CN218356500U - Joint traction brace - Google Patents

Abstract

The utility model relates to a joint traction brace. During operation, according to the pressure information of pressure sensor response, the controller can obtain the drafting moment of joint in time correspondingly, according to the corresponding control power unit forward draft work of drafting moment, reverse draft work and can control the dwell time at a certain contained angle. Therefore, on one hand, the power mechanism is utilized to provide the power torque required by the flexion and the extension in the joint rehabilitation traction. The defects that the prior treatment needs manual frequent adjustment of the patient, occupies much time and energy of the patient and has low compliance are overcome, the convenience of rehabilitation treatment is greatly improved, and the completion quality of a rehabilitation training plan is improved; on the other hand, the utility model can be used for a long time, and the dependence on doctors is reduced, thereby greatly reducing the cost.

Description

Joint traction brace

Technical Field

The utility model relates to the technical field of medical equipment, especially relate to a joint traction brace.

Background

After joint trauma or surgery, it is necessary to immobilize the joint to restrict movement of the joint for a period of time to facilitate rapid repair of tissue. However, various soft tissue contractures and adhesions may occur during the repair process, so that after the joint fixing device is removed, the patient may suffer from joint stiffness of different degrees, i.e., partial or complete loss of the range of motion, which is very common in clinical practice. Joint dysfunction (particularly knee/elbow flexion dysfunction) can greatly affect a patient's daily life.

Traction therapy is a major rehabilitation means for achieving a larger range of joint motion and can be used to treat joint stiffness due to soft tissue contracture. The principle is that soft tissues such as joint capsules, tendons, ligaments and the like have viscoelastic properties, and plastic deformation (permanent elongation) can be induced to occur by continuously stretching at the terminal position of joint movement. Static Progressive Stretching (SPS) refers to the fixation of a joint at a position at the end of the range of motion with a stretching force applied, the force required to maintain this position decreasing as the soft tissue is stretched, and then advancing the fixation position, and so on, repeatedly, with progressively increasing degrees of joint motion. However, the conventional traction brace generally has the defects that the traction intensity cannot be objectively quantified and the traction recommendation time is not uniform, so that the use of the traction brace on the joint of the patient completely depends on the experience of a doctor to be performed, and the rehabilitation cost is increased.

Disclosure of Invention

The utility model provides a joint traction brace to solve one or more technical problems in the prior art.

The technical scheme is as follows: providing a joint distraction brace, the joint distraction brace comprising: the first support component and the second support component are rotatably connected, and the first support component is provided with a support surface for supporting limbs; the power mechanism is used for driving one of the first supporting assembly and the second supporting assembly to rotate relative to the other supporting assembly; the number of the pressure sensors is at least three, and the pressure sensors are not collinear and are respectively arranged on the first supporting assembly so as to be used for sensing pressure information received by at least three different positions on the supporting surface; the controller is respectively electrically connected with the pressure sensor and the power mechanism, obtains resultant force moment by collecting pressure information fed back by the pressure sensor, and controls the power mechanism to act based on the resultant force moment.

In some of these embodiments, the support surface of the first support assembly is adjustable in distance relative to the axis of rotation of the first support assembly; the first support assembly comprises a distance sensor; the distance sensor is electrically connected with the controller.

In some embodiments, the distance sensor is a displacement sensor for sensing a displacement of the position of the support surface after the movement adjustment relative to the rotation axis, so as to obtain a moment arm length of the support surface after the movement adjustment relative to the rotation axis.

In some embodiments, the distance sensor is a displacement sensor for sensing a displacement of the position of the supporting surface after the movement adjustment relative to the position of the supporting surface before the movement adjustment, and the controller is configured to obtain a moment arm length of the supporting surface after the movement adjustment relative to the rotation axis of the first supporting assembly according to the displacement and an initial distance value of the supporting surface before the movement adjustment relative to the rotation axis.

In some embodiments, the joint traction brace further determines a force application center according to pressure information fed back by the pressure sensor, and the controller sets a coordinate system and obtains the arm length of the force application center relative to the rotation axis based on the coordinate value of the force application center in the coordinate system.

