a channel of the far-end telescopic housing 10 adjacent to the joint in fig. 1, the synchronous belt transmits torque input by the rotary handle to a synchronous pulley 123 fixedly connected to the rotary worm on the left side in fig. 4, so as to drive the rotary worm to rotate, the rotary worm wheel 122 is indirectly connected to the far-end fixing device 11 adjacent to the joint, the rotational degrees of freedom are synchronous, and the rotary worm 121 is meshed with the rotary worm wheel 122, so that the rotary worm wheel and the rotary worm are synchronous to the far-end fixing device 11 adjacent to the joint, and further, the rotary handle 8 is rotated to drive the rotary motion of the far-end adjacent to the joint.
The limb joint integrated static progressive traction trainer is provided with pins (a first fixing pin 3 and a second fixing pin 13) in a flexion-extension mechanism and a rotation mechanism so as to adjust the initial position of the device.
In the flexion and extension training mechanism, the first fixing pin 3 is used for controlling the synchronization of the joint adjacent far-end support 7 and the flexion and extension worm wheel, and no key is used for circumferential fixing between the joint adjacent far-end support 7 and the flexion and extension worm wheel 23, so that relative rotation to a certain degree is allowed; the worm 22, the first mandrel 24 and the second mandrel 25 are respectively provided with two first bearings 28 which are reasonably fixed and matched with a box body of the flexion-extension transmission gear train to allow the worm 22, the first mandrel 24 and the second mandrel 25 to freely rotate relative to the box body of the flexion-extension transmission gear train; after the first fixing pin 3 is pulled out, the initial angle phase of the joint adjacent far-end support 7 and the flexion-extension worm wheel 23 can be freely adjusted, so that the initial position of the joint adjacent far end is adjusted, namely the joint adjacent far-end support 7 can be adjusted to a position suitable for treatment of a patient under the condition that the flexion-extension handle 1 and the flexion-extension transmission gear train are not moved; a plurality of first pin holes 29 are uniformly distributed on the flexion-extension worm wheel 23, a second pin hole is formed in the center of the near end of the far end support adjacent to the joint, the first fixing pin 3 can be inserted after the proper position is adjusted and the pin holes (namely the first pin hole 29 and the second pin hole) of the two parts are aligned, and then the rotating freedom degree of the far end support 7 adjacent to the joint and the worm wheel is synchronized; after insertion of the first fixing pin 3, rotation of the flexion and extension handle 1 may drive rotation of the joint adjacent the distal end rest 7.
In the rotary training mechanism, the second fixing pin 13 is used to control the synchronization of the joint adjacent distal fixing device 11 with the rotary worm gear 122. As described above, the joint adjacent distal fixing device 11 and the rotary worm gear 122 can be synchronized in the rotational degree of freedom via the additional degree-of-freedom adaptive mechanism. The rotating turbine 122 is fixedly connected with the sleeve 125, third pin holes 129 are uniformly distributed on the outer peripheral wall of the sleeve 125, the center of the sleeve 125 is matched with the input shaft 150 of the additional degree-of-freedom adaptive mechanism 15, a fourth pin hole is arranged on the outer peripheral wall of the input shaft 150, the position of the fourth pin hole corresponds to the position of the third pin hole 129, when the input shaft 150 is inserted into the sleeve 125, the positions of the third pin hole 129 and the fourth pin hole are overlapped, and the second fixing pin 13 is inserted into the third pin hole 129 and the fourth pin hole, so that the input shaft 150 and the sleeve 125 are connected together.
The second fixing pin 13 is pulled out, the rotating turbine 122 and the input shaft 150 can rotate relatively, and the initial angle of the adjacent far end of the joint can be freely adjusted, namely the adjacent far end fixing device 11 of the joint can be adjusted to a position suitable for the treatment of the patient under the condition that the rotating handle 8 and the rotating wheel train are not moved; after the second fixing pin 13 is inserted, the joint adjacent far-end fixing device 11 is synchronized with the rotating worm wheel 122, and the rotating handle 8 is rotated to drive the joint adjacent far-end fixing device 11 to rotate.
