CN115501014B - Integrated ankle system artificial limb - Google Patents
Integrated ankle system artificial limb Download PDFInfo
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- CN115501014B CN115501014B CN202211270657.0A CN202211270657A CN115501014B CN 115501014 B CN115501014 B CN 115501014B CN 202211270657 A CN202211270657 A CN 202211270657A CN 115501014 B CN115501014 B CN 115501014B
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- plate
- assembly
- shaft
- lifting lug
- hole pair
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- 210000003423 ankle Anatomy 0.000 title claims abstract description 17
- 210000003414 extremity Anatomy 0.000 title abstract description 20
- 210000002683 foot Anatomy 0.000 claims abstract description 58
- 210000000544 articulatio talocruralis Anatomy 0.000 claims abstract description 47
- 229920000049 Carbon (fiber) Polymers 0.000 claims abstract description 43
- 239000004917 carbon fiber Substances 0.000 claims abstract description 43
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims abstract description 43
- 230000007704 transition Effects 0.000 claims description 56
- 229920002635 polyurethane Polymers 0.000 claims description 30
- 239000004814 polyurethane Substances 0.000 claims description 30
- 238000005452 bending Methods 0.000 claims description 6
- 239000002131 composite material Substances 0.000 claims description 4
- 229910001069 Ti alloy Inorganic materials 0.000 claims description 2
- 230000005021 gait Effects 0.000 abstract description 8
- 230000008859 change Effects 0.000 abstract description 5
- 210000000549 articulatio subtalaris Anatomy 0.000 abstract description 4
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 230000003993 interaction Effects 0.000 abstract 1
- 230000009471 action Effects 0.000 description 3
- 238000004146 energy storage Methods 0.000 description 3
- 210000002414 leg Anatomy 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 241000292569 Pegusa lascaris Species 0.000 description 1
- 238000002266 amputation Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 230000009916 joint effect Effects 0.000 description 1
- 210000003127 knee Anatomy 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000004630 mental health Effects 0.000 description 1
- 230000037230 mobility Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000007493 shaping process Methods 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/60—Artificial legs or feet or parts thereof
- A61F2/66—Feet; Ankle joints
- A61F2/6607—Ankle joints
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/60—Artificial legs or feet or parts thereof
- A61F2/66—Feet; Ankle joints
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/60—Artificial legs or feet or parts thereof
- A61F2/66—Feet; Ankle joints
- A61F2002/6614—Feet
Landscapes
- Health & Medical Sciences (AREA)
- Transplantation (AREA)
- Biomedical Technology (AREA)
- Cardiology (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Engineering & Computer Science (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Heart & Thoracic Surgery (AREA)
- Vascular Medicine (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Prostheses (AREA)
Abstract
The invention relates to an integrated ankle system artificial limb, belonging to the technical field of artificial limb manufacture, which consists of a carbon fiber foot plate, an ankle joint and a connecting component, wherein the foot plate and the ankle joint are combined into an integrated design, so that the overall height can be reduced, and a user can conveniently adapt and adjust; the foot plate is combined with the transverse arch characteristic of the human foot, the rigidity of the foot plate can be improved while the weight of the foot plate is reduced, and the upper plate and the lower plate are matched, so that the rigidity change of the foot plate is realized at different times of gait cycle, and the comfort degree and the stability of the foot plate are improved; the ankle joint adopts a multiaxial design, so that the functions of the human ankle joint are summarized as the interaction of an ankle joint shaft and a subtalar joint shaft, and the volume of the artificial limb can be greatly reduced; the invention has stable structure, strong bearing capacity and high comfort level of the wearer, and can adapt to the walking conditions of different pavements.
Description
Technical Field
The invention belongs to the technical field of artificial limb manufacturing, and particularly relates to an integrated ankle system artificial limb with curvature change characteristics of a human transverse arch, a change rule of a sole pressure center and a multiaxial ankle joint.
Background
The amputation of the knee is a great burden both in the normal life of the patient and on the mental health of the patient himself, and there is an urgent need for a prosthesis that can help the amputee to restore mobility and integrate into social life. The ankle system artificial limb is a component for replacing the functions of human ankles, is an important component of a lower body artificial limb, and comprises an artificial limb foot plate and an ankle joint. The artificial limb foot plate is the part of the artificial limb which is contacted with the ground, and the performance of the artificial limb foot plate directly influences the stability and the comfort of the artificial limb. The artificial limb foot board on the market is designed mostly by referring to the longitudinal transverse arch of the human foot, so that the energy storage capacity of the artificial limb foot board is increased, but the requirements of patients on different gaits cannot be met, and the impact force of walking in partial environments is transmitted to the stump end to influence the comfort level of the artificial limb. Related researches show that the transverse arch of the foot of the human body can effectively improve the overall rigidity of the foot plate under the combined action of the transverse arch and the longitudinal arch, can adapt to pressure changes of different walking environments, can improve the rigidity of the foot plate of the artificial limb, and can effectively reduce the weight of the foot plate. The ankle joint of a human body can be regarded as a multiaxial structure, and the ankle joint can make various fluent movements under the action of the multiaxial structure by the joint action of the ankle joint shaft and the subtalar joint shaft. Currently, most ankle joints on the market are fixed in a single shaft or double shafts, and the functions of the ankle joints are greatly different from those of ankle joints of people, so that gait is unnatural when patients wear the ankle joints to walk. The adoption of the multi-axis ankle joint can effectively improve walking gait and improve the adaptability to different road surfaces. The artificial limb foot board is tightly connected with the ankle joint and interacts with the ankle joint to further assist the patient to walk normally.
Disclosure of Invention
Aiming at the defects of the existing lower body artificial limb, the invention provides an integrated ankle system artificial limb combining an artificial limb foot plate of a transverse arch of a human foot and a multiaxial ankle joint with biomechanical characteristics of the human ankle joint, and the integrated height can be effectively reduced by combining the foot plate and the ankle joint into an integrated design, so that a user can conveniently adapt and adjust; the transverse arch characteristic of the human foot is integrated into the design of the artificial limb foot plate, the rigidity of the foot plate is improved while the weight of the foot plate is reduced, and the upper plate and the lower plate are matched to realize rigidity change of the foot plate at different times of gait cycle, so that the comfort degree and the stability of the foot plate are improved; the ankle joint adopts multiaxis design, and the function of human ankle joint is summarized into ankle joint axle and the interact of subtalar joint axle, has greatly reduced the artificial limb volume, stable in structure, and bearing capacity is strong, and the comfort level of wearer is high, can adapt to the walking condition on different road surfaces.
