CN1984622A - 义脚 - Google Patents
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- CN1984622A CN1984622A CNA200580021584XA CN200580021584A CN1984622A CN 1984622 A CN1984622 A CN 1984622A CN A200580021584X A CNA200580021584X A CN A200580021584XA CN 200580021584 A CN200580021584 A CN 200580021584A CN 1984622 A CN1984622 A CN 1984622A
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- 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
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- 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
- A61F2/68—Operating or control means
- A61F2/74—Operating or control means fluid, i.e. hydraulic or pneumatic
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- 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
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- 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
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- 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
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- 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
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- 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
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- 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
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- 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
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- 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
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- 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
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- 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
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- A61F2220/0025—Connections or couplings between prosthetic parts, e.g. between modular parts; Connecting elements
- A61F2220/0091—Connections or couplings between prosthetic parts, e.g. between modular parts; Connecting elements connected by a hinged linkage mechanism, e.g. of the single-bar or multi-bar linkage type
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Abstract
一种义脚,具有一个用于小腿部分(5)的连接件(3,3′)、一个通过踝关节(2)与该连接件(3,3′)可转动地连接的脚底件(1,1′),该脚底件在踝关节(2)后面延伸到脚踵段(8)中并且在踝关节(2)前面延伸到脚跎段(11,11′)中;还具有一个与脚跎段(11,11′)可转动地连接的前脚件(12,12′),通过将该连接件(3,3′)相对于脚底件(1,1′)的角度位置成比例地传递给前脚件(12,12′)相对于脚底件(1,1′)的角度位置的铰链连接装置,可达到在保证良好站立安全性的情况下自动适应不同的鞋跟高度。
Description
本发明涉及一种义脚,具有一个用于小腿部分的连接件、一个通过踝关节与该连接件可转动地连接的脚底件,该脚底件向后从踝关节延伸到脚踵段中并向前从踝关节延伸到脚跎段中;还具有一个与脚跎段可转动地连接的前脚件。
这种义脚已由US 5,913,902公开。在此,踝关节位于小腿假肢的从连接件的转接突头上成形出的管状小腿部分的轴线上。踝关节和前脚件与脚底件之间的关节可相互独立地转动,其中,可转动性通过装在对应关节件之间的压力弹簧被弹性阻尼。这种脚结构允许使用具有多种鞋跟高度的义脚,因为脚的前脚和连接件可以相对于脚底件调整到多种不同的角度。但在此静态结构根据脚踵高度变化,使得根据脚踵高度也会产生很不相同的行走动态特性。
DE 100 10 302 A1公开了一种具有可动的踝关节和同样可动的前脚件的假肢脚。所公开的脚结构的目的是,避免膝关节以及髋关节在通过脚尖滚动时降低。为此追求了脚与小腿之间、即脚底件与连接件之间的足底柔性。为此目的,一个联接杆固定在前脚件与脚底件之间,其中,在脚底件中的固定通过一个长形孔进行。联接杆的一端伸入连接件的区域中并通过前脚件的弯曲来限制前脚件与脚底件之间的角度。通过限制该角度来避免膝以及髋继续下降。所描述的结构即没有达到、也没有可能使脚适应于不同的鞋跟高度。
已知这样的假肢,其中可由病人来进行假肢脚的矢状调节,以适应不同的鞋跟高度。在此不能排除错误调节。为了使前脚能够适应于鞋子的形状,前脚是软的。但由此影响了在直立阶段结束时前较区域中的足够承载能力。
本发明的任务是,构造一种开头所述类型的义脚,使得它能够自动适应不同的鞋跟高度并保证良好的站立安全性。
根据本发明,对于开头所述类型的义脚,该任务的解决通过一个将连接件相对于脚底件的角度位置成比例地传递给前脚件相对于脚底件的角度位置的铰链连接装置来达到。
由此,本发明的脚规定了连接件与前脚件在相对于脚底件的角度位置方面的强制耦合。按照该强制耦合,连接件向后的角度位置变化导致前脚件成比例地抬起。如果义脚从无鞋跟的位置(“赤脚位置”)进入到高跟鞋中,则小腿(从而连接件)相对于脚底件的位置在角度调节方向上向后改变。因此前脚件抬起到这种程度,使得它又平行于支承面(鞋的前部鞋底)。因此要求前脚件是软的,使得前脚件牢固地放置在站立面上并从而承受即使在有高跟的情况下安全站立所必需的负荷。
在此,该铰链装置是一个多铰链装置并且尤其可以是一个四铰链装置。
铰链连接装置优选由脚跎段和由一个与前脚件和连接件铰链连接的导杆构成,它们安置在四铰链装置或多铰链装置中,其中,脚跎段和导杆可以基本相互平行。
在本发明的一个优选实施方式中,连接件设置有一个经过踝关节向下延伸的突头,导杆以其一个自由端可转动地固定在该突头上。
本发明的铰链连接装置可以通过转动铰链、但也可以通过材料铰链构成,其中,材料铰链通过铰链连接装置的一个联接件的一个柔性段构成。
本发明义脚的功能产生于:脚底件构成为摇杆,该摇杆大致在中心支承在脚踵与拇指球之间。由此该假肢脚产生了一种使负载线总是穿过摇杆的支点延伸的结构。这符合自然脚的情况。由于连接件与前脚件的耦合,前脚始终大致平行于地面。这符合具有恒定鞋底厚度的鞋子在该区域中的结构,这是必要的,因为否则脚会挤压到鞋尖中。
如果本发明的脚只用刚性元件构造,则在中间直立阶段中很快就建立前脚阻力,这不符合自然脚直立的感觉。为了适应自然直立感觉,有利的是,铰链装置的至少一个联接件构造得在纵向上可弹性变形。这对于在铰链装置中主要承受拉力的联接件特别符合目的。在这种情况下联接件可以构造为弯曲的板簧,该板簧起先对拉力的反应是软的,然后逐渐提高刚度。
进一步的改进可能性在行走动态方面产生。当行走过程中脚踵着地时根据本发明构造为摇杆的脚底件向前翻转,由此连接件相对向后倾斜,从而前脚件被向上拉。如果要避免这种效果,必须将脚底件的脚踵段在行走中脚踵着地时的短期高负荷与为了适应鞋跟高度的长期负荷相区分。这可以通过此达到:设置一个用于脚底件与连接件之间的角度的调节元件,它在出现持续数秒的负荷时才起作用。这种调节元件可以是一个液压缸。该液压缸根据目的组合一个可由于短时负荷(在脚踵着地时)而变形的弹性元件,以便行走期间在脚踵着地时达到弹性作用。