In some embodiments, the joint distraction brace further comprises an angle sensor electrically connected to the controller, the angle sensor being configured to sense an included angle between the first support element and the second support element.

In some embodiments, the first support assembly includes a first arm and a first support sheath mounted on the first arm, the first support sheath having the support surface, the pressure sensor being disposed on the support surface; the second support assembly comprises a second support arm and a second support sheath, the second support sheath is arranged on the second support arm, and the second support arm is rotatably connected with the first support arm.

In some embodiments, the power mechanism is a unidirectional motor or a bidirectional rotary motor; and/or, the joint traction brace further comprises a display, and the display is electrically connected with the controller.

In some embodiments, the joint traction brace further comprises a power module, and the power module is electrically connected with the power mechanism, the pressure sensor and the controller respectively; and/or at least one of a power supply jack, a USB interface and a power supply plug is arranged on the joint traction brace.

In some embodiments, the joint traction brace further includes a mechanical limiting member, and the mechanical limiting member is disposed on one of the power mechanism, the first supporting assembly, or the second supporting assembly, and is configured to enable the first supporting assembly and the second supporting assembly to rotate within a predetermined angle range.

When the joint drafting brace works, the controller can correspondingly and timely acquire the drafting torque of the joint according to the pressure information sensed by the pressure sensor, and correspondingly control the forward drafting work and the reverse drafting work of the power mechanism and can control the retention time at a certain included angle according to the drafting torque. Therefore, on one hand, the power mechanism is utilized to provide the power torque required by the flexion and extension in the joint rehabilitation traction. The defects that the patient needs to be manually and frequently adjusted, much time and energy of the patient are occupied, and the compliance is low in the conventional treatment are overcome, the convenience of rehabilitation treatment is greatly improved, and the completion quality of a rehabilitation training plan is improved; on the other hand, the utility model can be used for a long time, and the dependence on doctors is reduced, thereby greatly reducing the cost.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention and do not constitute a limitation on the invention.

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

Fig. 1 is a schematic view of a perspective structure of a joint traction brace according to an embodiment of the present invention;

fig. 2 is another view structure diagram of the joint traction brace according to an embodiment of the present invention;

fig. 3 is a bottom view of the first support member of the joint distraction brace according to an embodiment of the present invention;

fig. 4 is a flowchart of a control method of the joint traction brace according to an embodiment of the present invention;

fig. 5 is a flowchart of a method for controlling the joint distraction brace according to another embodiment of the present invention;

fig. 6 is a schematic view of a control device of a joint traction brace according to an embodiment of the present invention.

10. A first support assembly; 11. a first support arm; 12. a first support sheath; 121. a support surface; 20. a second support assembly; 21. a second support arm; 22. a second support jacket; 30. a power mechanism; 40. a pressure sensor; 50. an angle sensor; 61. an included angle adjusting module; 62. a first acquisition module; 63. a calculation module; 64. a control module; 65. a setting module; 66. a display module; 67. and a second obtaining module.

Detailed Description

In order to make the above objects, features and advantages of the present invention more comprehensible, embodiments of the present invention are described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, as those skilled in the art will be able to make similar modifications without departing from the spirit and scope of the present invention.

The joints include knee joints, elbow joints, wrist joints, ankle joints, hip joints, shoulder joints, hand-foot joints, temporomandibular joints and other joints of human or animal body which can be treated by applying the traction principle. In this embodiment, a joint is specifically taken as an elbow joint as an example, and a joint extension brace corresponding to the elbow joint is used for expansion. For other joints, the specific structural form of the joint traction brace corresponding to the elbow joint can be referred, so that the shape and the size of the joint traction brace can be flexibly adjusted in a suitable manner, and the specific structural form is not specifically listed. In addition, for the elbow joint, the two limbs connected are the forearm and the upper arm, respectively.

Generally speaking, in the rehabilitation process of installing the limb on the joint traction brace, the traction moment applied to the joint changes along with different stages, so the size of the included angle of the joint traction brace and the time of staying at a certain included angle are adjusted according to the experience of a doctor, which leads to the increase of the rehabilitation cost.