The invention relates to an integrated ankle system artificial limb which consists of a sole curved plate A, a connecting piece B, an ankle joint C, a bolt group I1, a bolt group II 2, a bolt pair I3 and a bolt pair II 4, wherein the sole curved plate A consists of an upper carbon fiber curved plate 5 and a lower carbon fiber curved plate 6, the upper carbon fiber curved plate 5 consists of a rear plate I5 a, a middle transition plate 5B and a front plate 5C, and the rear plate I5 a, the middle transition plate 5B and the front plate 5C are smoothly connected into a whole in sequence from back to front; the lower carbon fiber bending plate 6 consists of a rear plate II 6a, a rear transition plate 6b, a middle circular arc plate 6c, a front transition plate 6d and a front flat plate 6e, and the rear plate II 6a, the rear transition plate 6b, the middle circular arc plate 6c, the front transition plate 6d and the front flat plate 6e are smoothly connected into a whole in sequence from back to front; the rear plate I5 a and the front plate 5c are fold lines, and the fold lines are formed by connecting two sections of straight lines with the height difference of 10mm through arc transition; the shape of the middle transition plate 5b is designed by referring to the transverse arch curve of the human foot, and the front and back directions are connected in a smooth transition way through circular arcs; the rear plate II 6a and the front plate 6e are fold lines, and the fold lines are formed by connecting two sections of straight lines with the height difference of 2mm through arc transition; the shapes of the rear transition plate 6b and the front transition plate 6d are smoothly transited from an upper convex circular arc to be flat, the circular arc radius is 250-260 mm, the central angle is 35-40 degrees, and the curvature is reduced from large to small; the shape of the middle circular arc plate 6c refers to the design of the transverse arch curve of the human foot, and the front and the back directions are connected through circular arc smooth transition.
The lower carbon fiber plate 6 is integrally defined by a sole longitudinal curve D, an outer side longitudinal curve E and an inner side longitudinal curve F in the front-rear direction, wherein the sole longitudinal curve D consists of a longitudinal curve I6 g, a longitudinal curve II 6h and a longitudinal line III 6i, the longitudinal curve I6 g is a concave arc, the radius of the arc is 275-280 mm, and the central angle is 20-23 degrees; the longitudinal curve II 6h is a section of upward convex arc, the radius of the arc is 135-145 mm, the central angle is 48-50 degrees, and the longitudinal curve I6 g and the longitudinal curve II 6h are sequentially and smoothly connected in a tangential manner from back to front; the longitudinal curve III 6i is a concave arc, the radius of the arc is 160-170 mm, the central angle is 33-35 degrees, and the longitudinal curve II 6h and the longitudinal curve III 6i are sequentially and smoothly connected in a tangent manner from back to front;
the mathematical expression of the outer longitudinal curve E is: y= -0.0015x 3+0.3313x2 -3.5641x;
The mathematical expression for the inside longitudinal curve F is: y= -0.0025x 3+0.5492x2 -9.6027x;
the connecting piece B consists of an arc plate 7a, a transition plate 7B and a flat plate 7c, wherein the flat plate 7c is connected to the rear end of the arc plate 7a through the transition plate 7B;
The ankle joint C, the connecting piece B and the sole curved plate A are arranged from top to bottom, and an upper hole pair III 13d of the middle plate component 13 of the ankle joint C is fixedly connected with an upper hole pair I7 d of the middle plate 7C of the connecting piece B through a bolt pair 4; the arc plate 7a of the connecting piece B is fixedly connected with the rear plate I5 a of the upper carbon fiber bent plate 5 in the sole bent plate A through the bolt group III 3 and the bolt group IV 4; the front plate 5c of the upper carbon fiber bent plate 5 in the sole bent plate A is fixedly connected with the front transition plate 6d of the lower carbon fiber bent plate 6 in the sole bent plate A through a bolt group I1 and a bolt group II 2;
The ankle joint C consists of a joint outer structure G, a joint inner structure H, a joint shaft part I and a spherical hinge support J, wherein the joint outer structure G consists of a connecting cover assembly 8 and a sleeve II 9, the connecting cover assembly 8 consists of a quadrangular frustum 8a, a sleeve I8 b and a pair of lifting lugs 8C, the quadrangular frustum 8a is fixedly connected to the center of the upper end of the sleeve I8 b, two lifting lugs of the pair of lifting lugs 8C are fixedly connected to the front side and the rear side of the lower end of the sleeve I8 b, and a pair of holes 8d are formed in the pair of lifting lugs 8C; the sleeve II 9 is a circular tube-shaped main body I9 a, a rectangular hole 9b is formed in the rear of the main body I9 a, a hole pair 9c is formed in the lower portion of the rectangular hole 9b, and a lower hole pair II 9c is formed in the upper portion of the rectangular hole 9 b; the connecting cover assembly 8 and the sleeve II 9 are arranged up and down, and a lifting lug pair 8c of the connecting cover assembly 8 is fixedly connected with an upper hole pair II 9d of the sleeve II 9 through bolts;
The joint inner structure H consists of an upper plate assembly 10, a polyurethane block pair 11 and a lower plate assembly 12, wherein the upper plate assembly 10 consists of a circular plate I10 a, a rear lifting lug seat 10c and a front lifting lug seat 10e, an inner hole pair I10 b and an outer hole pair 10d are arranged on the circular plate I10 a, and the front lifting lug seat 10e and the rear lifting lug seat 10c are symmetrically and fixedly connected below the circular plate I10 a; the two polyurethane blocks of the polyurethane block pair 11 have the same structure and are all sector blocks 11a, and a connecting hole 11b is formed in the center of each sector block; the lower plate assembly 12 consists of a circular plate II 12a, a circular ring 12b, a left lifting lug seat 12c and a right lifting lug seat 12f, wherein the circular ring 12b is fixedly connected to the circular plate II 12a, an inner hole pair II 12d is arranged on the circular plate II 12a, and an annular hole pair 12e is arranged on the circular ring 12 b; the left lifting lug seat 12c and the right lifting lug seat 12f are symmetrically and fixedly connected to the upper surface of the circular plate II 12 a; the upper plate assembly 10, the polyurethane block pair 11 and the lower plate assembly 12 are sequentially arranged from top to bottom, an outer hole pair 10d of the upper plate assembly 10 is fixedly connected with a connecting hole 11b of the polyurethane block pair 11 through a bolt, and an inner hole pair II 12d of the lower plate assembly 12 is fixedly connected with the connecting hole 11b of the polyurethane block pair 11 through a bolt; the intermediate plate assembly 13, the upper shaft assembly 14 and the lower shaft assembly 15 of the joint shaft I are located between the upper plate assembly 10 and the lower plate assembly 12 of the joint inner structure H; the lifting lug of the front shaft sleeve assembly 14a of the upper shaft body assembly 14 is movably connected with the front lifting lug seat 10e of the upper plate assembly 10 through a pin shaft; the lifting lug of the rear shaft sleeve assembly 14c of the upper shaft body assembly 14 is movably connected with the rear lifting lug seat 10c of the upper plate assembly 10 through a pin shaft; the lifting lug of the left shaft sleeve assembly 15c of the lower shaft body assembly 15 is movably connected with the left lifting lug seat 12c of the lower plate assembly 12 through a pin shaft; the lifting lug of the right shaft sleeve assembly 15a of the lower shaft body assembly 15 is movably connected with the right lifting lug seat 12f of the lower plate assembly 12 through a pin shaft;
