DE102011000417B4 - Device for the prevention of leg thrombosis and method for operating such - Google Patents

Abstract

Device for the prevention of leg thrombosis with a foot rocker (3), which has at least one foot rest surface (11) for a user of the device (1) and is arranged to be pivotable about a tilting axis (4), and with one on the foot rocker (3) Acting electric drive unit, which comprises an electric motor (14), the drive unit being a servo drive (13) which a) the electric motor (14), b) a servo controller (19), by which the electric motor (14) can be controlled and c ) a controlled variable sensor (30) connected to the servo controller (19) for receiving a controlled variable (32), the servo controller (19) having control electronics (20) for determining and outputting a manipulated variable (27) taking into account the controlled variable (32) and has predeterminable control specifications (28, 29) related to the pivoting movement of the foot rocker (3).

Description

The invention relates to a device for the prevention of leg thrombosis with a foot pedal according to the preamble of claim 1 and a method for operating a device for the prevention of leg thrombosis according to the preamble of claim 12.

Thrombosis is a vascular disease in which a blood clot forms in a vessel. In a leg thrombosis thrombi form in the deep leg veins. It is known that leg thrombosis can be counteracted by changes in the shape and volume of the calf muscles due to movements of the upper hocks. The movements of the upper ankle joints result in the compression of the deep lower leg veins that run between the muscles and cause a flow change of the blood in the deep leg veins. The actions of the calf muscles are also known in the medical literature as the calf muscle pump.

For the prevention of leg thrombosis devices are known in which a Fußwippe is arranged pivotably with a Fußablagefläche for a user about a tilting axis.

DE 7305386 U discloses a prophylaxis device for the prevention of leg thrombosis with a foot pedal, which is pivotally mounted on a holder. The foot pedal of the known prophylactic device is driven by an electric motor via a mechanical crank drive. In this case, a connecting rod of the crank mechanism is provided with a rack, so that the length of the connecting rod is variable and thereby the starting position of the foot pedal is mechanically adjustable. The connecting rod is rotatably supported by a slider on the crank rod of the crank mechanism, wherein by adjusting the slider, the point of articulation of the connecting rod on the connecting rod is radially adjustable. As a result, the crank radius of the crank mechanism is variable and so the amplitude of the pivoting movements of the foot pedal adjustable.

DE 10 2009 011 418 A1 discloses a motor-driven prophylactic device with two foot paddles which are each hinged at the upper end by hinges to a housing of the device. The known device has two offset by 180 ° cranks, which are connected to a drive shaft of the electric motor. The Fußpaddel have on their undersides in the area which is provided for the heels of the user, pawls with recesses, in which the cranks engage in their respective rotation. The cranks drive the respective Fußpaddel in the direction of the user, the pawls are released after the end of the horizontal movement towards the user and the respective Fußpaddel falls back by spring force to its original position. The known device assumes that for the promotion of blood circulation, the sudden stop of the leg movement through the attachment of the heels when falling back the Fußpaddel is important.

DE 203 09 246 U1 shows a training device with continuously rotatably movable, pedal-like arranged on a crank foot receiving elements. The Fußaufnahmeelemente are connected via elastic traction means with the training device or with each other. A servomotor serves to position the foot-receiving elements so that the user's leg is stretched. A stretching or bending of the ankle for better circulation of the calf muscles takes place by a mechanical, not electrically controlled mechanism in which the Fußaufnahmeelemente be tilted.

The known devices have mechanical slider crank gear, with which the drive power of the electric motor is to be implemented in the tilting movement of the Fußwippe. For the mechanical adjustability of the known reciprocating drives a high structural complexity is required, so that the known devices have a correspondingly high weight and size. They are therefore unsuitable for transport. In addition, the mechanical crank mechanism of the known devices during operation of the known devices is not adjustable and drives with constantly the same kinematics. In this case, the foot pedal of the known prophylactic devices is forcibly controlled with a sinusoidal course according to the law of a mechanical crank drive. The kinematics of the known devices is not very effective from a medical point of view, so that the known devices with mechanical crank drives for driving the foot pedal are not practical.

The present invention is based on the problem of further developing the generic device for the prevention of leg thrombosis with a pivotable foot pedal and to provide a method for operating such a device that their medical effectiveness is improved at the lowest possible total weight and size of the device.