脚踵着地时的短时负荷与长期适应鞋跟高度之间的区分可通过此实现:在液压缸的环流路径中接入一个阀装置,该阀装置在流速突然增高时中断环流路径中的液压液流。相反,当缓慢适应时该阀装置不截止,使得液压液可以流动以改变由液压缸构成的调节元件。
在行走过程中脚通常在前脚区域滚动。在此,小腿(连接件)相对于脚底件向前翻转,使得通过按照本发明的耦合发生前脚件向下压,从而前脚向下“抓”。这可以通过铰链连接装置的构型来减轻,这种构型可使得角度位置方面的传递因子减小。但由此也影响了对不同鞋跟高度的适应。
因此优选,铰链连接装置的至少一个联接件构造得长度可调节,其中,该长度调节可通过至少一个传感器控制,该传感器探测行走状态或站立状态的参数。长度调节可通过一个液压缸实施。
任何情况下符合目的的是,在前脚件与脚底件之间安置一个弹性元件,该元件尤其允许联接件、尤其是导杆的长度调节。
导杆的弹性构造可以通过连接件的突头的弹性构造来补充或替换,导杆铰接在该突头上。在此,突头本身可以用弹性材料构成或者弹性地与连接件的其余部分可摆动地连接。
对于本发明尤其符合目的的是,踝关节隔开距离地布置在连接件的容纳小腿部分的转接器突头的前面。由此达到良好的直立安全性并为控制脚施加必要的转矩。
下面借助附图中示出的实施例来详细解释本发明。附图表示:
图1按照第一实施方式的义脚的原理结构,以赤脚状态示出;
图2按照图1的脚的原理图,处于高跟鞋中;
图3按照图1的一个图,表示清楚踝关节的位置;
图4按照图3的一个图,直立中负荷向前移动;
图5按照图1的脚的图,在行走期间脚踵着地时;
图6按照图1的脚的变型的原理图,相应于第二实施方式;
图7阻尼器的可能的作用方式的示意图;
图8本发明脚的第三实施方式,具有弹性导杆,处于静止状态;
图9按照图8的一个图,在前脚上滚动运动;
图10本发明脚的第四实施方式,具有可纵向调节的导杆;
图11第五实施方式,作为按照图10的实施方式的结构变型;
图12第六实施方式,具有铰链装置,该铰链装置具有折页铰链式的铰链。
在图1至5中以结构原理示出本发明的脚的第一实施方式。该脚的功能性结构包含一个脚底件1,它通过一个构造为转动铰链的踝关节2与一个连接件3连接。连接件3具有一个转接器突头4,该转接器突头呈处于头部上的截锥的形式,用于可校准地接纳小腿假肢的管状的小腿部分5。转接器突头4从脚假肢的美容外套7的上边界面6伸出,该美容外套包围脚假肢的功能件直至终止面7。
脚底件1在踝关节后面构成一个脚踵段8,该脚踵段从连接件3向后向下倾斜地延伸并在美容外套7的足底9中在脚踵支承面10附近终止。脚底件1向前从踝关节2在一个基本直线的脚跎段11中延伸,在该脚跎段的前端部上在转动铰链13铰接上一个代表脚趾区域的前脚件12。前脚件12构成一个大致呈三角形的楔形,它的下侧面14平行于美容外套7的足底9在前脚12的区域中延伸。转动铰链13位于三角形前脚件12的上面的顶点上。在三角形前脚件12的下部区域中有一个另外的转动铰链15,前脚件12通过它借助导杆16与连接件3连接。为此连接件2具有一个向下伸出的刚性的突头17,在它上面有一个用于固定导杆16的转动铰链18。连接件3由此L形构造,具有一个大致平行于终止面6的水平的腿和一个大致垂直于它的向下伸出的呈突头17形式的腿。
转动铰链2,13,15,18的轴线相互平行并且横向于脚的矢状平面,即平行于病人的正前面。在所示的第一实施方式中,转动铰链13,15与转动铰链2,18之间的距离大致相等,使得脚跎段11和导杆16大致相互平行地定向(就转动铰链2,13与15,18之间的连线而言)。在所示的实施方式中,连接件3与前脚件12之间的铰链连接相应于一个平行四边形导向装置。
在图1中,所示的义脚以赤脚状态、即无鞋跟示出。与此相比图2示出按照图1的脚处于鞋19中,该鞋具有高鞋跟20。据此,连接件3或小腿部分5相对于脚底件1向后翻转,由此,前脚件12通过与铰链2,13,15,18的铰链连接相对于脚底件1向上摆动。由于脚底件1在鞋19中因高鞋跟20而倾斜地向前向下指向,前脚件12的向上摆动被这样调节,使得前脚件12的下侧面14平行于鞋19的鞋底21延伸。所示的铰链连接装置则负责借助于前脚件12借助转动铰链2,13,15,18上的铰链连接装置的摆动使脚自动适应鞋跟20的高度。
图3和4清楚地表示由本发明的脚承受的力。重力直接导入踩关节2中。踝关节2隔开距离地定位在转接器突头4或小腿假肢5前面,由此踝关节2大致在中间作用在作为摇杆铰接在踝关节2上的脚底件1上。地面反作用力在脚踵支承面10的区域中和在拇指球区域中、即大致在前脚件12的转动铰链13,15的高度上导入。因此,当平衡地稳定站立时,地面反作用力大致对称地位于导入的重力的两侧。