The joint shaft part I consists of an intermediate plate assembly 13, an upper shaft body assembly 14 and a lower shaft body assembly 15, wherein the intermediate plate assembly 13 consists of a circular plate III a, an upper rectangular plate 13b and a lower rectangular plate 13f, the upper rectangular plate 13b is fixedly connected to the upper surface of the circular plate III 13a, and the lower rectangular plate 13f is fixedly connected to the lower surface of the circular plate III 13 a; a rectangular groove 13c is formed in the rear of the circular plate III 13a, an upper hole pair III 13d is formed in the rear of the circular plate III 13a, and central holes I13 e are formed in the upper rectangular plate 13b and the lower rectangular plate 13 f; the upper shaft body assembly 14 consists of a front shaft sleeve assembly 14a, a shaft body I14 b and a rear shaft sleeve assembly 14c, the lower shaft body assembly 15 consists of a right shaft sleeve assembly 15a, a shaft body II 15b and a left shaft sleeve assembly 15c, the front shaft sleeve assembly 14a, the rear shaft sleeve assembly 14c, the right shaft sleeve assembly 15a and the left shaft sleeve assembly 15c have the same structure, each of which consists of a shaft sleeve 14h and a lifting lug 14i, and the lifting lug 14i is fixedly connected with one end of the shaft sleeve 14 h; the shaft body I14 b consists of a front shaft 14d, a main body II 14e and a rear shaft 14g, a central hole II 14f is formed in the main body II 14e, and the front shaft 14d and the rear shaft 14g are fixedly connected to the front end and the rear end of the main body II 14e respectively; the shaft body II 15b consists of a left shaft 15g, a main body III 15e and a right shaft 15d, a central hole III 15f is formed in the main body III 15e, and the left shaft 15g and the right shaft 15d are fixedly connected to the left end and the right end of the main body III 15e respectively; the front shaft sleeve assembly 14a is connected to the front end of the shaft body I14 b in a clearance way, the rear shaft sleeve assembly 14c is connected to the rear end of the shaft body I14 b in a clearance way, the right shaft sleeve assembly 15a is connected to the right end of the shaft body II 15b in a clearance way, and the left shaft sleeve assembly 15c is connected to the left end of the shaft body II 15b in a clearance way; the upper shaft body assembly 14, the middle plate assembly 13 and the lower shaft body assembly 15 are arranged from top to bottom, and the lower part of the main body II 14e of the upper shaft body assembly 14 is connected with the upper rectangular plate 13b of the middle plate assembly 13 through bolts; the upper surface of a main body III 15e of the lower shaft body assembly 15 is connected with a lower rectangular plate 13f of the middle plate assembly 13 through bolts;
the spherical hinge support J consists of a hinge ball assembly 16, a spherical hinge body 17 and a hinge sleeve 18, wherein the hinge ball assembly 16 consists of a disc 16a and a hinge ball 16 b; the spherical hinge body 17 consists of an upper cover I17 a and a hollow disc I17 b, wherein the upper cover I17 a is in a reverse-buckling disc shape, a center Kong c is arranged on the upper cover I17 a, and the hollow disc I17 b is fixedly connected to the lower end of the upper cover I17 a; the spherical hinge sleeve 18 consists of an upper cover II 18a and a hollow disc II 18b, wherein the upper cover II 18a is provided with a center Kong c, and the hollow disc II 18b is provided with a hole pair 18d; the hollow disc II 18b is fixedly connected to the lower end of the upper cover II 18 a; the hinge ball 16b of the hinge ball assembly 16 is positioned in the upper cover I17 a of the spherical hinge body 17, and the spherical hinge body 17 and the spherical hinge sleeve 18 are arranged up and down and are fixedly connected through bolts.
A rear hole pair 5e is arranged on a rear plate I5 a of the upper carbon fiber bent plate 5 in the sole bent plate A, and a front hole pair 5d is arranged on a front plate 5 c; a front transition plate 6d of the lower carbon fiber bent plate 6 is provided with a pair of middle holes 6f; the front hole pair 5d corresponds to the middle hole pair 6f up and down; the arc plate 7a of the connecting piece B is provided with a lower hole pair I7 e; the flat plate 7c is provided with an upper hole pair I7 d; the lower hole pair I7 e corresponds to the rear hole pair 5e up and down; the inner hole pair II 12d of the lower plate 12 is connected with the connecting holes 11b of the two polyurethane blocks in the polyurethane block pair 11 through bolts; the left lifting lug seat 12c and the right lifting lug seat 12f are respectively connected with a left shaft sleeve assembly 15c and a right shaft sleeve assembly 15a through bolts; the inner hole pair I10 b of the upper plate 10 is connected with the connecting holes 11b of the two polyurethane blocks in the polyurethane block pair 11 through bolts; the front shackle seat 10e and the rear shackle seat 10c are respectively bolted to the front sleeve assembly 14a and the rear sleeve assembly 14 c; in the spherical hinge support J, a spherical hinge ball 16 is arranged in a center Kong c, an upper cover I17 a is connected with a center Kong c, and an upper cover II 18a is fixed on a hollow disc I17 b; the outer hole pair 10d corresponds to the hole pair 18d up and down and is connected through bolts; the annular hole pair 12e corresponds to the lower hole pair II 9c internally and externally and is connected through bolts; the lifting lug pair 8c corresponds to the upper hole pair II 9d in an inner-outer mode and is connected through bolts.
The sole curved plate A and the connecting piece B are made of carbon fiber composite plates, and the ankle joint C is made of titanium alloy except the polyurethane blocks.
The longitudinal arch curves of the inner foot plate and the outer foot plate of the artificial limb foot plate are different, the curvature of the outer longitudinal curve D is smaller, the deformation is larger when the artificial limb foot plate is stressed, the energy storage effect is better, and the artificial limb foot plate can help patients to absorb impact force generated on the ground during the landing period when walking on uneven roads; the curvature of the inner longitudinal curve E is larger, the rigidity of the inner longitudinal curve E is higher, the inner longitudinal curve E can help a patient to keep stable in the running process, and the inner longitudinal curve E plays a supporting and propelling role; in the complete gait cycle, the plantar pressure center gradually moves forward from the heel to the outer side of the front sole of the lower carbon fiber plate and then to the inner side of the front sole of the foot from the grounding period, the thinner lower carbon fiber plate enables the foot to be more comfortable in the grounding process, the grounding impact is relieved, and the energy is stored and released when the foot is separated from the ground; after the lower carbon fiber bending plate generates a shaping variable, the upper carbon fiber bending plate starts to share the plantar pressure, and the thicker upper carbon fiber bending plate can ensure the rigidity of the whole foot, so that the whole stability of the artificial limb is better.