Preferably, the flexion and extension training mechanism further comprises a first fixed pin shaft 3, and the first fixed pin shaft 3 is used for controlling the movement freedom synchronization of the flexion and extension handle 1 and the joint adjacent distal end support 7; when the first fixing pin shaft 3 is pulled out, the joint adjacent far end support 7 is not controlled by the flexion-extension handle 1, and the joint adjacent far end support 7 can be freely adjusted to a comfortable position; when the first fixed pin shaft 3 is inserted, the movement of the flexion and extension handle 1 and the movement of the joint adjacent far end support 7 are synchronous, and the flexion and extension training mechanism can work normally.
Preferably, the rotation training mechanism further comprises a second fixed pin 13, and the second fixed pin 13 is used for controlling the degree of freedom of the movement of the rotating handle 8 and the joint-adjacent distal fixing device 11 to be synchronous; when the second fixing pin shaft 13 is pulled out, the joint adjacent far-end fixing device 11 is not controlled by the rotating handle 8, and the joint adjacent far-end fixing device 11 can be freely adjusted to a comfortable position; after the second fixing pin shaft 13 is inserted, the movement of the rotating handle 8 and the movement of the far-end fixing device 11 adjacent to the joint are synchronous, and the rotating training mechanism can work normally.
Preferably, the limb joint integrated static progressive traction trainer disclosed by the invention can be adjusted in position or length to adapt to the limb length of a patient by screwing and unscrewing the locking switches (the first locking switch 5 and the second locking switch 9) at the joint adjacent proximal end fixing device 4 and the joint adjacent distal end telescopic shell 10.
The adjacent end support 6 of the joint is provided with a first middle hole slot, and the first locking switch 5 passes through the first middle hole slot to connect the adjacent end fixing device 4 of the joint and the adjacent end support 6 of the joint; the first locking switch 5 is screwed to ensure that the adjacent end fixing device 4 of the joint and the adjacent end support 6 of the joint realize self-locking through friction; the joint adjacent proximal end fixing device 4 and the joint adjacent end support 6 can slide relatively by unscrewing the first locking switch 5, so that the relative position between the joint adjacent proximal end fixing device 4 and the joint adjacent end support 6 can be adjusted to adapt to the limb length of the patient.
The adjacent joint far-end support 7 is provided with a hole groove, and the second locking switch 9 penetrates through the hole groove to connect the adjacent joint far-end telescopic shell 10 with the adjacent joint far-end support 7; the self-locking of the telescopic shell 10 at the far end adjacent to the joint and the support 7 at the far end adjacent to the joint is realized through friction by screwing the second locking switch 9; by unscrewing the second locking switch 9, the joint adjacent far-end telescopic shell 10 and the joint adjacent far-end support 7 can slide relatively, so that the relative position between the joint adjacent far-end telescopic shell 10 and the joint adjacent far-end support 7 can be adjusted to adapt to the limb length of a patient.
The flexion-extension transmission gear train 2 and the rotation transmission gear train 12 are respectively packaged in different boxes. As shown in fig. 2 and 3, the joint adjacent end bracket 6 and the joint adjacent distal end bracket 7 are positioned in the box body by a first mandrel 24 and a second mandrel 25, and the joint adjacent end bracket 6 and the joint adjacent distal end bracket 7 are engaged by a first incomplete gear 26 and a second incomplete gear 27.
Two second bearings 127 are mounted on the rotating worm 121 and are matched with a box body of the rotating transmission gear train to allow the rotating worm 121 to freely rotate relative to the box body of the rotating transmission gear train.
The input shaft 150 is provided with two third bearings 128 which cooperate with the housing of the rotary drive train to allow the input shaft 150 to rotate freely relative to the housing of the rotary drive train.