如果此时按照图4发生重力向前移动,则在小腿部分5或连接件3上沿图4中弯曲地示出的箭头的方向产生一个转矩。由此在导杆16上施加一个向后的拉力,由此前脚件12的前部尖被向下压。因此该尖能够承受附加的地面反作用力,如在图4中在前脚件12的该尖的区域中用附加的箭头所示出的那样。作用在脚踵支承面10上的地面反作用力在这种情况下由于重力向前移动而减小。
图5示出按照图1的脚在行走时处于脚踵着地阶段。在这种情况下小腿部分5或连接件3相对于脚底件1向后翻转,使得前脚件12在人体结构方面正确地略向上摆动。当脚在脚踵区域中着地时,构成脚底件1的摇杆绕踝关节2冲击式地随脚跎段11一起向下摆动,使得小腿部分5相对于脚底件1的向下摆动角度更加增大,由此前脚件12极度向上摆动。
因此符合目的的可以是,按照图6使脚底件1在脚踵着地时的摆动由此被阻尼:在脚底件1的脚踵段8与连接件3之间装入一个阻尼器22,例如呈液压阻尼器的形式。该弹性阻尼器阻止脚跎段11在脚踵着地时不受阻尼地向下摆动。
图7清楚表示阻尼器22的一种优选作用方式。该阻尼器包括一个缸室23和一个活塞24。脚踵段8与连接件3之间的相对运动通过环流管路25被阻尼,液压液必须通过该环流管路从活塞24的一侧流到另一侧。优选在环流管路25中装入一个阀装置26,它被示意示出,包括一个被弹簧27保持住的截止球28。当环流管路25中的液压液流速低时,如其例如在几乎静止的状态中为了适应鞋跟20的不同高度时那样,则借助液压液以受阻尼的形式进行必要的间距平衡。
在短时负荷峰值情况下,如其在行走过程期间脚踵着地时那样,则球28由于高流速而被压到截止座29上并截止液压液的流动路径。在这种情况下脚踵着地不导致由液压缸22引起的脚踵段8与连接件3之间的间距调整的改变。
为了能使脚踵弹性着地,符合目的的是,与阻尼器22串联地接入一个弹性元件,例如一个弹簧。
在图8和9中示出的实施方式中转动铰链2,13,15,18具有相同的布置,但作了变型:转动铰链15和18之间的导杆16′由一个弯曲的板簧构成。图8示出平衡直立负荷时的情况。当重力前移时按照图6的刚性导杆16引起迅速的大的前脚负荷,它不符合自然直立的感觉。相反,导杆16′可以在按照图9重力前移时略微弹性延长,以便在进一步的拉力下在导杆16′上作用一个逐渐增长的前脚反力。这样,病人站立时的一定“摆动”被一个弹性的、逐渐增大的反力稳定化,这符合自然站立的感觉。
图10示出一个自然脚的实施方式,其中,导杆16″借助一个液压缸30长度可变地构成。液压缸30在此可以如图7中的液压缸22那样在短时负荷情况下延迟连接件3相对于脚底件1的角度位置到前脚件12相对于脚底件1的角度位置的传递的阻尼。在此通过液压缸30的长度变化可以使连接件3与前脚件12之间的平行四边形导向装置的传动比这样变化,使得可避免当在滚动过程中连接件3的角度位置相对于脚底件向前倾斜时前脚件12被过度向下挤压。角度位置的直接传递在前脚件12上的滚动过程中导致前脚件12的脚趾区域“抓地”。通过由于液压缸30长度变化而发生的连接件3与前脚件12之间传动比变化,可避免这种抓地效果。在前脚件12与脚底件1的脚跎段11之间安置了一个弹簧31,它规定前脚件的预拉状态。弹簧31可以有利地通过串联布置的弹簧-阻尼器组合来代替。
图11示出一个实施方式,它与按照图10的实施方式作用相同,但示出了结构上的变化。脚底件1从脚踵区域8仅略微向上拱曲地延伸到脚跎件11′中。脚跎件11′具有一个超出于转动铰链13之外的突头32,它承载作用在前脚件12上的弹簧31或弹簧-阻尼器组合。
连接件3′也大致L形地构成,但向下伸出的突头17′此时安置在前端部上,由此转动铰链18向脚踵区域方向回移。由此有一个更长的路径可供带有液压阻尼器30的导杆16″用。
脚底件1在踝关节2上的铰接通过脚底件1的向上伸出的突头块33进行。
在图12中示出的实施方式基本相应于按照图1的实施方式,其中,仅省去了转动铰链13并用脚跎段11的一个柔性段13′代替,该脚跎段通过由材料收缩部构成的柔性段13′过渡到前脚件12′中。当然该实施方式可以与具有在其它附图中示出的变型的铰链13′的构造相组合,即例如与一个柔性的导杆16′或一个长度可变的导杆16″组合。
Claims (21)
1.义脚,具有一个用于小腿部分(5)的连接件(3,3′)、一个通过踝关节(2)与该连接件(3,3′)可转动地连接的脚底件(1,1′),该脚底件在踝关节(2)后面延伸到脚踵段(8)中并且在踝关节(2)前面延伸到脚跎段(11,11′)中;还具有一个与脚跎段(11,11′)可转动地连接的前脚件(12,12′),其特征在于,具有将该连接件(3,3′)相对于脚底件(1,1′)的角度位置成比例地传递给前脚件(12,12′)相对于脚底件(1,1′)的角度位置的铰链连接装置。
2.根据权利要求1所述的义脚,其特征在于,该铰链连接装置构造为四铰链装置。