The invention has the beneficial effects that:
1. According to the artificial limb foot plate and the artificial limb ankle joint, the artificial limb foot plate and the artificial limb ankle joint are integrated into a whole for design, so that the overall height of the ankle is effectively reduced, the artificial limb foot plate and the artificial limb leg joint are convenient to adapt to artificial limb leg tubes of different patients, and the motion change of the foot plate in gait can be effectively transmitted to the ankle joint for adjustment, so that the wearing experience of the artificial limb during wearing is effectively improved.
2. According to the invention, the human body transverse arch characteristic and the human body longitudinal arch characteristic are combined and integrated into the artificial limb foot plate design, so that the rigidity of the foot plate is obviously improved, the weight of the artificial limb foot plate is effectively reduced, and the arch structure of the artificial limb foot plate further improves the energy storage capacity and the propelling and walking capacity of the foot plate, so that a patient walks more comfortably; the artificial limb foot plate can carry out self-adaptive adjustment on the rigidity of the foot plate according to gait cycles through the multi-layer foot plate design, so that the foot plate can meet the stability and comfort requirements of patients under different walking environments.
3. The invention simplifies the ankle joint of a human body into the combined action of the ankle joint shaft and the subtalar joint shaft, and is integrated into the ankle joint design, thereby effectively improving the adaptability of the ankle joint artificial limb and having good adaptability to different walking environments; the novel portable safety belt is simple in structure, good in stability, simple, convenient, safe and stable when being worn by a patient.
Drawings
FIG. 1 is an isometric view of a multi-axis ankle transverse arch prosthesis (anterior-right);
FIG. 2 is an isometric view II (posterior-to-right) of a multi-axial ankle transverse arch prosthesis;
FIG. 3 is an isometric view three (right bottom) of a multi-axis ankle transverse arch prosthesis;
FIG. 4 is an exploded view of a polyaxial transverse ankle arch prosthesis (anterior-right);
FIG. 5 is an isometric view (front right) of a segmented section of the upper carbon fiber bent plate 5;
FIG. 6 is an isometric view (front right) of a segmented section of the lower carbon fiber bent plate 6;
FIG. 7 is a right side view of the longitudinal curve D of the foot plate;
fig. 8 is an isometric view (front right) of the lateral longitudinal curve E and the medial longitudinal curve F of the foot plate;
fig. 9 is an isometric view (front right) of the connector B;
FIG. 10 is an isometric view of an ankle joint C (anterior-right);
FIG. 11 is a cross-sectional view of the ankle joint C;
FIG. 12 is an isometric view of ankle C;
FIG. 13 is an isometric view three (posterior-to-right) of an ankle joint C;
Fig. 14 is a perspective view of the attachment cap assembly 8;
FIG. 15 is a perspective view of sleeve II 9;
fig. 16 is a perspective view of the upper plate 10;
FIG. 17 is a perspective view of polyurethane block pair 11;
fig. 18 is a perspective view of the lower plate 12;
FIG. 19 is an isometric view of the joint shaft I (anterior-right);
Fig. 20 is an isometric view of the joint shaft I (bottom right);
fig. 21 is an isometric view of the intermediate plate 13 (front left);
Fig. 22 is an isometric view two (bottom left) of the intermediate plate 13;
FIG. 23 is an isometric view of the upper shaft assembly 14 (front left);
FIG. 24 is an isometric view of the upper shaft assembly 14 in a second (forward right direction);
FIG. 25 is an isometric view of the lower shaft assembly 15 (front left);
FIG. 26 is an isometric view of the lower shaft assembly 15 in two (front right direction);
fig. 27 is a perspective view of the sleeve 14 h;
Fig. 28 is a perspective view of the spherical hinge support seat J;
Fig. 29 is a perspective view of the spherical hinge ball 16;
fig. 30 is a cross-sectional view of the spherical hinge support seat J;
Fig. 31 is a perspective view of the spherical hinge body 17;
Fig. 32 is a perspective view of the spherical hinge sleeve 18;
Wherein: A. sole curve B, connection C, ankle joint D, sole longitudinal curve E, lateral longitudinal curve F, medial longitudinal curve G, joint outer structure H, joint inner structure I, joint shaft J, ball joint seat 1, bolt set I2, bolt set II 3, bolt pair I4, bolt pair II 5, upper carbon fiber curve plate 5a, rear plate I5 b, middle transition plate 5c, front plate 5d, front hole pair 5e, rear hole pair 6, lower carbon fiber curve plate 6a, rear plate II 6b, rear transition plate 6c, middle circular arc plate 6d, front transition plate 6e, front plate 6f, middle hole pair 6g, longitudinal curve II 6h, longitudinal curve III 6i, longitudinal curve III 7a, circular arc plate 7b, transition plate 7c, plate 7d, upper hole pair I7 e, lower hole pair I8 a, connection cover assembly 8a, four lands 8b, sleeve I8 c, lifting lug pair 9a, sleeve II a, main body I9 a. 9b, rectangular hole 9c, lower hole pair II 9d, upper hole pair II 10, upper plate assembly 10a, circular plate I10 b, inner hole pair I10 c, rear lug seat 10d, outer hole pair 10e, front lug seat 11, polyurethane block pair 11a, segment 11b, connecting hole 12, lower plate assembly 12a, circular plate II 12b, annular ring 12c, left lug seat 12d, inner hole pair II 12e, annular ring pair 12f, right lug seat 13, middle plate assembly 13a, circular plate III 13b, upper rectangular plate 13c, rectangular slot 13d, upper hole pair III 13e, center hole I13 f, lower rectangular plate 14, upper shaft assembly 14a, front sleeve assembly 14b, shaft I14 c, rear sleeve assembly 14d, front sleeve 14e, center hole II 14g, rear sleeve 14h, sleeve 14i, lifting lug 15, lower shaft assembly 15a, right sleeve assembly 15b, shaft II 15c, left bushing assembly 15d, right bushing assembly 15e, body III 15f, center bore III 15g, left bushing 16, hinge ball assembly 16a, disk 16b, hinge ball 17, ball pivot 17a, upper cover I17 b, hollow disk I17 c, center Kong, ball pivot 18a, upper cover II 18b, hollow disk II 18c, center Kong d, hole pair.
Detailed Description
The invention is described below with reference to the accompanying drawings.
As shown in fig. 1 to 4, the invention consists of a sole curved plate a, a connecting piece B, an ankle joint C, a bolt group i 1, a bolt group ii 2, a bolt pair i 3 and a bolt pair ii 4, wherein the ankle joint C, the connecting piece B and the sole curved plate a are arranged from top to bottom, and an upper hole pair iii 13d of an ankle joint C middle plate component 13 is fixedly connected with a flat plate 7C of the connecting piece B through the bolt pair ii 4; the arc plate 7a of the connecting piece B is fixedly connected with the rear plate I5 a of the upper carbon fiber bent plate 5 in the sole bent plate A through a bolt pair I3; the front plate I5 c of the upper carbon fiber bent plate 5 in the sole bent plate A is fixedly connected with the front transition plate 6d of the lower carbon fiber bent plate 6 in the sole bent plate A through the bolt group I1 and the bolt group II 2; the sole curved plate A is made of a carbon fiber composite plate and consists of an upper carbon fiber curved plate 5 and a lower carbon fiber curved plate 6.