When the limb joint integrated static progressive traction trainer is used, the limb joint integrated static progressive traction trainer is pressed close to the limb of a patient, the adjacent near end fixing device 4 of the joint is worn at the adjacent end of the joint of the patient, the adjacent far end fixing device 11 of the joint is worn at the adjacent far end of the joint of the patient, the first locking switch 5 positioned at the adjacent near end fixing device 4 of the joint and the adjacent far end expansion part of the joint (namely the joint at the joint between the adjacent near end fixing device 4 of the joint and the adjacent end support 6 of the joint) is unscrewed, the adjacent near end fixing device 4 of the joint is adjusted to a comfortable position, the adjacent far end expansion part of the joint is adjusted to adapt to the length of the adjacent far end limb of the joint, and the first locking switch 5 is screwed down, so that the primary positioning of equipment adapting to the limb of the patient is completed. The adjacent proximal end fixing device 4 of the joint and the adjacent distal end fixing device 11 of the joint are connected with elastic bands through connecting points, and after the positioning step is completed, the elastic bands are tightened to complete the comfortable positioning of the equipment on the limbs.
The pins in the flexion-extension box body and the rotary box body are pulled out, the adjacent proximal ends of the joints are fixed, the rotation angle of the relaxation flexion-extension angle of the adjacent distal ends of the joints is adjusted, the pins are inserted at the proper initial positions, and the positioning of the device adapting to the limbs of the patient is completed.
The hand at the same side grasps the flexion-extension handle 1 or the rotation handle 8, rotates slowly with force, the adjacent near end of the joint is not moved, and the flexion-extension motion and the rotation motion of the adjacent far end of the joint are driven. When the rotating handle 8 is grasped, the state of the joint movement needs to be concerned at all times, and the limb is involved in the maximum displacement that the pain can endure. When the draft or rotation reaches the maximum, the rotating handle 8 is gripped for maintenance.
The limb joint integrated static progressive traction trainer can provide a movement range of 0-180 degrees for the adjacent joint proximal end and distal end limb angulations, can provide a movement range of-90 degrees for the adjacent joint proximal end and distal end limb rotation angles, and can limit the actual working angle according to the joint requirements in the maximum movement range to ensure safety. When the patient is in the training of stretching and rotating, the adjacent proximal end positions of the joints are reasonably fixed so as to reduce the burden of subsequent training.
When carrying out the draft training and rotatory training, the difference in the operation only has rotatory different handles, and the user can be by oneself in same section time plan number section draft training or rotatory training, possesses higher flexibility and convenience.
The shapes of the joint adjacent proximal end fixing device and the joint adjacent distal end fixing device are optimized through human engineering, the contours of the joint adjacent proximal end fixing device and the joint adjacent distal end fixing device are close to the fluctuation of skeletal muscles of a human body joint adjacent end and a human body joint adjacent distal end, and materials with excellent toughness can bear elastic deformation to a certain degree. The inner sides of the joint adjacent proximal end fixing device and the joint adjacent distal end fixing device are provided with soft liners, such as silica gel materials, so that the wearing comfort of a patient is improved.
As a further preferred embodiment, the flexion-extension transmission gear train 2 and the rotation transmission gear train 12 may be driven by a motor, and the flexion-extension of the flexion-extension training mechanism and the rotation of the rotation training mechanism are realized by the motor drive.
It should be noted that the static progressive stretching trainer in the present embodiment can be converted into a static progressive stretching trainer suitable for elbow joints and other parts through appropriate deformation based on the same principle, and similar stretching trainers obtained through such deformation also fall within the protection scope of the present invention.
The preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, however, the present invention is not limited to the specific details of the above embodiments, and various simple modifications can be made to the technical solution of the present invention within the technical idea of the present invention, and these simple modifications are within the protective scope of the present invention.