The problem is solved according to the invention by a device having the features of claim 1 and a method having the features of claim 12.

According to the invention, the drive unit is a servo drive with an electric motor, a servo controller and a controlled variable pickup connected to the servo drive. A Control electronics of the servo controller determines taking into account the controlled variable a manipulated variable with which the electric motor is driven. A controlled variable is to be understood as a physical variable which is influenced by the manipulated variable and whose current value is taken into account in the determination of the manipulated variable and is therefore fed back. Based on the controlled variable, the servo controller initiates the event provided for this value event on the footswitch, for example, a changeover of the drive direction of the electric motor, a change in the drive speed or the torque of the electric motor in the presence of certain values of the controlled variable.

By feedback of the controlled variable in a control loop, the servocontroller determines the state of the footswing at each time of operation and therefore permanently follows the footswitch to the targeted position of the footrest surface. Even with irregularities of the pivoting movement, therefore, the regulation of the swing cycle of the foot pedal is maintained.

The Fußwippe the prophylactic device according to the invention can be freely adjusted by using a servo drive regardless of kinematic laws of known power transmission elements or gear arrangement in their kinematics, so that the greatest possible effectiveness of the prophylactic device for activating the calf muscle pump is reached.

The servo drive can drive the Fußwippe directly without further components, so that the total weight of the device according to the invention for the prevention of thrombosis over known devices is significantly reduced. In addition, the device according to the invention with servo drive on a small size. With a low weight and size, the device according to the invention is suitable as a portable device.

By using a servo drive as the drive unit of the prophylactic device according to the invention a free control of the pivoting movement with little structural effort is possible because the servo drive of the foot well consists essentially of an electric motor and a servo controller for controlling the electric motor.

Commercially available electric motors can be used for the servo drive of the foot pedal according to the invention, which are small and lightweight and can therefore be arranged to save space and weight saving directly on the Fußwippe.

In an advantageous embodiment of the invention, the control electronics of the servo controller means for determining and output of the manipulated variable on the basis of specifiable on the pivotal movement of the Fußwippe related tax preferences, whereby fast and accurate pivoting movements of the Fußwippe according to the control specifications of the servo drive are possible. Under tax specifications are to be understood specifications with respect to the pivoting movement of the Fußwippe, which underpins the determination of the manipulated variable of the servo drive and thus causes a control behavior corresponding pivoting behavior of the Fußwippe.

Instead of known devices with mechanical positive control of the Fußwippe with continuously rotating drive motor, the pivoting movements of the Fußwippe can be controlled directly from the servo drive according to the control specifications by the inventive use of a servo drive.

The Regelgrößenaufnehmer is advantageously associated with the Fußwippe and in a preferred embodiment of the invention, an angle sensor, which is arranged on the tilting axis of the Fußwippe. The angle sensor can thus directly record a relative to the footrest control variable. The control variable is advantageous, the current rotational position of the tilt axis, so that the actual position of the foot pedal can be tracked at any time a desired position. The target position results from the control specifications of the control electronics. In further embodiments of the invention, a control variable with information about the change in the rotational angle position or the speed of the change in the rotational angle position of the foot pedal is determined from the measured values of the angle sensor.

Advantageously, the control electronics control specifications for the pivot angle of the complete pivoting movement of the foot pedal between their end positions and / or control specifications for the frequency of the pivoting movements can be entered. In this way, according to the respective medical indication of the calf muscle pump of a user the greatest possible therapeutic effect or optimal thrombosis prophylaxis can be ensured. The control electronics accesses the measured values of the controlled variable sensor and regulates the position of the foot pedal in consideration of the control specifications. Due to the backlash-free power transmission from the electric motor to the foot pedal, the control electronics can track the ever-known control variable a setpoint. The setpoint value, ie the reference variable in the control loop, is dependent on the control specifications.

In an advantageous embodiment of the invention, the control electronics, the neutral position of the foot pedal as a control input can be entered, so that the servo drive back and forth the foot pedal in a user-desired area. About the Adjustment of the neutral position, the pivotal movements of the foot pedal to the body proportions of the user and its sitting or lying position during prophylactic treatment customizable.