As shown in fig. 5, the upper carbon fiber bent plate 5 is composed of a rear plate i 5a, a middle transition plate 5b and a front plate 5c, and the rear plate i 5a, the middle transition plate 5b and the front plate 5c are smoothly connected into a whole from rear to front in sequence; the rear plate I5 a is provided with a rear hole pair 5e, and the front plate 5c is provided with a front hole pair 5d; the rear plate I5 a and the front plate 5c are fold lines, and the fold lines are formed by connecting two sections of straight lines with the height difference of 10mm through arc transition; the shape of the middle transition plate 5b refers to the design of the transverse arch curve of the human foot, and the front and the back directions are connected through the smooth transition of circular arcs.
As shown in fig. 6, the lower carbon fiber curved plate 6 is composed of a rear plate ii 6a, a rear transition plate 6b, a middle arc plate 6c, a front transition plate 6d and a front flat plate 6e, and the rear plate ii 6a, the rear transition plate 6b, the middle arc plate 6c, the front transition plate 6d and the front flat plate 6e are smoothly connected into a whole in sequence from rear to front; the front transition plate 6d is provided with a pair of middle holes 6f; the front hole pair 5d corresponds to the middle hole pair 6f up and down in sequence respectively; the rear plate II 6a and the front plate 6e are fold lines, and the fold lines are formed by connecting two sections of straight lines with the height difference of 2mm through arc transition; the shapes of the rear transition plate 6b and the front transition plate 6d are smoothly transited from an upper convex circular arc to be flat, the circular arc radius is 250-260 mm, the central angle is 35-40 degrees, and the curvature is reduced from large to small; the shape of the middle circular arc plate 6c refers to the design of the transverse arch curve of the human foot, and the front and the back directions are connected through circular arc smooth transition.
As shown in fig. 7 to 8, the lower carbon fiber curve plate 6 is integrally defined by a sole longitudinal curve D, an outer longitudinal curve E and an inner longitudinal curve F in the front-rear direction, wherein the sole longitudinal curve D is composed of a longitudinal curve i 6g, a longitudinal curve ii 6h and a longitudinal curve iii 6i, the longitudinal curve i 6g is a concave arc with a radius of 275-280 mm and a central angle of 20 ° -23 °; the longitudinal curve II 6h is a section of upward convex arc, the radius of the arc is 135-145 mm, the central angle is 48-50 degrees, and the longitudinal curve I6 g and the longitudinal curve II 6h are sequentially and smoothly connected in a tangential manner from back to front; the longitudinal curve III 6i is a concave arc, the radius of the arc is 160-170 mm, the central angle is 33-35 degrees, and the longitudinal curve II 6h and the longitudinal curve III 6i are sequentially and smoothly connected in a tangent manner from back to front;
the mathematical expression of the outer longitudinal curve E is: y= -0.0015x 3+0.3313x2 -3.5641x;
The mathematical expression for the inside longitudinal curve F is: y= -0.0025x 3+0.5492x2 -9.6027x;
As shown in fig. 9, the material of the connecting piece B is a carbon fiber composite board, which is composed of a lower arc plate 7a, a middle transition plate 7B and an upper flat plate 7c, wherein the upper flat plate 7c is connected to the upper surface of the rear part of the lower arc plate 7a through the middle transition plate 7B; the bottom surface of the lower arc plate 7a is attached to the upper surface of the rear flat plate 5a of the upper carbon fiber bent plate 5; the upper flat plate 7c is a horizontal plate which is transversely straight; the front and back directions of the middle connecting plate 7b are connected in a smooth transition way through circular arcs; the lower arc plate 7a is provided with a lower hole I7 f and a lower hole II 7g; the upper flat plate 7c is provided with an upper hole I7 d and an upper hole II 7e; the lower holes I7 f and II 7g are respectively and sequentially corresponding to the rear hole pair 5e up and down;
As shown in fig. 10 to 13, the ankle joint C is composed of a joint outer structure G, a joint inner structure H, a joint shaft portion I and a spherical hinge support J, wherein the joint outer structure G is composed of a connecting cover assembly 8 and a sleeve ii 9, the connecting cover assembly 8 is composed of a quadrangular frustum of a pyramid 8a, a sleeve I8 b and a pair of lifting lugs 8C, the quadrangular frustum of a pyramid 8a is fixedly connected to the center of the upper end of the sleeve I8 b, two lifting lugs of the pair of lifting lugs 8C are fixedly connected to the front side and the rear side of the lower end of the sleeve I8 b, and a pair of holes 8d are formed in the pair of lifting lugs 8C; the sleeve II 9 is a circular tube-shaped main body I9 a, a rectangular hole 9b is formed in the rear of the main body I9 a, a hole pair 9c is formed in the lower portion of the rectangular hole 9b, and a lower hole pair II 9c is formed in the upper portion of the rectangular hole 9 b; the connecting cover assembly 8 and the sleeve II 9 are arranged up and down, and a lifting lug pair 8c of the connecting cover assembly 8 is fixedly connected with an upper hole pair II 9d of the sleeve II 9 through bolts;
As shown in fig. 14 to 18, the joint inner structure H is composed of an upper plate assembly 10, a polyurethane block pair 11 and a lower plate assembly 12, wherein the upper plate assembly 10 is composed of a circular plate i 10a, a rear lifting lug seat 10c and a front lifting lug seat 10e, an inner hole pair i 10b and an outer hole pair 10d are arranged on the circular plate i 10a, and the front lifting lug seat 10e and the rear lifting lug seat 10c are symmetrically and fixedly connected below the circular plate i 10 a; the two polyurethane blocks of the polyurethane block pair 11 have the same structure and are all sector blocks 11a, and a connecting hole 11b is formed in the center of each sector block; the lower plate assembly 12 consists of a circular plate II 12a, a circular ring 12b, a left lifting lug seat 12c and a right lifting lug seat 12f, wherein the circular ring 12b is fixedly connected to the circular plate II 12a, an inner hole pair II 12d is arranged on the circular plate II 12a, and an annular hole pair 12e is arranged on the circular ring 12 b; the left lifting lug seat 12c and the right lifting lug seat 12f are symmetrically and fixedly connected to the upper surface of the circular plate II 12 a; the upper plate assembly 10, the polyurethane block pair 11 and the lower plate assembly 12 are sequentially arranged from top to bottom, an outer hole pair 10d of the upper plate assembly 10 is fixedly connected with a connecting hole 11b of the polyurethane block pair 11 through bolts, and an inner hole pair II 12d of the lower plate assembly 12 is fixedly connected with the connecting hole 11b of the polyurethane block pair 11 through bolts.