3.根据权利要求1或2所述的义脚,其特征在于,该铰链连接装置由脚跎段(11,11′)和一个与前脚件(12,12′)和连接件(3,3′)铰链式连接的导杆(16,16′,16″)构成。
4.根据权利要求3所述的义脚,其特征在于,脚跎段(11,11′)和导杆(16,16′,16″)基本相互平行地布置。
5.根据权利要求1至4之一所述的义脚,其特征在于,连接件(3,3′)具有一个经过踝关节(2)向下延伸的突头(17,17′),导杆(16,16′,16″)以其一端可转动地固定在该突头上。
6.根据权利要求1至5之一所述的义脚,其特征在于,至少一个铰链式连接通过该铰链连接装置的一个联接件的柔性段(13′)构成。
7.根据权利要求1至6之一所述的义脚,其特征在于,在脚底件(1)与连接件(3)之间具有一个调节元件(22),该调节元件的调节在负荷持续数秒的情况下才起作用。
8.根据权利要求7所述的义脚,其特征在于,该调节元件(22)由一个液压缸构成。
9.根据权利要求8所述的义脚,其特征在于,液压液在一个环流管路(25)中从该液压缸(22)的活塞(24)的一侧流到另一侧,在该环流管路中装入一个阀装置(26),该阀装置在超过预调整的流速时将环流管路(25)截止。
10.根据权利要求7至9之一所述的义脚,其特征在于,调节元件(22)组合一个可由于短时负荷而变形的弹性元件。
11.根据权利要求1至10之一所述的义脚,其特征在于,该铰链连接装置的至少一个联接件(16′)构造得在纵向上可弹性变形。
12.根据权利要求所述的义脚11,其特征在于,该联接件(16′)在铰链连接装置中主要承受拉力。
13.根据权利要求1至12之一所述的义脚,其特征在于,该铰链连接装置的至少一个联接件(16″)构造得长度可调节。
14.根据权利要求13所述的义脚,其特征在于,长度可调节的联接件(16′)的长度调节可通过至少一个探测行走状态或站立状态的参数的传感器控制。
15.根据权利要求13或14所述的义脚,其特征在于,长度调节由一个液压缸执行。
16.根据权利要求1至15之一所述的义脚,其特征在于,前脚件(12)与脚底件(1,1′)之间具有一个弹性元件(31)。
17.根据权利要求16所述的义脚,其特征在于,前脚件(12)与脚底件(1,1′)之间具有一个弹簧一阻尼器组合。
18.根据权利要求1至17之一所述的义脚,其特征在于,前脚件(12,12′)上的铰链(13,13′,15)的间距小于连接件(3,3′)上的铰链(2,18)的间距。
19.根据权利要求5至18之一所述的义脚,其特征在于,连接件(3,3′)的突头(17,17′)弹性地设置在连接件(3,3′)上。
20.根据权利要求1至19之一所述的义脚,其特征在于,踝关节(2)隔开距离地布置在连接件(3,3′)到小腿部分(5)的连接点的前面。
21.根据权利要求1至20之一所述的义脚,其特征在于,脚底件(1)的脚踵段(8)从足底区域(14)起朝向连接件(3)上升地构成,具有一个大致直线延伸的脚跎段(11)并且与踝关节(2)在其轴向长度的中间连接。
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DE29707416U1 (de) * | 1997-04-24 | 1998-08-27 | Otto Bock Orthopädische Industrie Besitz- und Verwaltungs-Kommanditgesellschaft, 37115 Duderstadt | Federelastischer Fußeinsatz |
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DE10049714B4 (de) * | 2000-10-07 | 2004-11-11 | Otto Bock Orthopädische Industrie Besitz-und Verwaltungs GmbH & Co.KG | Fußeinsatz für einen Kunstfuß |
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DE102005062231A1 (de) * | 2005-12-22 | 2007-07-05 | Otto Bock Healthcare Ip Gmbh & Co. Kg | Künstlicher Fuß |
-
2004
- 2004-06-29 DE DE102004031562A patent/DE102004031562A1/de not_active Withdrawn
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2005
- 2005-06-28 CN CN200580021584XA patent/CN1984622B/zh active Active
