CN202342398U - Multi-degree-of-freedom robot for lower limb surgery and rehabilitation training - Google Patents
Multi-degree-of-freedom robot for lower limb surgery and rehabilitation training Download PDFInfo
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- CN202342398U CN202342398U CN201120438124XU CN201120438124U CN202342398U CN 202342398 U CN202342398 U CN 202342398U CN 201120438124X U CN201120438124X U CN 201120438124XU CN 201120438124 U CN201120438124 U CN 201120438124U CN 202342398 U CN202342398 U CN 202342398U
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Abstract
A multi-degree-of-freedom robot for lower limb surgery and rehabilitation training comprises a movable platform with foot straps, telescopic electric cylinders and a fixed platform, wherein the telescopic ends of the telescopic electric cylinders are fixed with the movable platform through hooke joints; and the bottom ends of the telescopic electric cylinders are fixed with the fixed platform through hooke joints. According to the utility model, since the movable platform and the fixed platform are connected through the hooke joints and the telescopic electric cylinders, not only is the linear back and forth movement of the movable platform achieved, but also the inclining and rotational movement of the movable platform is achieved, therefore, the robot can realize the rehabilitation training of all joints of the lower limbs, and can perform auxiliary positioning during a lower limb surgery process; moreover, by additional arrangement of a sliding device, the position of the movable platform can be adjusted as per the therapy and rehabilitation demands, so that the lower limbs of a patient can be positioned on the movable platform without moving the lower limbs of the patient, the patient can be prevented from being injured accidentally, and the movement range of the lower limbs during rehabilitation training can be greatly increased. The multi-degree-of-freedom robot for lower limb surgery and rehabilitation training is suitable for rehabilitation and surgery of lower limbs.
Description
Technical field
This utility model relates to medical apparatus and instruments, specifically a kind of multiple degrees of freedom lower extremity surgery and recovery exercising robot.
Background technology
Before this utility model proposed, according to theory of medicine, the human body lower limbs skeleton constituted totally three joints: hip joint, knee joint and ankle joint.Wherein, hip joint is the spherical joint with 3 rotary freedoms, realizes thigh rotatablely moving around three azimuth axis; Knee joint is the rotary joint with 1 degree of freedom, realizes the flexion and extension of shank; Ankle joint is the rotary joint with 3 degree of freedom, realizes rollover, rotation and the basculating movement of foot.Lower limb rehabilitation mechanism general on the market is owing to realizing the straight line back and forth movement, so often only can realize the rehabilitation training in the local joint of lower limb.And general lower limb rehabilitation mechanism can not be used for the assist location of lower extremity surgery lower limb.
The utility model content
The purpose of this utility model is in order to solve the deficiency that the above-mentioned background technology exists, to propose a kind of rehabilitation training that can realize all joints of lower limb, can also in the lower limb operation process, carrying out the multiple degrees of freedom lower extremity surgery and the recovery exercising robot of assist location.
For realizing above-mentioned purpose; This utility model adopts following technical scheme: a kind of multiple degrees of freedom lower extremity surgery and recovery exercising robot; Comprise the moving platform that has footmuff, flexible electric cylinder and fixed platform; The flexible end of said flexible electric cylinder links to each other with said moving platform through Hooke's hinge, and the bottom of flexible electric cylinder links to each other with said fixed platform through Hooke's hinge.Moving platform is linked to each other with fixed platform with flexible electric cylinder through Hooke's hinge, not only realized the straight line back and forth movement of moving platform, also realized the inclination of moving platform and rotatablely move.
In the such scheme, also comprise support, said fixed platform connects through carriage and said support are movable.Like this, can need not the lower limb of removing patient, can patient's lower limbs be positioned on the moving platform, avoid patient is caused unexpected injury according to the position of treatment and rehabilitation needs adjustment moving platform; Range of movement when simultaneously, having promoted lower limb rehabilitation training greatly.
In the such scheme, said carriage comprises guide rail and slide block, and the guide rail level is installed on the said support, and slide block is slidingly connected on the guide rail, and slide block links to each other with said fixed platform through link, and said fixed platform is arranged with said guide rail is vertical.Certainly, also can adopt the carriage of other structures.