As shown in fig. 19 to 27, the joint shaft I is composed of an intermediate plate assembly 13, an upper shaft assembly 14 and a lower shaft assembly 15, wherein the intermediate plate assembly 13 is composed of a circular plate iii 13a, an upper rectangular plate 13b and a lower rectangular plate 13f, the upper rectangular plate 13b is fixedly connected to the upper surface of the circular plate iii 13a, and the lower rectangular plate 13f is fixedly connected to the lower surface of the circular plate iii 13 a; a rectangular groove 13c is formed in the rear of the circular plate III 13a, an upper hole pair III 13d is formed in the rear of the circular plate III 13a, and central holes I13 e are formed in the upper rectangular plate 13b and the lower rectangular plate 13 f; the upper shaft body assembly 14 consists of a front shaft sleeve assembly 14a, a shaft body I14 b and a rear shaft sleeve assembly 14c, the lower shaft body assembly 15 consists of a right shaft sleeve assembly 15a, a shaft body II 15b and a left shaft sleeve assembly 15c, the front shaft sleeve assembly 14a, the rear shaft sleeve assembly 14c, the right shaft sleeve assembly 15a and the left shaft sleeve assembly 15c have the same structure, each of which consists of a shaft sleeve 14h and a lifting lug 14i, and the lifting lug 14i is fixedly connected with one end of the shaft sleeve 14 h; the shaft body I14 b consists of a front shaft 14d, a main body II14 e and a rear shaft 14g, a central hole II14 f is formed in the main body II14 e, and the front shaft 14d and the rear shaft 14g are fixedly connected to the front end and the rear end of the main body II14 e respectively; the shaft body II 15b consists of a left shaft 15g, a main body III 15e and a right shaft 15d, a central hole III 15f is formed in the main body III 15e, and the left shaft 15g and the right shaft 15d are fixedly connected to the left end and the right end of the main body III 15e respectively; the front shaft sleeve assembly 14a is connected to the front end of the shaft body I14 b in a clearance way, the rear shaft sleeve assembly 14c is connected to the rear end of the shaft body I14 b in a clearance way, the right shaft sleeve assembly 15a is connected to the right end of the shaft body II 15b in a clearance way, and the left shaft sleeve assembly 15c is connected to the left end of the shaft body II 15b in a clearance way; the upper shaft body assembly 14, the middle plate assembly 13 and the lower shaft body assembly 15 are arranged from top to bottom, and the lower part of the main body II14 e of the upper shaft body assembly 14 is connected with the upper rectangular plate 13b of the middle plate assembly 13 through bolts; the upper surface of a main body III 15e of the lower shaft body assembly 15 is connected with a lower rectangular plate 13f of the middle plate assembly 13 through bolts;
As shown in fig. 28 to 32, the spherical hinge support J is composed of a hinge ball assembly 16, a spherical hinge body 17 and a spherical hinge sleeve 18, wherein the hinge ball assembly 16 is composed of a disc 16a and a hinge ball 16 b; the spherical hinge body 17 consists of an upper cover I17 a and a hollow disc I17 b, wherein the upper cover I17 a is in a reverse-buckling disc shape, a center Kong c is arranged on the upper cover I17 a, and the hollow disc I17 b is fixedly connected to the lower end of the upper cover I17 a; the spherical hinge sleeve 18 consists of an upper cover II 18a and a hollow disc II 18b, wherein the upper cover II 18a is provided with a center Kong c, and the hollow disc II 18b is provided with a hole pair 18d; the hollow disc II 18b is fixedly connected to the lower end of the upper cover II 18 a; the hinge ball 16b of the hinge ball assembly 16 is positioned in the upper cover I17 a of the spherical hinge body 17, and the spherical hinge body 17 and the spherical hinge sleeve 18 are arranged up and down and are fixedly connected through bolts. The spherical hinge ball 16 is arranged in the center Kong c, the upper cover I17 a is connected with the center Kong c, and the upper cover II 18a is fixed on the hollow disc I17 b; the outer hole pair 10d corresponds to the hole pair 18d up and down and is connected through bolts; the annular hole pair 12e corresponds to the lower hole pair II 9c internally and externally and is connected through bolts; the lifting lug pair 8c corresponds to the upper hole pair II 9d in an inner-outer mode and is connected through bolts.
Claims (3)
1. An integrated ankle system prosthesis, characterized in that: the sole curved plate (A) consists of an upper carbon fiber curved plate (5) and a lower carbon fiber curved plate (6), wherein the upper carbon fiber curved plate (5) consists of a rear plate I (5 a), a middle transition plate (5B) and a front plate (5C), and the rear plate I (5 a), the middle transition plate (5B) and the front plate (5C) are smoothly connected into a whole in sequence from back to front; the lower carbon fiber bending plate (6) consists of a rear plate II (6 a), a rear transition plate (6 b), a middle arc plate (6 c), a front transition plate (6 d) and a front flat plate (6 e), and the rear plate II (6 a), the rear transition plate (6 b), the middle arc plate (6 c), the front transition plate (6 d) and the front flat plate (6 e) are smoothly connected into a whole from back to front in sequence; the rear plate I (5 a) and the front plate (5 c) are fold lines, and the fold lines are formed by connecting two sections of straight lines with the height difference of 10mm through arc transition; the shape of the middle transition plate (5 b) is designed by referring to the transverse arch curve of the human foot, and the front and back directions are in smooth transition connection through circular arcs; the rear plate II (6 a) and the front plate (6 e) are fold lines, and the fold lines are formed by connecting two sections of straight lines with the height difference of 2mm through arc transition; the shapes of the rear transition plate (6 b) and the front transition plate (6 d) are smoothly transited from an upper convex arc to be straight, the radius of the arc is 250-260 mm, the central angle is 35-40 degrees, and the curvature is reduced from large to small; the shape of the middle arc plate (6 c) is designed by referring to the transverse arch curve of the human foot, and the front and back directions are connected through smooth transition of arcs; the lower carbon fiber bending plate (6) is integrally determined by a sole longitudinal curve (D), an outer side longitudinal curve (E) and an inner side longitudinal curve (F) in the front-back direction, the sole longitudinal curve (D) is composed of a longitudinal curve I (6 g), a longitudinal curve II (6 h) and a longitudinal line III (6 i), the longitudinal curve I (6 g) is a section of concave arc, the radius of the arc is 275-280 mm, and the central angle is 20-23 degrees; the longitudinal curve II (6 h) is a section of upward convex arc, the radius of the arc is 135-145 mm, the central angle is 48-50 degrees, and the longitudinal curve I (6 g) and the longitudinal curve II (6 h) are sequentially and smoothly tangent from back to front; the longitudinal curve III (6 i) is a concave arc, the radius of the arc is 160-170 mm, the central angle is 33-35 degrees, and the longitudinal curve II (6 h) and the longitudinal curve III (6 i) are sequentially and smoothly connected in a tangent manner from back to front;