It should be noted that the various technical features described in the above embodiments can be combined in any suitable manner without contradiction, and the invention is not described in any way for the possible combinations in order to avoid unnecessary repetition.
In addition, any combination of the various embodiments of the present invention is also possible, and the same should be considered as the disclosure of the present invention as long as it does not depart from the spirit of the present invention.
The foregoing describes preferred embodiments of the present invention, but is not intended to limit the invention thereto. Modifications and variations of the embodiments disclosed herein may be made by those skilled in the art without departing from the scope and spirit of the invention.
Claims (9)
1. A limb joint integrated static progressive traction trainer is characterized by comprising a flexion and extension training mechanism and a rotation training mechanism, wherein the flexion and extension training mechanism comprises a flexion and extension handle (1), a flexion and extension transmission wheel train (2), a joint adjacent proximal end fixing device (4), a first locking switch (5), a joint adjacent end support (6) and a joint adjacent distal end support (7); the rotary training mechanism comprises a rotary handle (8), a second locking switch (9), a joint adjacent far-end telescopic shell (10), a joint adjacent far-end fixing device (11) and a rotary transmission wheel train (12); the joint adjacent proximal end fixing device (4) is connected with the joint adjacent end support (6) through the first locking switch (5); the joint adjacent far-end support (7) is connected with the joint adjacent far-end telescopic shell (10) through the second locking switch (9); the flexion and extension handle (1) is used for inputting torque to the flexion and extension transmission gear train (2); the flexion-extension transmission gear train (2) is used for converting the torque input by the flexion-extension handle (1) into the rotary motion of the joint adjacent far end support (7) relative to the joint adjacent end support (6); the rotating handle (8) is used for inputting torque to the rotating transmission gear train (12), and the rotating transmission gear train (12) is used for converting the torque input by the rotating handle (8) into the rotating motion of the joint adjacent far-end fixing device (11); the telescopic shell (10) at the far end adjacent to the joint is fixedly connected with the shell of the rotary transmission gear train (12), the rotary transmission gear train (12) is directly connected with an additional degree of freedom adaptive mechanism (15), the rotary transmission gear train is further connected with the far end fixing device (11) adjacent to the joint through the additional degree of freedom adaptive mechanism (15), and the rotary transmission gear train (12), the additional degree of freedom adaptive mechanism (15) and the far end fixing device (11) adjacent to the joint are synchronous in rotary motion; an additional degree of freedom adaptive mechanism (15) capable of providing a degree of freedom of planar motion in a direction perpendicular to the input shaft (150) but without an additional degree of rotational freedom, such that the input of the additional degree of freedom adaptive mechanism is synchronized with the rotational motion of the output, the input of the additional degree of freedom adaptive mechanism being the input shaft (150) engaged with the rotating turbine 122, the output of the additional degree of freedom adaptive mechanism being the articulating adjacent distal fixation device (11);
the main body of the additional freedom degree self-adaptive mechanism (15) is a group of vertical cross guide rails, each vertical cross guide rail comprises a first slide rail (151), a slide block (152), a second slide rail (153) and a locking switch (154), and the first slide rails (151) are fixedly connected with the input shaft (150); the second slide rail (153) is fixedly connected with the joint adjacent far-end fixing device (11); the locking switch (154) is used for fixedly locking the sliding block (152) on the first sliding rail (151) and the second sliding rail (153); when the locking switch (154) is in a locking state, the sliding block (152), the first sliding rail (151) and the second sliding rail (153) are fixedly connected, and at the moment, the input shaft (150) can drive the sliding block (152), the first sliding rail (151), the second sliding rail (153) and the joint adjacent far-end fixing device (11) to rotate together; when the locking switch (154) is in an opening state, the sliding block (152) can slide on the first sliding rail (151) along a first direction; the sliding block (152) can also slide on a second sliding rail (153) along a second direction; the first direction and the second direction are perpendicular to each other.