In the such scheme, be provided with telescoping cylinder between said slide block and the support, the outfan of telescoping cylinder links to each other with slide block, and the other end is fixed on the support, and this telescoping cylinder driving sliding block moves on guide rail.
In the such scheme, the quantity of said flexible electric cylinder is at least three, could satisfy the needs of human body lower limbs freedom of movement like this.
In the such scheme; Said Hooke's hinge is made up of cross axle and flexible electric cylinder connector that platform connector, tape spool hold; Said platform connector connects with flexible electric cylinder connector is movable through cross axle, and this structure has guaranteed the freedom of movement between platform connector and flexible electric cylinder connector.
In the such scheme, said flexible electric cylinder comprises AC servo motor, actuating device and electronic cylinder, and the outfan of said AC servo motor links to each other with electronic cylinder through actuating device.Certainly, also can adopt the flexible electric cylinder of other structures.
This utility model links to each other moving platform with flexible electric cylinder through Hooke's hinge with fixed platform; Not only realized the straight line back and forth movement of moving platform; Also realized the inclination of moving platform and rotatablely moved that like this, this robot can realize the rehabilitation training in all joints of lower limb; Simultaneously, can also in the lower limb operation process, carry out assist location; And, through the carriage that adds, can be according to the position of treatment and rehabilitation needs adjustment moving platform; Need not the lower limb of removing patient, can patient's lower limbs be positioned on the moving platform, avoided patient is caused unexpected injury; Range of movement when simultaneously, having promoted lower limb rehabilitation training greatly.
In sum, it is little to the utlity model has rotary inertia, and the acceleration, deceleration performance is good, start easily, control flexibly, noise is low, degree of regulation is high, volume is little, and is energy-conservation, and work efficiency is more than characteristics such as hydraulic pressure and air pressure drive system height.
Below in conjunction with accompanying drawing and specific embodiment this utility model is done further to describe in detail.
Description of drawings
Fig. 1 is the structural representation of this utility model;
Fig. 2 is that the A-A of Fig. 1 is to cross-sectional view;
Fig. 3 is that the B-B of Fig. 1 is to cross-sectional view;
Fig. 4 is the structural representation of the Hooke's hinge of this utility model;
Fig. 5 is another structural representation of the Hooke's hinge of this utility model.
In the drawings, moving platform 1, flexible electric cylinder 2, AC servo motor 21, actuating device 22, electronic cylinder 23; Fixed platform 3, Hooke's hinge 4, the cross axle 42 that platform connector 41, tape spool hold, flexible electric cylinder connector 43, support 5; Carriage 6, guide rail 61, slide block 62, link 63, telescoping cylinder 7.
The specific embodiment
A kind of multiple degrees of freedom lower extremity surgery and recovery exercising robot as shown in Figure 1; Comprise the moving platform 1 that has footmuff, flexible electric cylinder 2, fixed platform 3 and support 5; The flexible end of said flexible electric cylinder 2 links to each other with said moving platform 1 through Hooke's hinge 4, and the bottom of flexible electric cylinder 2 links to each other with said fixed platform 3 through Hooke's hinge 4.Moving platform 1 is linked to each other with fixed platform 3 with flexible electric cylinder 2 through Hooke's hinge 4, not only realized the straight line back and forth movement of moving platform 1, also realized the inclination of moving platform 1 and rotatablely move.Said fixed platform 3 is through carriage 6 and said 5 movable connections of support; Like this, can need not the lower limb of removing patient according to the position of treatment and rehabilitation needs adjustment moving platform 1; Can patient's lower limbs be positioned on the moving platform 1, avoid patient is caused unexpected injury; Range of movement when simultaneously, having promoted lower limb rehabilitation training greatly.
Above-mentioned carriage 6 comprises guide rail 61 and slide block 62, and guide rail 61 levels are installed on the said support 5, and slide block 62 is slidingly connected on the guide rail 61, and slide block 62 links to each other said fixed platform 3 and said guide rail 61 vertical layouts through link 63 with said fixed platform 3.Certainly, also can adopt the carriage of other structures.Be provided with telescoping cylinder 7 between said slide block 62 and the support 5, the outfan of telescoping cylinder 7 links to each other with slide block 62, and the other end is fixed on the support 5, and these telescoping cylinder 7 driving sliding block 62 move on guide rail 61.