In a preferred embodiment of the invention, the control specifications for the pivoting angle of each complete pivoting movement of the Fußwippe the respective maximum angle specifications of the deflections of the Fußwippe against the neutral position. The maximum angle specifications of the deflections with respect to a neutral position of the foot pedal are separately specifiable and may differ from each other. The movement of the foot pedal is thus adaptable to the individual mobility of the hocks of a user of the device for the prevention of leg thrombosis. In a further embodiment, both the neutral position of the foot pedal and the maximum angle specifications of the deflections relative to the neutral position of the foot pedal can be entered as control specifications.

The Regelgrößenaufnehmer is in a preferred embodiment of the invention, an angle sensor, which is arranged on the tilting axis of the Fußwippe. The angle sensor can thus directly record a relative to the footrest control variable. The control variable is advantageous, the current angular position of the foot pedal, so that the actual position of the foot pedal can be tracked at any time a desired position, resulting from the control specifications of the control electronics. The angle sensor is advantageously arranged on a bearing journal of the foot pedal, with which the foot pedal is pivotally mounted.

In an advantageous embodiment of the invention, the drive member of the electric motor is connected without the interposition of traction mechanism with a drive member of the foot pedal. The power of the electric motor is transmitted without significant play on the Fußwippe, so that power or efficiency losses of the servo drive are avoided. The invention provided for the drive of the foot pedal servo drive consists of a few small and light components and can be connected directly to the drive member of the foot pedal. In this case, in an advantageous embodiment, an output shaft of the electric motor is connected as a direct drive with a drive pin of the foot pedal. The direct drive also results in a low-noise and low-maintenance operation.

Between the drive shaft and the output journal of the foot pedal, a torque-switching safety clutch is arranged in an advantageous embodiment of the invention. In the event of an erroneous loading or blocking of the foot pedal by the user, the electric motor is effectively protected against overloading by the safety clutch. The safety coupling is advantageously designed as a slip clutch. When the safety clutch responds, the servo drive according to the invention follows the footswitch to the desired value for the controlled variable.

Advantageously, the control electronics is connected to a torque sensor, wherein the control electronics setpoint values of the torque on the foot pedal can be predetermined. Thereby, a control or regulation of the torque of the electric motor and a compensation of different loads of the tilting surface by the user is possible. The control or regulation of the torque ensures smooth transitions at the end of each tilting movement and pleasant felt tilting movements of the foot pedal.

A compact and lightweight design of the device according to the invention for thrombosis prophylaxis is given if the electric motor provided for its movement current from a power electronics can be supplied. The power electronics are connected to the control electronics and generates a control variable corresponding control current to cause the intended movement of the electric motor and thus the foot pedal.

Advantageously, the servo controller comprises a memory element on which at least one control profile with a time sequence of various control specifications for the control electronics is stored. In this case, different control specification profiles or with a corresponding sequence of different pivot frequencies of the footrest can be stored in the memory element. In the lower frequency range, the pivoting movement causes activation of the venous blood flow, while in the higher frequency range, additional influence is exerted on the arterial blood flow as well as on the length and circumference of the musculature. As a result, muscle and tendon shrinkage of the lower leg soft parts can be prevented. The memory element is advantageously assigned to the control electronics, so that a space-saving design is given.

The control specification profiles provide information about the time sequence of control specifications for different frequencies of the swivel movements and / or control specifications for the swivel angle or the respective maximum angle specifications of the deflections with respect to a neutral position of the footrest. The tax specification profiles thus contain combinations of different tax specifications, which promise the greatest possible medical effect.

Particularly advantageous are individually assembled on the memory element Control profile profiles for the / the user of the prophylactic device can be stored and are thus available to the user.

Advantageously, the control electronics associated with a control device, by means of which control specifications are variable and / or the control electronics dial commands for selecting a control profile preset from the memory element can be entered. About the operating device, the user can adjust the operating behavior of the foot pedal on a change, for example. The frequency of the pivoting movements and / or the control specifications for the swivel angle or the maximum angle specifications.

The operator includes operator operable input elements associated with the functions for changing the control settings or selecting a control default profile. The input devices may be control buttons or also, for example, a touch-sensitive touch screen. The operating device is arranged in one embodiment on a housing of the servo drive, for example. On the servo drive, and is accessible from the outside for an operator.