Based on this, referring to fig. 1 to fig. 3, fig. 1 shows one of the view structure diagrams of the joint drafting brace according to an embodiment of the present invention, fig. 2 shows another view structure diagram of the joint drafting brace according to an embodiment of the present invention, and fig. 3 shows a bottom view of the first supporting component 10 of the joint drafting brace according to an embodiment of the present invention. The utility model discloses a joint draft brace that embodiment provided, joint draft brace includes: a first supporting component 10, a second supporting component 20, a power mechanism 30, a pressure sensor 40 and a controller (not shown). The first support member 10 is rotatably connected to the second support member 20. The first support member 10 is provided with a support surface 121 for supporting a limb. The power mechanism 30 is used for driving one of the first support assembly 10 and the second support assembly 20 to rotate relative to the other, for example, the power mechanism 30 is disposed on one of the first support assembly 10 and the second support assembly 20 for driving the other to rotate. The number of the pressure sensors 40 is at least three, and each of the pressure sensors 40 is not collinear and is respectively disposed on the first supporting assembly 10 for sensing pressure information received at least three different positions on the supporting surface 121. The controller is electrically connected to the pressure sensor 40 and the power mechanism 30, and is configured to collect pressure information fed back by the pressure sensor 40 and control the power mechanism 30 to operate based on the pressure information.

Specifically, the controller is configured to collect pressure information fed back by the pressure sensor 40, obtain a resultant force torque based on the pressure information, and control the power mechanism 30 to operate according to the resultant force torque.

It should be noted that, since the at least three pressure sensors 40 can respectively sense the pressure information received at the at least three different positions on the supporting surface 121, which are not collinear, the controller can correspondingly sense the pressure information when the limb is placed on the supporting surface 121, and can obtain the resultant force according to the pressure information, and can calculate the distance value from the resultant force to the rotation axis (as shown by the arrow S in fig. 1) of the first supporting assembly 10 along the extending direction of the first supporting arm, so as to obtain the resultant force moment according to the product of the resultant force and the distance value, where the resultant force moment is the actual drafting moment received by the joint. Wherein, when the number of the pressure sensors 40 is larger, the stretching moment of the joint will be more accurate.

The distance value calculation method comprises the following steps:

for example, if there are three pressure sensors 40, and they are not collinear, the force application center of the patient's limb by the traction brace can be equivalently calculated based on the pressure information of the three pressure sensors 40, that is, the force application center coordinates can also be calculated. Specifically, when one origin of coordinates is set in advance, the coordinate values of the plurality of pressure sensors 40 with respect to the origin of coordinates are known values. The coordinate value of the center of force application of the supporting surface 121 to the limb of the patient relative to the origin of coordinates can be obtained through conversion based on the moment equivalent principle. After the force application center coordinates are calculated, the distance value can be calculated.

When the joint drafting brace works, the controller can correspondingly and timely acquire the drafting torque of the joint according to the pressure information sensed by the pressure sensor 40, and correspondingly control the forward drafting work and the reverse drafting work of the power mechanism 30 and the retention time at a certain included angle according to the drafting torque. Therefore, on one hand, the power mechanism 30 is used for providing the power torque required by the flexion and extension in the joint rehabilitation traction. The defects that the patient needs to be manually and frequently adjusted, much time and energy of the patient are occupied, and the compliance is low in the conventional treatment are overcome, the convenience of rehabilitation treatment is greatly improved, and the completion quality of a rehabilitation training plan is improved; on the other hand, the utility model can be used for a long time, and the dependence on doctors is reduced, thereby greatly reducing the cost.

The forward drafting operation means that the power mechanism 30 is controlled to rotate in the forward direction, so that the included angle between the first supporting assembly 10 and the second supporting assembly 20 is gradually increased, and the forward drafting of the joint is realized. Conversely, the reverse drafting operation means that the power mechanism 30 is controlled to rotate reversely, so that the included angle between the first supporting component 10 and the second supporting component 20 is gradually reduced, and the reverse drafting of the joint is realized.

It should also be noted that the axis of rotation (indicated by arrow S in fig. 1) of the first support assembly 10 is the same as the axis of rotation of the second support assembly 20. That is, alternatively, one end of the first support member 10 is connected to one end of the second support member 20 through a rotation shaft.