As shown in Figure 1, the quantity of said flexible electric cylinder 2 is six, has formed six-degree-of-freedom parallel connection mechanism, has realized the rehabilitation training in all joints of lower limb like this.Said flexible electric cylinder 2 comprises AC servo motor 21, actuating device 22 and electronic cylinder 23, and the outfan of said AC servo motor 21 links to each other with electronic cylinder 23 through actuating device 22, and the push rod of electronic cylinder 23 can rotate around its axis in electronic cylinder 23.Certainly, also can adopt the flexible electric cylinder of other structures.
As shown in Figure 1; Said Hooke's hinge 4 is made up of cross axle 42 and flexible electric cylinder connector 43 that platform connector 41, tape spool hold; Said platform connector 41 is through cross axle 42 and flexible electric 43 movable connections of cylinder connector, and this structure has guaranteed platform connector 41 and the freedom of movement of 43 of the electric cylinder connectors of stretching.
When this utility model uses, two kinds of training methodes are arranged in the rehabilitation training process: first passive exercise, promptly patient's lower limb move under the drive of this robot; Change from passive to active, promptly this robot gives suitable resistance of lower limb of patient again, makes this robot with the motion campaign of patient's lower limb, lets patient's lower limb rehabilitation better effects if.In the lower limb operation process,, realize the assist location of lower limb position through regulating the quantity of motion of flexible electric cylinder 2.
This utility model links to each other moving platform 1 with flexible electric cylinder 2 through Hooke's hinge 4 with fixed platform 3; Form six-degree-of-freedom parallel connection mechanism, not only realized the straight line back and forth movement of moving platform 1, also realized the inclination of moving platform 1 and rotatablely move; Like this; This robot can realize the rehabilitation training in all joints of lower limb, simultaneously, can also in the lower limb operation process, carry out assist location; And; Through the carriage 6 that adds, can need not the lower limb of removing patient according to the position of treatment and rehabilitation needs adjustment moving platform 1; Can patient's lower limbs be positioned on the moving platform 1; Avoided patient is caused unexpected injury, simultaneously, the range of movement when having promoted lower limb rehabilitation training greatly.It is little to the utlity model has rotary inertia, and the acceleration, deceleration performance is good, start easily, control flexibly, noise is low, degree of regulation is high, volume is little, and is energy-conservation, and work efficiency is more than characteristics such as hydraulic pressure and air pressure drive system are good.
The above is merely preferred embodiment of the present invention, and is in order to restriction the present invention, not all within spirit of the present invention and principle, any modification of being done, is equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (7)
1. multiple degrees of freedom lower extremity surgery and recovery exercising robot; Comprise the moving platform that has footmuff, flexible electric cylinder and fixed platform; The flexible end that it is characterized in that said flexible electric cylinder links to each other with said moving platform through Hooke's hinge, and the bottom of flexible electric cylinder links to each other with said fixed platform through Hooke's hinge.
2. multiple degrees of freedom lower extremity surgery according to claim 1 and recovery exercising robot is characterized in that also comprising support, and said fixed platform connects through carriage and said support are movable.
3. multiple degrees of freedom lower extremity surgery according to claim 2 and recovery exercising robot; It is characterized in that said carriage comprises guide rail and slide block; The guide rail level is installed on the said support; Slide block is slidingly connected on the guide rail, and slide block links to each other with said fixed platform through link, and said fixed platform is arranged with said guide rail is vertical.
4. multiple degrees of freedom lower extremity surgery according to claim 3 and recovery exercising robot is characterized in that being provided with telescoping cylinder between said slide block and the support, and the outfan of telescoping cylinder links to each other with slide block, and the other end is fixed on the support.
5. according to any described multiple degrees of freedom lower extremity surgery of claim and recovery exercising robot in the claim 1 to 3, it is characterized in that the quantity of said flexible electric cylinder is at least three.
6. according to any described multiple degrees of freedom lower extremity surgery of claim and recovery exercising robot in the claim 1 to 3; It is characterized in that cross axle and flexible electric cylinder connector that said Hooke's hinge is held by platform connector, tape spool form, said platform connector connects with the electric cylinder connector activity of stretching through cross axle.