In an advantageous embodiment, a remote control is provided, with which the operator during operation of the device according to the invention for the prevention of leg thrombosis can easily change the control specifications without interrupting the prophylactic treatment during operation of the device. The remote control is signal-transmitting connected signal transmitting to a arranged on the servo drive receiving part of the operating device. The signal transmission can take place via a connecting cable or wirelessly, for example via radio, infrared radiation, sound and the like.

In the preferred embodiment of the invention, the control electronics are arranged in a housing of the operating device, so that the means of determining the manipulated variable means of the servo drive can be arranged in a single, compact housing.

The control electronics advantageously have a microcontroller, also referred to as a μcontroller, which has the means for determining and outputting the manipulated variable on the basis of the control specifications and means for taking into account the controlled variable. The microcontroller comprises a processor which is programmed with software for determining the manipulated variable on the basis of the control specifications or control specification profiles, taking into account the controlled variable. The microcontroller combines the processor with additional peripheral functions to save space on a chip and advantageously also includes the memory element of the servo drive and a main memory. Due to the small size and low weight, the control electronics can be advantageously arranged with the microcontroller in the housing of a remote control of the servo drive.

In a further embodiment of the invention, the servo drive has an interface for communication with an external device. The setting of the control settings of the leg thrombosis prevention apparatus according to the present invention can be synchronized with the settings of the external apparatus via the interface to make more accurate diagnoses or adjustment of the control specifications of the leg thrombosis prevention apparatus optimize. To the interface, a rheography device is advantageously connected, are recorded with the pulse oscillations in the blood vessels in the passage of a pulse wave. In light-reflectance rheography, infrared light is irradiated and the reflected portion is registered and recorded. From the reflected infrared light conclusions can be drawn on the blood circulation during the movement. Through the interface of the servo controller, the control specifications of the leg thrombosis prevention apparatus can be synchronized with the records of the light reflection rheography apparatus and recorded together so that knowledge about the achieved activation of the user's calf muscle pump is obtained from the rheography results and control specifications can be.

Advantageously, the measured values of the external device, namely in particular the light reflection rheography device, the control electronics of the servo drive via the interface can be entered, wherein the control electronics setpoints for the input value of the external device can be specified. In this case, the control electronics adjusts the control specifications according to the deviation of the input measured value of the external device from the predetermined setpoint. The adaptation takes place as a control or regulation. For this purpose, suitable calculation instructions for the optimal control specifications corresponding to the input measured value can be stored in the memory element or also a corresponding control specification can be assigned to each measured value of the external device.

In an advantageous embodiment of the invention, the tilting axis of the footrest is located in a half of the footrest surface facing the user. The user of the leg thrombosis prevention device can thereby conveniently deposit his feet in an optimal position on the footrest surface of the foot pedal. An optimal position of the feet on the footrest surface is given when the tilt axis is approximately in extension of the user's lower leg.

Advantageously, the footrest surface is formed symmetrically to an axis of symmetry perpendicular to the tilting axis. This results in a wide Fußablagefläche on which the user can optimally use the pivoting movements of the Fußwippe by moving the position of his feet relative to the tilting axis, for example, the feet can set up or down.

In a preferred embodiment of the invention, a single continuous footrest surface is used for a user. Both feet are moved together, reducing the risk of injury to the user.

In an alternative embodiment, a plurality of footrest surfaces are provided, which perform, for example, mutually offset pivoting movements.

To improve the comfort of the device for the prevention of leg thrombosis, the torque acting on the tilting axis is advantageously determined and the torque is regulated according to predetermined desired values. The control of the torque compensates for different loads on the foot pedal by forces that the user transfers to the foot pedal. In addition, the torque control ensures smooth transitions at the end of the pivoting movements and a generally perceived as pleasant movement. The current torque, which acts on the tilting axis, is detected by a torque sensor. In a further advantageous embodiment of the invention, the actual value of the torque is determined without additional sensor from the control electronics from the current control current of the electric motor as a function of the current setting of the movement of the foot pedal, which can be derived from the current control specifications.

The device according to the invention for the prevention of leg thrombosis with a foot pedal is due to the servo drive light and compact and allows with little effort, a use of the device for prolonged sedentary activity or even, for example, in long-haul flights.

The inventive device for the prevention of leg thrombosis with a servo drive is also inexpensive to produce, since many components can be standard commercial components. The electric motor itself can be a cheap electric motor, for example. With flanged worm gear.