Referring to fig. 1 to 3, in one embodiment, the distance between the supporting surface 121 of the first supporting element 10 and the rotation axis of the first supporting element 10 is adjustable. The first support member 10 includes a distance sensor (not shown). The distance sensor is electrically connected with the controller. Therefore, because the lengths of the limbs of different patients are different, the distance of the supporting surface 121 relative to the rotation axis can be adjusted, so that the supporting surface 121 can stably support the limbs of more patients, and the supporting stability is better.

It should be noted that the specific types of the distance sensors are many, for example, the distance sensors may be displacement sensors, and further, for example, the distance sensors may be laser range finders, infrared range finders, ultrasonic range finders, magnetic induction range finders, and the like, and specifically, the distance sensors may be flexibly adjusted and set according to actual requirements.

In one embodiment, the distance sensor is a displacement sensor for sensing a displacement of the position of the supporting surface 121 after the movement adjustment relative to the position of the supporting surface 121 before the movement adjustment, and the controller is configured to obtain a moment arm length of the force application center relative to the rotation axis according to the displacement and an initial distance value (i.e. a distance between the origin of coordinates and the rotation axis) of the supporting surface 121 before the movement adjustment relative to the rotation axis. Specifically, the arm length is obtained by adding the displacement amount, the initial pitch value, and the coordinate value of the center of application of force with respect to the origin of coordinates.

Thus, the controller does not directly obtain the arm length, but first obtains an initial distance value of the position of the supporting surface 121 before moving relative to the rotation axis, the initial distance value can be obtained and stored in the controller by means of measurement, then obtains the displacement of the supporting surface 121 through the displacement sensor, and obtains the coordinate value of the force application center relative to the origin of coordinates according to the at least three pressure sensors 40, so as to obtain the arm length of the force application center relative to the rotation axis.

Specifically, the displacement sensor is a sliding rheostat type displacement sensor, i.e., the resistance value changes after the position of the supporting surface 121 is adjusted by sliding, so as to obtain the displacement of the supporting surface 121 relative to the initial position. It should be noted that any other displacement sensor capable of measuring the sliding distance of the supporting surface 121 in real time is allowed, and is not limited herein, and may be flexibly selected and adjusted according to actual requirements.

Referring to fig. 1 to 3, in one embodiment, the joint distraction brace further comprises an angle sensor 50. The angle sensor 50 is electrically connected to the controller, and the angle sensor 50 is used for sensing an included angle between the first supporting component 10 and the second supporting component 20. Thus, the angle sensor 50 can send the sensed included angle information to the controller, so that a curve of the included angle changing along with time can be obtained, the change of the included angle is also the change of the limb position of the patient, and how the rehabilitation effect can be known according to the change curve of the included angle along with time.

It should be noted that the angle sensor 50 may directly sense the included angle between the first supporting component 10 and the second supporting component 20; the angle sensor 50 may also indirectly obtain the included angle between the first support component 10 and the second support component 20, that is, first obtain intermediate data, and calculate the included angle between the first support component 10 and the second support component 20 according to the intermediate data.

In an embodiment, the angle sensor 50 is not limited to be disposed to sense the included angle between the first support assembly 10 and the second support assembly 20, and other mechanisms may be used to obtain the included angle between the first support assembly 10 and the second support assembly 20, for example, a rotary encoder is disposed in the power mechanism 30, a rotation angle of a rotating shaft of the power mechanism 30 is obtained through the rotary encoder, and the included angle between the first support assembly 10 and the second support assembly 20 is obtained according to the rotation angle of the rotating shaft, so that the angle sensor 50 can be replaced.

Referring to fig. 1 to 3, in one embodiment, the first support assembly 10 includes a first arm 11 and a first support sheath 12. The first supporting sheath 12 is installed on the first arm 11, the first supporting sheath 12 is provided with a supporting surface 121 for supporting the limb, and the pressure sensor 40 is arranged on the supporting surface 121 of the first supporting sheath 12. In addition, the second support assembly 20 includes a second arm 21 and a second support sheath 22. The second support sheath 22 is mounted on the second arm 21, and the second arm 21 is rotatably connected to the first arm 11. Specifically, in the embodiment, the angle between the first supporting member 10 and the second supporting member 20 can be sensed by the angle sensor 50 to obtain the angle between the first supporting arm 11 and the second supporting arm 21.