The mathematical expression of the outer longitudinal curve (E) is: y= -0.0015x 3+0.3313x2 -3.5641x;
the mathematical expression of the inside longitudinal curve (F) is: y= -0.0025x 3+0.5492x2 -9.6027x;
The connecting piece (B) consists of an arc plate (7 a), a transition plate (7B) and a flat plate (7 c), wherein the flat plate (7 c) is connected to the rear end of the arc plate (7 a) through the transition plate (7B); the ankle joint (C), the connecting piece (B) and the sole curved plate (A) are arranged from top to bottom, and an upper hole pair III (13 d) of the middle plate assembly (13) of the ankle joint (C) is fixedly connected with an upper hole pair I (7 d) of the middle plate (7C) of the connecting piece (B) through a bolt pair (4); the arc plate (7 a) of the connecting piece (B) is fixedly connected with the rear plate I (5 a) of the upper carbon fiber bent plate (5) in the sole bent plate (A) through the bolt group III (3) and the bolt group IV (4); the front plate (5 c) of the upper carbon fiber plate (5) in the sole curved plate (A) is fixedly connected with the front transition plate (6 d) of the lower carbon fiber plate (6) in the sole curved plate (A) through the bolt group I (1) and the bolt group II (2); the ankle joint (C) consists of a joint outer structure (G), a joint inner structure (H), a joint shaft part (I) and a spherical hinge support (J), wherein the joint outer structure (G) consists of a connecting cover assembly (8) and a sleeve II (9), the connecting cover assembly (8) consists of a quadrangular table (8 a), a sleeve I (8 b) and a lifting lug pair (8C), the quadrangular table (8 a) is fixedly connected to the center of the upper end of the sleeve I (8 b), two lifting lugs of the lifting lug pair (8C) are fixedly connected to the front side and the rear side of the lower end of the sleeve I (8 b), and a hole pair (8 d) is formed in the lifting lug pair (8C); the sleeve II (9) is a circular tube-shaped main body I (9 a), a rectangular hole (9 b) is formed in the rear of the main body I (9 a), a hole pair (9 c) is formed in the lower portion of the rectangular hole (9 b), and a lower hole pair II (9 c) is formed in the upper portion of the rectangular hole (9 b); the connecting cover assembly (8) and the sleeve II (9) are arranged up and down, and a lifting lug pair (8 c) of the connecting cover assembly (8) is fixedly connected with an upper hole pair II (9 d) of the sleeve II (9) through bolts; the joint inner structure (H) consists of an upper plate assembly (10), a polyurethane block pair (11) and a lower plate assembly (12), wherein the upper plate assembly (10) consists of a circular plate I (10 a), a rear lifting lug seat (10 c) and a front lifting lug seat (10 e), an inner hole pair I (10 b) and an outer hole pair (10 d) are arranged on the circular plate I (10 a), and the front lifting lug seat (10 e) and the rear lifting lug seat (10 c) are symmetrically and fixedly connected below the circular plate I (10 a); the two polyurethane blocks of the polyurethane block pair (11) have the same structure and are all sector blocks (11 a), and a connecting hole (11 b) is formed in the center of each sector block; the lower plate assembly (12) consists of a circular plate II (12 a), a circular ring (12 b), a left lifting lug seat (12 c) and a right lifting lug seat (12 f), wherein the circular ring (12 b) is fixedly connected to the circular plate II (12 a), an inner hole pair II (12 d) is arranged on the circular plate II (12 a), and an annular hole pair (12 e) is arranged on the circular ring (12 b); the left lifting lug seat (12 c) and the right lifting lug seat (12 f) are symmetrically and fixedly connected to the upper surface of the circular plate II (12 a); the upper plate assembly (10), the polyurethane block pair (11) and the lower plate assembly (12) are sequentially arranged from top to bottom, an outer hole pair (10 d) of the upper plate assembly (10) is fixedly connected with a connecting hole (11 b) of the polyurethane block pair (11) through a bolt, and an inner hole pair II (12 d) of the lower plate assembly (12) is fixedly connected with the connecting hole (11 b) of the polyurethane block pair (11) through a bolt; the middle plate component (13), the upper shaft body component (14) and the lower shaft body component (15) of the joint shaft part (I) are positioned between the upper plate component (10) and the lower plate component (12) of the joint inner structure (H); the lifting lug of the front shaft sleeve assembly (14 a) of the upper shaft body assembly (14) is movably connected with the front lifting lug seat (10 e) of the upper plate assembly (10) through a pin shaft; the lifting lug of the rear shaft sleeve assembly (14 c) of the upper shaft body assembly (14) is movably connected with the rear lifting lug seat (10 c) of the upper plate assembly (10) through a pin shaft; the lifting lug of the left shaft sleeve assembly (15 c) of the lower shaft body assembly (15) is movably connected with the left lifting lug seat (12 c) of the lower plate assembly (12) through a pin shaft; the lifting lug of the right shaft sleeve assembly (15 a) of the lower shaft body assembly (15) is movably connected with the right lifting lug seat (12 f) of the lower plate assembly (12) through a pin shaft; the joint shaft part (I) consists of an intermediate plate assembly (13), an upper shaft body assembly (14) and a lower shaft body assembly (15), wherein the intermediate plate assembly (13) consists of a circular plate III (13 a), an upper rectangular plate (13 b) and a lower rectangular plate (13 f), the upper rectangular plate (13 b) is fixedly connected to the upper surface of the circular plate III (13 a), and the lower rectangular plate (13 f) is fixedly connected to the lower surface of the circular plate III (13 a); a rectangular groove (13 c) is formed in the rear of the circular plate III (13 a), an upper hole pair III (13 d) is formed in the rear of the circular plate III (13 a), and central holes I (13 e) are formed in the upper rectangular plate (13 b) and the lower rectangular plate (13 f); the upper shaft body assembly (14) consists of a front shaft sleeve assembly (14 a), a shaft body I (14 b) and a rear shaft sleeve assembly (14 c), the lower shaft body assembly (15) consists of a right shaft sleeve assembly (15 a), a shaft body II (15 b) and a left shaft sleeve assembly (15 c), the front shaft sleeve assembly (14 a), the rear shaft sleeve assembly (14 c), the right shaft sleeve assembly (15 a) and the left shaft sleeve assembly (15 c) are identical in structure, each of which consists of a shaft sleeve (14 h) and a lifting lug (14 i), and the lifting lug (14 i) is fixedly connected to one end of the shaft sleeve (14 h); the shaft body I (14 b) consists of a front shaft (14 d), a main body II (14 e) and a rear shaft (14 g), a central hole II (14 f) is formed