Further features of the invention will become apparent from the dependent claims and the embodiments, which are described below with reference to the drawings. Show it:

1 a perspective view of a device for the prevention of leg thrombosis with a servo drive;

2 a schematic block diagram of the operation of the device for the prevention of leg thrombosis according to 1 ,

1 shows a perspective view of a device 1 for the prevention of leg thrombosis. The device 1 includes a base plate which can be placed on the floor 2 , on the foot pedal three is pivotally mounted. The foot pedal three is about a tilt axis 4 pivotally mounted, wherein the tilt axis 4 on both sides of the Fußwippe three as a journal 5 . 6 is formed, each in a warehouse 7 . 8th are received rotatably. Camps 7 . 8th are web-shaped and take on their the base plate 2 opposite ends of the respective journals 5 . 6 the tilt axis 4 on. Camps 7 . 8th feet on the base plate 2 and create a distance of the tilt axis 4 to the base plate 2 , so the foot pedal three is freely pivotable.

The tilt axis 4 is formed in the embodiment shown as a continuous axle, with the foot pedal three connected is. The tilt axis 4 carries the footswing three and is at the bottom of the footswing three arranged. In an embodiment not shown are on the opposite edges 9 . 10 the footswing three pivot 5 . 6 arranged coaxially.

The foot pedal three has on its front facing the user a Fußablagefläche 11 on. In this case, a Fußaufnahme not shown on the Fußablagefläche 11 be provided.

The tilt axis 4 lies in a user-facing half of the footrest surface 11 allowing the user to place his feet in a position on the footrest surface 11 can make that the tilt axis 4 lies approximately in extension of the user's lower leg. In the embodiment shown divides the tilt axis 4 the length of the lateral edges 9 . 10 the footswing three in the ratio of about 1: 2, ie the sections of the edges 9 . 10 above the tilt axis 4 are about twice as long as the sections of the edges 9 . 10 below the tilt axis 4 , The user of the device 1 Therefore, the heels in the smaller section of the footrest surface 11 turn off, leaving the tipping axle 4 lies in extension of his lower leg.

The foot pedal three is formed as a one-piece flat plate, wherein the Fußablagefläche symmetrical to a perpendicular to the tilt axis 4 lying symmetry axis 12 is trained. As a result, the symmetry axis is on both sides 12 a storage area provided for one foot of the user, so that the user through the wide Fußablagefläche 11 a variety of ways has the feet in different position relative to the tilt axis 4 remedy.

The device 1 for the prevention of leg thrombosis involves a servo drive 13 with an electric motor 14 to drive the foot pedal three , The servo drive 13 is the side of the foot pedal on the base plate 2 arranged, wherein an output member 15 of the electric motor 14 without the interposition of traction drives directly with a drive member 16 the footswing three connected is. The drive link 16 the footswing three is the end of the servo drive 13 facing bearing journal 5 the tilt axis 4 , The output member 15 of the electric motor 14 is an output shaft of a worm gear 17 which is connected to the electric motor 14 is flanged. In an embodiment, not shown, the output shaft of the electric motor 14 directly with the drive link 16 the footswing three connected torque transmitting. Due to the coaxial connection of the output element 15 of the electric motor 14 and the drive member 16 the footswing three is a compact, space-saving design of the device 1 given and beyond a direct drive the Fußwippe without significant play. The power of the electric motor 14 can therefore with high efficiency on the Fußwippe three be transmitted.

Between the output member 15 of the electric motor 14 and the drive member 16 the footswing three is a torque-switching safety clutch 18 arranged, which when blocking the Fußwippe three the adhesion between the electric motor 14 and the foot pedal three and thus protects the user from injury. In addition, the electric motor 14 against overloading when blocking the foot pedal three protected. The torque-switching safety clutch 18 is advantageous a slip clutch.

The servo drive 13 includes next to the electric motor 14 a servo drive 19 and one of the footswing three assigned and to the servo drive 19 connected Regelgrößenaufnehmer 30 , The controlled variable sensor 30 In the embodiment shown is an angle sensor, which on which the drive member 16 forming journal 6 is arranged. The angle sensor is a wear-free magnetic angle sensor. The angle sensor detects the actual value of the angular position of the foot pedal three and supplies this measured value to the servocontroller which determines the electric motor based on the continuously detected measurement 14 controls. The servo drive 19 includes an electronic control system 20 and power electronics 21 which the electric motor 14 supplying the control current intended for its movement.