In particular, in order to make the distance of the support surface 121 of the first support assembly 10 adjustable relative to the rotation axis of the first support assembly 10, optionally, the first support jacket 12 is arranged on the first arm 11 in a position adjustable along the length of the first arm 11. In this way, for different patients, the distance of the supporting surface 121 of the first supporting sheath 12 relative to the rotation axis can be adjusted by adjusting the installation position of the first supporting sheath 12 on the first arm 11, so that the supporting surface 121 can stably support the limbs of more patients, and the supporting stability is better.

In one embodiment, the first support sleeve 12 is slidably disposed on the first arm 11, such as along the length of the first arm 11, and the first support sleeve 12 is secured to the first arm 11 by fasteners when slid into position for fitting over a limb of a corresponding length. The fasteners include but are not limited to bolts, screws, clamping members, pins, rivets and the like, and can be flexibly selected and arranged according to actual requirements.

In another embodiment, a plurality of first mounting portions are provided at intervals along the length direction (the direction indicated by arrow P in fig. 1) of the first support arm, and the first support sheath 12 is provided with a second mounting portion that can be detachably connected to any one of the first mounting portions. The first mounting portion is, for example, a mounting hole, and the second mounting portion is correspondingly a mounting member detachably mounted in the mounting hole. When the second mounting portion is selectively mounted on the first mounting portion, the distance between the supporting surface 121 and the rotation axis of the first supporting assembly 10 is correspondingly different.

In one embodiment, the power mechanism 30 is a unidirectional motor or a bidirectional rotary motor. Therefore, the unidirectional motor can realize unidirectional traction of the joint. The bidirectional rotary motor can not only realize unidirectional drafting work, but also realize bidirectional drafting work, and has powerful functions.

Of course, the power mechanism 30 may also be another device capable of driving the first support assembly 10 to rotate relative to the second support assembly 20, and the specific type is not limited herein and may be flexibly configured according to actual requirements.

In one embodiment, the joint distraction brace further comprises a power module. The power module is electrically connected to the power mechanism 30, the pressure sensor 40 and the controller. In this way, power is supplied to the power mechanism 30, the pressure sensor 40 and the controller through the power module.

Of course, as some optional solutions, at least one of the power jack, the USB interface and the power plug is provided on the joint traction brace. Thus, the power mechanism 30, the pressure sensor 40 and the controller can be powered by electrically connecting the power cord with the power jack, the USB interface and the power plug.

In one embodiment, the joint distraction brace further comprises a display (not shown). The display is electrically connected with the controller. So, can show the joint at the dwell time of a certain contained angle through the display to and show the curve of contained angle along with time variation, can also show the curve of contained angle along with pressure variation, thereby can be convenient for master articular recovery situation.

In one embodiment, the display includes, but is not limited to, a display screen, specifically, for example, a touch display screen, and the related parameters for controlling the operation of the motor and the commands for controlling the start and the stop of the motor can be input through the touch display screen, which is convenient to operate. The relevant parameters include, but are not limited to, a first target torque (i.e., an upper limit value) for controlling the motor to stop operating, and a second target torque (i.e., a lower limit value) for controlling the motor to restart.

In one embodiment, the joint distraction brace further comprises a mechanical stop. The mechanical limiting member is disposed on the power mechanism 30, the first supporting assembly 10 or the second supporting assembly 20, and is configured to enable the first supporting assembly 10 and the second supporting assembly 20 to rotate within a predetermined angle range. Therefore, even if the motor rotates beyond the limit, the first supporting assembly 10 and the second supporting assembly 20 can still be ensured to rotate within the preset angle range by limiting through the mechanical limiting part. The mechanical limiting member may be a member having an arc-shaped kidney-shaped groove, and at least one of the first supporting element 10 or the second supporting element 20 is limited in the arc-shaped kidney-shaped groove, so as to ensure that the first supporting element 10 and the second supporting element 20 rotate within a predetermined angle range. Certainly, in some other embodiments, the joint distraction brace may also include an electronic limiting component, for example, the electronic limiting component is an angle monitoring module in the controller, and when the angle value monitored by the angle sensor exceeds or approaches a set range of the angle monitoring module, the controller controls the power mechanism 30 to stop operating.