7. according to any described multiple degrees of freedom lower extremity surgery of claim and recovery exercising robot in the claim 1 to 3; It is characterized in that said flexible electric cylinder comprises AC servo motor, actuating device and electronic cylinder, the outfan of said AC servo motor links to each other with electronic cylinder through actuating device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201120438124XU CN202342398U (en) | 2011-11-08 | 2011-11-08 | Multi-degree-of-freedom robot for lower limb surgery and rehabilitation training |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201120438124XU CN202342398U (en) | 2011-11-08 | 2011-11-08 | Multi-degree-of-freedom robot for lower limb surgery and rehabilitation training |
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| CN202342398U true CN202342398U (en) | 2012-07-25 |
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| CN201120438124XU Expired - Fee Related CN202342398U (en) | 2011-11-08 | 2011-11-08 | Multi-degree-of-freedom robot for lower limb surgery and rehabilitation training |
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| CN (1) | CN202342398U (en) |
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103110500A (en) * | 2013-01-14 | 2013-05-22 | 武汉理工大学 | Pneumatic muscle driving type two-freedom-degree ankle recovery parallel robot |
| CN104546379A (en) * | 2014-12-19 | 2015-04-29 | 上海璟和技创机器人有限公司 | Limb rehabilitation training machine |
| CN105250113A (en) * | 2015-07-10 | 2016-01-20 | 哈尔滨天愈康复医疗机器人有限公司 | Six-degree of freedom wearable ankle rehabilitation medical robot |
| CN105288933A (en) * | 2015-11-20 | 2016-02-03 | 武汉理工大学 | Self-adaptation training control method of parallel lower limb rehabilitation robot and rehabilitation robot |
| CN105326619A (en) * | 2015-12-09 | 2016-02-17 | 周飞虎 | Fixing rack for feet of patient |
| CN105502221A (en) * | 2016-01-22 | 2016-04-20 | 蔡婷婷 | Three-dimensional direction self-adaptive plane hydraulic jack |
| CN105769510A (en) * | 2016-03-26 | 2016-07-20 | 北京工业大学 | Hip joint assisting mechanism based on parallel architecture |
| CN105832517A (en) * | 2016-05-18 | 2016-08-10 | 虞田乐 | Rubbing and pressing device for armpit rubbing and pressing automatic robot |
| CN105832518A (en) * | 2016-05-18 | 2016-08-10 | 虞田乐 | Novel three-degree-of-freedom massage device for armpit medical health-care intelligent robot |
| CN106038188A (en) * | 2016-05-18 | 2016-10-26 | 虞田乐 | Armpit kneading automatic robot |
| CN106943265A (en) * | 2017-03-17 | 2017-07-14 | 山东中医药大学附属医院 | A kind of batch (-type) stimulable type Rehabilitation table |
| CN107185204A (en) * | 2017-06-16 | 2017-09-22 | 洛阳师范学院 | A kind of novel robot for martial art body building and training |
| CN109289182A (en) * | 2017-07-25 | 2019-02-01 | 北京枫翼科技有限公司 | A kind of intelligent interaction horse riding machine based on six degree of freedom body-sensing platform |
| CN109395333A (en) * | 2018-12-17 | 2019-03-01 | 沈阳建筑大学 | A kind of a kind of multifunctional balanced rehabilitation trainer based on Stewart platform |
| CN111067760A (en) * | 2019-12-31 | 2020-04-28 | 上海机器人产业技术研究院有限公司 | Upper limb rehabilitation training robot based on omnidirectional mobile platform |
| CN111759679A (en) * | 2020-08-06 | 2020-10-13 | 马鞍山学院 | Multi-degree-of-freedom robot for knee joint rehabilitation training |
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2011
- 2011-11-08 CN CN201120438124XU patent/CN202342398U/en not_active Expired - Fee Related