The control electronics 20 is configured such that the electric motor 14 the footswing three swinging back and forth between two end positions. Upon reaching an end position of the respective pivoting movement, which by the trained as an angle sensor Regelgrößenaufnehmer 30 is displayed, the control electronics switches 20 the electric motor 14 in the other direction of drive. The control of the drive speed of the electric motor 14 , ie the frequency of the pivoting movements of the foot pedal three and the swing angle of each pivotal movement of the foot pedal three is done according to tax specifications, which the control electronics 20 can be entered. The frequency of the pivoting movements is adjusted via the strength of the control current and the pivoting angle via the position of the electric motor 14 regulated. It can also be provided a control of the strength of the control current.

The control specifications for the swivel angle or the frequency of the swivel movements are the control electronics 20 via an operating device 22 be entered. The control electronics 20 associated operating device 22 In the embodiment shown, a wireless remote control, which via radio, sound or infrared with a transmitting and receiving device 23 of the servo drive 19 signal transmitting connected. In an embodiment not shown, the remote control is via a cable to the servo drive 19 connected. In a further embodiment, not shown, the operating device 22 at the device 1 appropriate.

The operating device 22 has several control buttons 24 on, with which the control specifications for the control electronics 20 are adjustable at the discretion of the user. The current settings of the panning parameters are on a display screen 25 the operating device 22 read. Instead of control buttons 24 can the operating device 22 also have a touch-sensitive touch screen or other means for inputting the control wishes of the user.

The control electronics 20 includes means for determining and outputting a manipulated variable 27 ( 2 ) Taking into account the controlled variable of the trained as an angle sensor Regelgrößenaufnehmers 30 , The manipulated variable 27 becomes the power electronics 21 of the servo drive 19 specified. The trained as a remote control device 22 includes a housing 38 in which the control electronics 20 is arranged. Here are the with regard to the control electronics 20 outgoing manipulated variable 27 and the incoming control variable 32 via the transmitting and receiving device 23 of the servo drive 19 communicated. The control electronics 20 of the servo drive 19 is in a housing 38 the trained as a remote control device 22 arranged.

The control of the servo drive 13 is hereinafter based on the schematic block diagram according to 2 explained in more detail. For each same features are in 2 the same reference numerals as in 1 specified.

The electric motor 14 is powered by power electronics 21 with the electrical control current intended for its movement 26 provided. The power electronics 21 generates the control current 26 according to a manipulated variable 27 the control electronics 20 , The control electronics 20 determines the manipulated variable 27 based on inputable tax rules 28 . 29 as well as the controlled variable 32 which of the on the Fußwippe three arranged and designed as an angle sensor Regelgrößenaufnehmer 30 is measured. The tax specifications 28 represent the selected setting of the swing angle of each complete pivoting movement of the foot pedal and the control specification 29 the selected frequency of the pivoting movements of the foot pedal.

The desired swivel angle δ ( 1 ) is the control electronics 20 via a corresponding actuation of the operating device 22 be entered. The desired pivoting angle δ is freely adjustable within a maximum pivoting range γ. In addition to the total tilt angle δ are the control electronics 20 via corresponding control buttons 24 Control specifications for deflections of the foot pedal three opposite to a neutral position 31 the footswing three be entered. On the basis of appropriate control instructions causes the control electronics 20 the electric motor 14 for pivoting the foot pedal three in a deflection angle α, on the one hand, the neutral position 31 and a deflection angle β on the other hand, the neutral position 31 , Alternatively or additionally, the neutral position 31 the Fußwippe as a tax specification of the control electronics 20 predetermined.

The control electronics 20 calculates the manipulated variable 27 ( 2 ) based on the tax rules 28 . 29 taking into account the controlled variable 32 , The controlled variable 32 is in the illustrated embodiment, the current angular position of the foot pedal. Once the controlled variable 32 the achievement of a target value according to the tax specifications 28 . 29 reached, causes the control electronics 20 by changing the manipulated variable 27 a corresponding control of the electric motor 14 For example, to change the pan direction. A change in the manipulated variable 27 causes a change in the movement of the foot pedal, so that the measured value of the angle sensor is fed back by its consideration in the determination of the manipulated variable in the sense of a scheme.