Referring to fig. 4, in an embodiment, a method for controlling a joint distraction brace of any of the above embodiments includes:

step S110, controlling the power mechanism 30 to work to adjust an included angle between the first supporting assembly 10 and the second supporting assembly 20;

when the included angle between the first supporting component 10 and the second supporting component 20 is adjusted, the brace drives the forearm to move in a single direction, and the ligament is gradually stretched in the joint moving process, so that the internal stress of the joint ligament is gradually increased, and further the stretching moment (namely the resultant force moment) of the joint is gradually increased.

Step S120, collecting pressure information sensed by each pressure sensor 40, and calculating to obtain resultant force moment according to each pressure information;

specifically, the magnitude of the resultant force is calculated according to the pressure information, the length of the moment arm of the resultant force (i.e., the force application center of the support surface) relative to the rotation axis of the first support assembly 10 is calculated, and then the resultant force moment is obtained according to the product of the magnitude of the resultant force and the length of the moment arm of the resultant force relative to the rotation axis of the first support assembly 10.

The method for calculating the arm length of the resultant force (i.e. the force application center of the support surface) relative to the rotation axis of the first support assembly 10 includes:

step S121, setting a coordinate origin, wherein a coordinate dot is positioned on the first arm 11;

for example, the extending direction of the first arm 11 is regarded as the x-axis, i.e., the origin of coordinates is located on the x-axis.

Step S122, when the supporting surface 121 moves along the first arm 11 to adjust the position, sensing a displacement of the position of the supporting surface 121 after moving adjustment relative to the position of the supporting surface 121 before moving adjustment; calculating to obtain a coordinate value of the resultant force along the extending direction of the first support arm 11, namely calculating the coordinate value of the resultant force on the x axis; the length of the moment arm is obtained by adding the displacement, the initial distance value (namely the distance between the origin of coordinates and the rotation axis) and the coordinate value of the resultant force on the x axis.

When the adjustment amount of the supporting surface 121 moving along the first arm 11 is 0, the displacement amount is 0 accordingly.

Certainly, in the present embodiment, the length of the moment arm is not limited to be calculated accurately, and as an alternative, the length of the moment arm in the above embodiment may be replaced by a preset range, and the resultant force moment may be obtained by multiplying the resultant force obtained based on the preset range and each piece of pressure information.

The preset range is not limited herein, and the preset range is flexibly adjusted and set according to the size of the joint extension brace.

As an optional scheme, the pressure sensors 40 may sense pressure information and obtain distances from the pressure information to the rotation axis of the first support assembly 10, obtain resultant force according to the pressure information of the pressure sensors 40 and the distances from the pressure information to the rotation axis of the first support assembly 10, obtain a distance from the resultant force to the rotation axis, and obtain resultant force moment by multiplying the resultant force by the distance from the resultant force to the rotation axis.

In step S130, if the resultant torque is equal to the first target torque, the power mechanism 30 is controlled to stop operating.

In the above control method of the joint extension brace, on one hand, the power mechanism 30 is used to provide the power torque required for flexion and extension in joint rehabilitation extension. The defects that the patient needs to be manually and frequently adjusted, much time and energy of the patient are occupied, and the compliance is low in the conventional treatment are overcome, the convenience of rehabilitation treatment is greatly improved, and the completion quality of a rehabilitation training plan is improved; on the other hand, the utility model can be used for a long time, and the dependence on doctors is reduced, thereby greatly reducing the cost.