in the main body II (14 e), and the front shaft (14 d) and the rear shaft (14 g) are fixedly connected to the front end and the rear end of the main body II (14 e) respectively; the shaft body II (15 b) consists of a left shaft (15 g), a main body III (15 e) and a right shaft (15 d), a central hole III (15 f) is formed in the main body III (15 e), and the left shaft (15 g) and the right shaft (15 d) are fixedly connected to the left end and the right end of the main body III (15 e) respectively; the front shaft sleeve assembly (14 a) is connected to the front end of the shaft body I (14 b) in a clearance way, the rear shaft sleeve assembly (14 c) is connected to the rear end of the shaft body I (14 b) in a clearance way, the right shaft sleeve assembly (15 a) is connected to the right end of the shaft body II (15 b) in a clearance way, and the left shaft sleeve assembly (15 c) is connected to the left end of the shaft body II (15 b) in a clearance way; the upper shaft body assembly (14), the middle plate assembly (13) and the lower shaft body assembly (15) are arranged from top to bottom, and the lower part of the main body II (14 e) of the upper shaft body assembly (14) is connected with the upper rectangular plate (13 b) of the middle plate assembly (13) through bolts; the upper surface of a main body III (15 e) of the lower shaft body assembly (15) is connected with a lower rectangular plate (13 f) of the middle plate assembly (13) through bolts; the spherical hinge support (J) consists of a hinge ball assembly (16), a spherical hinge body (17) and a hinge sleeve (18), wherein the hinge ball assembly (16) consists of a disc (16 a) and a hinge ball (16 b); the spherical hinge body (17) consists of an upper cover I (17 a) and a hollow disc I (17 b), wherein the upper cover I (17 a) is in a reverse-buckling disc shape, a center Kong (17 c) is arranged on the upper cover I (17 a), and the hollow disc I (17 b) is fixedly connected to the lower end of the upper cover I (17 a); the spherical hinge sleeve (18) consists of an upper cover II (18 a) and a hollow disc II (18 b), wherein the upper cover II (18 a) is provided with a center Kong (18 c), and the hollow disc II (18 b) is provided with a hole pair (18 d); the hollow disc II (18 b) is fixedly connected to the lower end of the upper cover II (18 a); the hinge ball (16 b) of the hinge ball assembly (16) is positioned in the upper cover I (17 a) of the spherical hinge body (17), and the spherical hinge body (17) and the spherical hinge sleeve (18) are arranged up and down and are fixedly connected through bolts.
2. The integrated ankle system prosthesis of claim 1, wherein: a rear hole pair (5 e) is arranged on a rear plate I (5 a) of the upper carbon fiber bent plate (5) in the sole bent plate (A), and a front hole pair (5 d) is arranged on a front plate (5 c); a middle hole pair (6 f) is arranged on a front transition plate (6 d) of the lower carbon fiber bent plate (6); the front hole pair (5 d) corresponds to the middle hole pair (6 f) up and down; the arc plate (7 a) of the connecting piece (B) is provided with a lower hole pair I (7 e); the flat plate (7 c) is provided with an upper hole pair I (7 d); the lower hole pair I (7 e) corresponds to the rear hole pair (5 e) up and down; an inner hole pair II (12 d) of the lower plate (12) is connected with connecting holes (11 b) of two polyurethane blocks in the polyurethane block pair (11) through bolts; the left lifting lug seat (12 c) and the right lifting lug seat (12 f) are respectively connected with the left shaft sleeve assembly (15 c) and the right shaft sleeve assembly (15 a) through bolts; the inner hole pair I (10 b) of the upper plate (10) is connected with the connecting holes (11 b) of two polyurethane blocks in the polyurethane block pair (11) through bolts; the front lifting lug seat (10 e) and the rear lifting lug seat (10 c) are respectively connected with the front shaft sleeve assembly (14 a) and the rear shaft sleeve assembly (14 c) through bolts; in the spherical hinge support (J), a spherical hinge ball (16) is arranged in a center Kong (17 c), an upper cover I (17 a) is connected with a center Kong (18 c), and an upper cover II (18 a) is fixed on a hollow disc I (17 b); the outer hole pair (10 d) corresponds to the hole pair (18 d) up and down and is connected through bolts; the annular hole pair (12 e) corresponds to the lower hole pair II (9 c) internally and externally and is connected through bolts; the lifting lug pair (8 c) corresponds to the upper hole pair II (9 d) internally and externally and is connected through bolts.
3. The integrated ankle system prosthesis of claim 1, wherein: the sole curved plate (A) and the connecting piece (B) are made of carbon fiber composite plates, and the ankle joint (C) is made of titanium alloy except polyurethane blocks.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211270657.0A CN115501014B (en) | 2022-10-16 | 2022-10-16 | Integrated ankle system artificial limb |
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| CN202211270657.0A CN115501014B (en) | 2022-10-16 | 2022-10-16 | Integrated ankle system artificial limb |
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| CN115501014B true CN115501014B (en) | 2024-04-26 |
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| CN114504409B (en) * | 2022-03-18 | 2024-04-19 | 吉林大学 | Integrated artificial limb foot plate with human body transverse arch feature |
Citations (5)
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|---|---|---|---|---|
| CN103271783A (en) * | 2013-05-16 | 2013-09-04 | 清华大学 | Artificial limb knee joint with assistance function |
| CN103417314A (en) * | 2013-09-04 | 2013-12-04 | 北京大学 | Two- freedom-degree limit anisotropic flexible biomimetic ankle |
| CN211095005U (en) * | 2019-07-09 | 2020-07-28 | 南方科技大学 | Ankle joint artificial limb |
| EP4014932A1 (en) * | 2020-12-16 | 2022-06-22 | Jilin University | Multi-axis ankle joint prosthesis |
| CN115054412A (en) * | 2022-05-31 | 2022-09-16 | 吉林大学 | Intelligent artificial limb foot plate system with touchdown gait perception function based on machine learning |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8317877B2 (en) * | 2008-08-18 | 2012-11-27 | The Ohio Willow Wood Company | Prosthetic foot |
| US20190209347A1 (en) * | 2018-01-09 | 2019-07-11 | Ashvin Saikumar Irrinki | Synergetic Prosthesis |
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- 2022-10-16 CN CN202211270657.0A patent/CN115501014B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103271783A (en) * | 2013-05-16 | 2013-09-04 | 清华大学 | Artificial limb knee joint with assistance function |
| CN103417314A (en) * | 2013-09-04 | 2013-12-04 | 北京大学 | Two- freedom-degree limit anisotropic flexible biomimetic ankle |
| CN211095005U (en) * | 2019-07-09 | 2020-07-28 | 南方科技大学 | Ankle joint artificial limb |
| EP4014932A1 (en) * | 2020-12-16 | 2022-06-22 | Jilin University | Multi-axis ankle joint prosthesis |
| CN115054412A (en) * | 2022-05-31 | 2022-09-16 | 吉林大学 | Intelligent artificial limb foot plate system with touchdown gait perception function based on machine learning |
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