The control electronics 20 performs the actual value of the angular position of the foot pedal the setpoint, which results from the control specifications, so that even with intermittent disturbances, such as slippage of the safety clutch 18 ( 1 ), the operation resumes without error.

In addition, a torque control is provided, the control electronics 20 running torque 33 of the electric motor 14 via a corresponding torque sensor 34 detected. By controlling the torque on the one hand different loads of the foot pedal by forces that the user transfers to the Fußwippe compensated. On the other hand, the torque control ensures smooth transitions at the end of the pivoting movements and a user perceived as pleasant movement. In an embodiment of the invention, not shown, the actual value of the torque without additional sensor from the control electronics 20 from the current control current 26 of the electric motor 14 depending on the current tax specifications 28 . 29 and the resulting adjustment of the movement of the foot pedal three determined.

The servo drive 19 includes a memory element 35 , on which different tax code profiles 36 with a chronological sequence of different tax specifications 28 . 29 for the control electronics 20 are stored. The tax code profiles 36 contain different sequences with intervals of different setting of the adjustable control specifications for the control electronics 20 , for example, intervals with different frequencies of the pivoting movement or different angle settings or combinations of the adjustable control specifications. The combinations of the control specifications in the memory element 35 filed tax code profiles 36 are created from a medical point of view and in the storage element 35 stored. In addition, user-compiled tax specification profiles are user-specific 36 in the memory element 35 storable on demand.

The tax code profiles 36 of the memory element 35 can by a corresponding operation of the operating device 22 be retrieved. Is via the operating device 22 a specific tax profile 36 chosen, so are the control electronics 20 the tax rules 28 . 29 of the selected tax profile 36 entered.

The storage element 35 is in common with the control electronics 20 in the case 38 the trained as a remote control device 22 arranged.

The servo drive 19 ( 1 ) has an interface 37 for communication with an external device. To the interface 37 Preferably, a (not shown) light reflection rheography device is connected. About the interface 37 and the communication created thereby between the servo drive 13 and the light reflection rheography device becomes the current setting of the device 1 Linked to the recordings of the light-reflecting rheography device for the prevention of leg thrombosis. Preference is given to the current control specifications of the control electronics 20 over the interface 37 exported and stored together with the rheographic information on venous blood flow. The device 1 for the prevention of leg thrombosis is useful by the communication with the light reflection rheography device as a diagnostic aid.

The device 1 For the prevention of leg thrombosis is a lightweight and portable prophylactic device, which at low weight with a structurally small servo drive 13 realized extensive functions. The portable prophylactic device can be used by an operator for long-lasting sedentary activity, for example, in office work or even in long-haul flights to prevent leg thrombosis. The structurally small device 1 to bow to leg thrombosis is convenient even on limited space can be set up and put into operation on the floor. In an embodiment not shown, the height of the footrest is by means of an adjustment three Adjustable with respect to the ground, eg. By means of a on the base plate 2 arranged electric motor drive.

All mentioned in the above description of the figures, in the claims and in the introduction of the description features can be used individually as well as in any combination with each other. The disclosure of the invention is therefore not limited to the described or claimed feature combinations. Rather, all feature combinations are to be regarded as disclosed.

Claims (15)