- 2005-06-28 US US11/570,683 patent/US8246695B2/en active Active
- 2005-06-28 PL PL05769201T patent/PL1761219T3/pl unknown
- 2005-06-28 EP EP05769201.4A patent/EP1761219B1/de active Active
- 2005-06-28 WO PCT/DE2005/001156 patent/WO2006000211A2/de active Application Filing
- 2005-06-28 JP JP2007518447A patent/JP4392039B2/ja active Active
- 2005-06-28 BR BRPI0512897A patent/BRPI0512897B1/pt not_active IP Right Cessation
- 2005-06-28 CA CA2570459A patent/CA2570459C/en not_active Expired - Fee Related
- 2005-06-28 RU RU2007103179/14A patent/RU2352297C2/ru not_active IP Right Cessation
- 2005-06-28 AU AU2005256306A patent/AU2005256306B2/en not_active Ceased
Cited By (7)
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CN101569567A (zh) * | 2008-02-07 | 2009-11-04 | 奥托·博克保健有限公司 | 矫形脚件以及用于控制人造脚的方法 |
CN101569567B (zh) * | 2008-02-07 | 2013-11-06 | 奥托·博克保健有限公司 | 矫形脚件以及用于控制人造脚的方法 |
CN101569568B (zh) * | 2008-02-07 | 2014-04-09 | 奥托·博克保健有限公司 | 脚假肢或脚矫正器形式的被动式矫形辅助装置 |
CN102665614A (zh) * | 2009-11-25 | 2012-09-12 | 奥托·博克保健有限公司 | 假肢脚 |
CN102665614B (zh) * | 2009-11-25 | 2016-03-16 | 奥托·博克保健有限公司 | 假肢脚 |
CN114051404A (zh) * | 2019-07-04 | 2022-02-15 | 奥托博克欧洲股份两合公司 | 用于下肢的假体装置、用于假体装置的调设装置和用于手动调设的方法 |
CN114051404B (zh) * | 2019-07-04 | 2023-04-28 | 奥托博克欧洲股份两合公司 | 用于下肢的假体装置、用于假体装置的调设装置和用于手动调设的方法 |
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AU2005256306B2 (en) | 2012-02-02 |
US20080004718A1 (en) | 2008-01-03 |
CA2570459C (en) | 2013-01-29 |
EP1761219A2 (de) | 2007-03-14 |
US8246695B2 (en) | 2012-08-21 |
BRPI0512897A (pt) | 2008-04-15 |
RU2352297C2 (ru) | 2009-04-20 |
BRPI0512897B1 (pt) | 2016-09-27 |
PL1761219T3 (pl) | 2013-12-31 |
WO2006000211A2 (de) | 2006-01-05 |
RU2007103179A (ru) | 2008-08-10 |
DE102004031562A1 (de) | 2006-02-16 |
EP1761219B1 (de) | 2013-07-24 |
AU2005256306A1 (en) | 2006-01-05 |
JP4392039B2 (ja) | 2009-12-24 |
CN1984622B (zh) | 2010-11-17 |
CA2570459A1 (en) | 2006-01-05 |
WO2006000211A3 (de) | 2006-07-13 |
JP2008504081A (ja) | 2008-02-14 |
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