Cited By (25)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103110500B (en) * | 2013-01-14 | 2014-08-27 | 武汉理工大学 | Pneumatic muscle driving type two-freedom-degree ankle recovery parallel robot |
| CN103110500A (en) * | 2013-01-14 | 2013-05-22 | 武汉理工大学 | Pneumatic muscle driving type two-freedom-degree ankle recovery parallel robot |
| CN104546379B (en) * | 2014-12-19 | 2017-03-22 | 上海璟和技创机器人有限公司 | Limb rehabilitation training machine |
| CN104546379A (en) * | 2014-12-19 | 2015-04-29 | 上海璟和技创机器人有限公司 | Limb rehabilitation training machine |
| CN105250113A (en) * | 2015-07-10 | 2016-01-20 | 哈尔滨天愈康复医疗机器人有限公司 | Six-degree of freedom wearable ankle rehabilitation medical robot |
| CN105250113B (en) * | 2015-07-10 | 2017-09-19 | 哈尔滨天愈康复医疗机器人有限公司 | A kind of wearable ankle rehabilitation medical robot of six degree of freedom |
| CN105288933A (en) * | 2015-11-20 | 2016-02-03 | 武汉理工大学 | Self-adaptation training control method of parallel lower limb rehabilitation robot and rehabilitation robot |
| CN105288933B (en) * | 2015-11-20 | 2017-07-07 | 武汉理工大学 | Lower limb rehabilitation robot adaptive training control method in parallel and healing robot |
| CN105326619A (en) * | 2015-12-09 | 2016-02-17 | 周飞虎 | Fixing rack for feet of patient |
| CN105502221A (en) * | 2016-01-22 | 2016-04-20 | 蔡婷婷 | Three-dimensional direction self-adaptive plane hydraulic jack |
| CN105502221B (en) * | 2016-01-22 | 2017-12-05 | 吴嘉馨 | A kind of adaptive plane hydraulic top of three-dimensional |
| CN105769510A (en) * | 2016-03-26 | 2016-07-20 | 北京工业大学 | Hip joint assisting mechanism based on parallel architecture |
| CN105769510B (en) * | 2016-03-26 | 2017-11-14 | 北京工业大学 | A kind of hip joint servomechanism based on parallel architecture |
| CN106038188B (en) * | 2016-05-18 | 2018-03-09 | 汕头大学医学院第一附属医院 | A kind of armpit rubs pressure automatic machinery people |
| CN105832518B (en) * | 2016-05-18 | 2017-11-07 | 绍兴云疆网络科技服务有限公司 | A kind of new armpit health care intelligent robot Three Degree Of Freedom massager |
| CN105832517A (en) * | 2016-05-18 | 2016-08-10 | 虞田乐 | Rubbing and pressing device for armpit rubbing and pressing automatic robot |
| CN105832518A (en) * | 2016-05-18 | 2016-08-10 | 虞田乐 | Novel three-degree-of-freedom massage device for armpit medical health-care intelligent robot |
| CN106038188A (en) * | 2016-05-18 | 2016-10-26 | 虞田乐 | Armpit kneading automatic robot |
| CN106943265A (en) * | 2017-03-17 | 2017-07-14 | 山东中医药大学附属医院 | A kind of batch (-type) stimulable type Rehabilitation table |
| CN107185204A (en) * | 2017-06-16 | 2017-09-22 | 洛阳师范学院 | A kind of novel robot for martial art body building and training |
| CN109289182A (en) * | 2017-07-25 | 2019-02-01 | 北京枫翼科技有限公司 | A kind of intelligent interaction horse riding machine based on six degree of freedom body-sensing platform |
| CN109395333A (en) * | 2018-12-17 | 2019-03-01 | 沈阳建筑大学 | A kind of a kind of multifunctional balanced rehabilitation trainer based on Stewart platform |
| CN111067760A (en) * | 2019-12-31 | 2020-04-28 | 上海机器人产业技术研究院有限公司 | Upper limb rehabilitation training robot based on omnidirectional mobile platform |
| CN111759679A (en) * | 2020-08-06 | 2020-10-13 | 马鞍山学院 | Multi-degree-of-freedom robot for knee joint rehabilitation training |
| CN111759679B (en) * | 2020-08-06 | 2022-03-29 | 马鞍山学院 | Multi-degree-of-freedom robot for knee joint rehabilitation training |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20120725 Termination date: 20151108 |
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| EXPY | Termination of patent right or utility model |