Device for the prevention of leg thrombosis with a foot pedal ( three ), which at least one Fußablagefläche ( 11 ) for a user of the device ( 1 ) and about a tilt axis ( 4 ) is pivotally mounted, and with one on the Fußwippe ( three ) acting electric drive unit which an electric motor ( 14 ), wherein the drive unit is a servo drive ( 13 ), which a) the electric motor ( 14 ), b) a servo drive ( 19 ), of the electric motor ( 14 ) and c) one to the servocontroller ( 19 ) connected Regelgrößenaufnehmer ( 30 ) for receiving a controlled variable ( 32 ), wherein the servo drive ( 19 ) an electronic control system ( 20 ) for the determination and delivery of a manipulated variable ( 27 ) taking into account the controlled variable ( 32 ) and specifiable, on the pivoting movement of the Fußwippe ( three ) related tax rules ( 28 . 29 ) having. Apparatus according to claim 1, characterized in that the Regelgrößenaufnehmer ( 30 ) of the Fußwippe ( three ), in particular one on the tilt axis ( 4 ) arranged angle sensor is. Device according to one of the preceding claims, characterized in that an output member ( 15 ) of the electric motor ( 14 ) without the interposition of traction mechanism gears with a drive member ( 16 ) of the Fußwippe ( three ) connected is. Device according to one of the preceding claims, characterized by tax specifications ( 28 ) for the swivel angle (γ, δ) of each pivoting movement of the foot pedal ( three ) and / or tax rules ( 29 ) for the frequency of the swivel movements and / or the control requirements for a neutral position ( 31 ) of the Fußwippe ( three ) and / or tax rules ( 28 ) for deflection angle (α, β) of the foot pedal ( three ) against a neutral position ( 31 ) of the Fußwippe ( three ). Device according to one of the preceding claims, characterized in that the servo drive ( 19 ) a memory element ( 35 ) on which at least one tax reference profile ( 36 ) with a chronological sequence of different tax specifications ( 28 . 29 ) for the control electronics ( 20 ) is stored. Device according to one of the preceding claims, characterized in that the servo drive ( 19 ) an interface ( 37 ) for communication with an external device, in particular a rheography device, wherein the control electronics ( 20 ) via the interface ( 37 ) Measurements of the external device can be entered and the control electronics ( 20 ) Setpoints for the input value of the external device can be specified. Device according to one of the preceding claims, characterized in that the servo drive ( 19 ) an operating device ( 22 ), by means of which tax rules ( 28 . 29 ) are input and changeable and / or tax specification profiles ( 36 ) are selectable and / or on the Memory element ( 35 ) Tax Specification Profiles ( 36 ) are storable. Apparatus according to claim 7, characterized in that the control electronics ( 20 ) in a housing of the operating device ( 22 ) is arranged. Device according to one of the preceding claims, characterized in that the control electronics ( 20 ) has a microcontroller, which means for determining and outputting the manipulated variable ( 27 ) based on the tax rules ( 28 . 29 ) and means for taking account of the controlled variable ( 32 ) having. Device according to one of the preceding claims, characterized in that between the driven member ( 15 ) of the electric motor ( 14 ) and the drive member ( 16 ) of the Fußwippe ( three ) a torque-switching safety clutch ( 18 ) is arranged. Device according to one of the preceding claims, characterized in that the tilting axis ( 4 ) of the Fußwippe ( three ) in a user-facing half of the footrest surface ( 11 ), wherein the footrest surface ( 11 ) symmetrical to a perpendicular to the tilt axis ( 4 ) lying symmetry axis ( 12 ) is trained. A method of operating a leg thrombosis prevention device according to any one of claims 1 to 11, wherein a foot pedal ( three ), which at least one Fußablagefläche ( 11 ) for a user of the device ( 1 ), by an electric motor ( 14 ) of an electric drive unit about a tilting axis ( 4 ) is pivoted, wherein the electric motor ( 14 ) from a servocontroller ( 19 ) of a servo drive ( 13 ) and one to the servocontroller ( 19 ) connected Regelgrößenaufnehmer ( 30 ) one on the Fußwippe ( three ) controlled variable ( 32 ), wherein a control electronics ( 20 ) of the servo drive ( 19 ) a manipulated variable ( 27 ) taking into account the controlled variable ( 32 ) and predetermined, on the pivoting movement of the foot pedal ( three ) related tax rules ( 28 . 29 ) determines and delivers. Method according to Claim 12, characterized in that the control electronics ( 20 ) the manipulated variable ( 27 ) on the basis of given tax rules ( 28 ) for the swivel angle (γ, δ) of each pivoting movement of the foot pedal ( three ) and / or tax rules ( 29 ) for the frequency of the swivel movements and / or the control requirements for a neutral position ( 31 ) of the Fußwippe ( three ) and / or tax rules ( 28 ) for deflection angle (α, β) of the foot pedal ( three ) against a neutral position ( 31 ) of the Fußwippe ( three ) certainly. A method according to claim 12 or 13, characterized in that one on the Fußwippe ( three ) controlled variable ( 32 ) is detected, in particular a rotational angle position of the tilting axis ( 4 ) the controlled variable ( 32 ). Method according to one of claims 12 to 14, characterized in that on the tilting axis ( 4 ) acting torque ( 33 ) and the torque ( 33 ) is regulated according to predetermined setpoints.

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