Referring to fig. 5, fig. 5 is a flowchart illustrating a method for controlling a joint traction brace according to another embodiment of the present invention. In one embodiment, after the power mechanism 30 is controlled to stop operating, the resultant force torque is obtained again, and if the resultant force torque is determined to be equal to a second target torque, the power mechanism 30 is controlled to operate again, where the second target torque is smaller than the first target torque. When the power mechanism 30 stops working, the joint stretches the ligament by being rotated by the joint stretching brace before, so that the tissue recovers part of the mobility, and the stretching moment of the joint gradually reduces until the second target moment is reached.

In this step, the power mechanism 30 is stopped for 10 minutes, 20 minutes, 1 hour, 2 hours, etc., as the case may be, as long as the resultant force moment obtained again is equal to the second target moment.

Referring to fig. 5, in an embodiment, the control method further includes: a first target torque and a second target torque are set.

Referring to fig. 5, in an embodiment, the control method further includes: displaying a curve of the resultant force moment along with the change of time; and/or acquiring an included angle between the first support assembly 10 and the second support assembly 20, and displaying a curve of the included angle along with the change of time or the change of the resultant force moment. Therefore, the relation among the traction moment, the joint angle and the time variation in the whole treatment process and the relation between the joint angle and the traction moment can be presented in real time, and quantitative data reference is provided for a doctor to optimize a treatment scheme.

In one embodiment, the control method further comprises: the first support assembly 10 and the second support assembly 20 are controlled to rotate within a preset angle range. Therefore, as the power mechanism controls the first supporting assembly 10 and the second supporting assembly 20 to rotate within the preset angle range, it can be ensured that the included angle between the first supporting assembly 10 and the second supporting assembly 20 does not exceed the maximum angle limit value, i.e. is not too large, and is not smaller than the minimum angle limit value, i.e. is not too small, thereby ensuring the safety. The preset angle range can be flexibly adjusted and set according to actual requirements, and is not limited herein.

It should be understood that although the various steps in the flowcharts of fig. 4-5 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 4-5 may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed in sequence, but may be performed in turn or alternately with other steps or at least some of the other steps or stages.

Referring to fig. 6, fig. 6 is a schematic diagram of a control device of a joint traction brace according to an embodiment of the present invention. In one embodiment, a control device for a joint distraction brace as in any of the above embodiments, the control device comprising: an angle adjusting module 61, a first obtaining module 62, a calculating module 63 and a control module 64. The included angle adjusting module 61 is used for controlling the power mechanism 30 to work so as to adjust the included angle between the first supporting assembly 10 and the second supporting assembly 20. The first obtaining module 62 is configured to obtain information about pressure sensed by each pressure sensor 40. The calculating module 63 is configured to calculate a resultant force moment according to each pressure information. The control module 64 is configured to deactivate the brake mechanism 30 when the resultant torque equals the first target torque.

On one hand, the control device of the joint traction brace utilizes the power mechanism 30 to provide power torque required by buckling and straightening in joint rehabilitation traction. The defects that the prior treatment needs manual frequent adjustment of the patient, occupies much time and energy of the patient and has low compliance are overcome, the convenience of rehabilitation treatment is greatly improved, and the completion quality of a rehabilitation training plan is improved; on the other hand, the utility model can be used for a long time, and the dependence on doctors is reduced, thereby greatly reducing the cost.

For specific limitations of the control device of the joint distraction brace, reference may be made to the above limitations of the control method of the joint distraction brace, and details thereof are not repeated here. The modules in the control device of the joint traction brace can be wholly or partially realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent of a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules. It should be noted that, in the embodiment of the present application, the division of the module is schematic, and is only one logic function division, and another division manner may be available in actual implementation.

Referring to fig. 6, in one embodiment, the control module 64 is further configured to control the power mechanism 30 to operate if the resultant torque is determined to be equal to the second target torque after the power mechanism 30 stops operating. Therefore, the stretching angle and frequency of the joint of the patient can be adjusted by combining the recovery condition of the muscle tissue activity of the patient, and the joint of the patient can be stretched for multiple times.

Referring to fig. 6, in one embodiment, the control device further includes a setting module 65. The setting module 65 is configured to set a first target torque and a second target torque.