2. The limb joint integrated static progressive stretching trainer according to claim 1, wherein the flexion and extension training mechanism and the rotation training mechanism are kinematically independent of each other.
3. The limb joint integrated static progressive traction trainer according to claim 1, wherein the joint adjacent proximal fixing device (4) and the joint adjacent distal fixing device (11) are both provided with connecting points, and the elastic bandage is connected through the connecting points so as to realize comfortable positioning of the limb joint integrated static progressive traction trainer on a limb.
4. The limb joint integrated static progressive traction trainer according to claim 1, wherein the joint adjacent end support (6) is provided with a first middle hole slot, and the first locking switch (5) passes through the first middle hole slot to connect the joint adjacent end fixing device (4) and the joint adjacent end support (6); the adjacent end fixing device (4) of the joint and the adjacent end support (6) of the joint are self-locked through friction by screwing the first locking switch (5); the adjacent joint proximal end fixing device (4) and the adjacent joint end support (6) can slide relatively by unscrewing the first locking switch (5), so that the relative position between the adjacent joint proximal end fixing device (4) and the adjacent joint end support (6) can be adjusted to adapt to the length of the limb of the patient.
5. The limb joint integrated static progressive traction trainer according to claim 1, wherein the joint adjacent distal end support (7) is provided with a hole slot, and the second locking switch (9) passes through the hole slot to connect the joint adjacent distal end telescopic shell (10) and the joint adjacent distal end support (7); the second locking switch (9) is screwed to enable the joint adjacent far-end telescopic shell (10) and the joint adjacent far-end support (7) to realize self-locking through friction; the adjacent far-end telescopic shell (10) of the joint and the adjacent far-end support (7) of the joint can slide relatively by loosening the second locking switch (9), so that the length of the limb of the patient can be adapted by adjusting the relative position between the adjacent far-end telescopic shell (10) of the joint and the adjacent far-end support (7) of the joint.
6. The limb joint integrated static progressive traction trainer according to claim 1, wherein the flexion and extension training mechanism further comprises a first fixed pin (3), and the first fixed pin (3) is used for controlling the motion freedom synchronization of the flexion and extension handle (1) and the joint adjacent distal end support (7); when the first fixing pin shaft (3) is pulled out, the joint adjacent far end support (7) is not controlled by the bending and extending handle (1), and the joint adjacent far end support (7) can be freely adjusted to a comfortable position; when the first fixing pin shaft (3) is inserted, the movement of the flexion and extension handle (1) and the movement of the far end support (7) adjacent to the joint are synchronous, and the flexion and extension training mechanism can work normally.
7. The limb joint integrated static progressive stretching trainer according to claim 1, wherein the rotating training mechanism further comprises a second fixed pin (13), the second fixed pin (13) is used for controlling the degree of freedom of the movement of the rotating handle (8) and the joint adjacent distal fixing device (11) to be synchronous; when the second fixing pin shaft (13) is pulled out, the joint adjacent far-end fixing device (11) is not controlled by the rotating handle (8), and the joint adjacent far-end fixing device (11) can be freely adjusted to a comfortable position; when the second fixing pin shaft (13) is inserted, the rotation handle (8) and the far-end fixing device (11) adjacent to the joint move synchronously, and the rotation training mechanism can work normally.
8. The limb joint integrated static progressive traction trainer according to claim 1, wherein the flexion transmission gear train (2) and the rotation transmission gear train (12) are respectively packaged in different boxes.
9. The limb joint integrated static progressive traction trainer according to claim 1, wherein the flexion and extension transmission gear train (2) and the rotation transmission gear train (12) are driven by a motor, and the flexion and extension of the flexion and extension training mechanism and the rotation of the rotation training mechanism are realized through the motor drive.
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| CN117547439B (en) * | 2024-01-12 | 2024-03-26 | 清华大学 | Center-adjustable knee joint static progressive drafting trainer with five degrees of freedom |
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