Referring to fig. 6, in one embodiment, the control device further includes a display module 66. The display module 66 is used for displaying a curve of the resultant force moment along with the change of time; and/or the control device comprises a second obtaining module 67, the second obtaining module 67 is used for obtaining an included angle between the first support assembly 10 and the second support assembly 20, and the display module 66 is used for displaying a curve of the included angle along with the change of the time or the resultant force moment.

In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of:

step S110, controlling the power mechanism 30 to work to adjust an included angle between the first supporting assembly 10 and the second supporting assembly 20;

step S120, pressure information sensed by each pressure sensor 40 is obtained, and resultant force moment is calculated according to each pressure information;

step S130, if the resultant torque is equal to the first target torque while the included angle is adjusted, controlling the power mechanism 30 to stop working.

It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include at least one of non-volatile and volatile memory. Non-volatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical storage, or the like. Volatile Memory can include Random Access Memory (RAM) or external cache Memory. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others.

The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above examples only represent some embodiments of the present invention, and the description thereof is more specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", and the like, indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless explicitly defined otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In the present application, unless expressly stated or limited otherwise, a first feature "on" or "under" a second feature may be directly contacting the second feature or the first and second features may be indirectly contacting the second feature through intervening media. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature "under," "beneath," and "under" a second feature may be directly under or obliquely under the second feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.

Claims (10)

1. A joint distraction brace, comprising:

the first support component is rotatably connected with the second support component, and the first support component is provided with a support surface for supporting limbs;

the power mechanism is used for driving one of the first support assembly and the second support assembly to rotate relative to the other;

the number of the pressure sensors is at least three, and the pressure sensors are not collinear and are respectively arranged on the first supporting assembly so as to be used for sensing pressure information received by at least three different positions on the supporting surface; and

the controller is respectively electrically connected with the pressure sensor and the power mechanism, and the controller obtains resultant force moment by collecting pressure information fed back by the pressure sensor and controls the power mechanism to act based on the resultant force moment.

2. The articular distraction brace of claim 1, wherein the support surface of the first support component is adjustable in distance relative to the axis of rotation of the first support component; the first support assembly comprises a distance sensor; the distance sensor is electrically connected with the controller.

3. The articular distraction brace of claim 2, wherein the distance sensor is a displacement sensor for sensing the displacement of the support surface after the adjustment of the movement relative to the rotation axis to obtain the moment arm length of the support surface after the adjustment of the movement relative to the rotation axis.

4. The joint distraction brace of claim 2, wherein the distance sensor is a displacement sensor for sensing a displacement of the support surface after the adjustment by movement relative to a position of the support surface before the adjustment by movement, and the controller is configured to derive a moment arm length of the support surface after the adjustment by movement relative to the rotation axis based on the displacement and an initial spacing value of the support surface before the adjustment by movement relative to the rotation axis.

5. The joint distraction brace of claim 1, further comprising a force application center determined from pressure information fed back from a pressure sensor, wherein the controller sets a coordinate system and obtains a force arm length of the force application center relative to the rotation axis of the first support member based on a coordinate value of the force application center in the coordinate system.

6. The joint distraction brace of claim 1, further comprising an angle sensor electrically connected to the controller, the angle sensor configured to sense an included angle between the first support component and the second support component.

7. The joint distraction brace of claim 1, wherein the first support element comprises a first support arm and a first support sheath, the first support sheath being mounted on the first support arm, the first support sheath having the support surface, the pressure sensor being disposed on the support surface; the second support assembly comprises a second support arm and a second support sheath, the second support sheath is arranged on the second support arm, and the second support arm is rotatably connected with the first support arm.

8. The joint traction brace of claim 1, wherein the power mechanism is a unidirectional motor or a bidirectional rotary motor; and/or, the joint traction brace further comprises a display, and the display is electrically connected with the controller.

9. The joint traction brace of claim 1, further comprising a power module electrically connected to the power mechanism, the pressure sensor, and the controller, respectively; and/or at least one of a power jack, a USB interface and a power plug is arranged on the joint traction brace.

10. The joint distraction brace of claim 1, further comprising a mechanical stop, wherein the mechanical stop is disposed on one of the power mechanism, the first support assembly, or the second support assembly, and is configured to allow the first support assembly and the second support assembly to rotate within a predetermined angle.

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