EP3965712B1 - Finger-bewegungsschiene zur durchführung einer kontinuierlichen, passiven und/oder aktiv-assistierten bewegung eines fingers und/oder eines daumens eines patienten, sowie therapiegerät umfassend eine solche finger-bewegungsschiene - Google Patents

Finger-bewegungsschiene zur durchführung einer kontinuierlichen, passiven und/oder aktiv-assistierten bewegung eines fingers und/oder eines daumens eines patienten, sowie therapiegerät umfassend eine solche finger-bewegungsschiene Download PDF

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Publication number
EP3965712B1
EP3965712B1 EP20727141.2A EP20727141A EP3965712B1 EP 3965712 B1 EP3965712 B1 EP 3965712B1 EP 20727141 A EP20727141 A EP 20727141A EP 3965712 B1 EP3965712 B1 EP 3965712B1
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EP
European Patent Office
Prior art keywords
joint
lever
finger
movement
connection
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP20727141.2A
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German (de)
English (en)
French (fr)
Other versions
EP3965712A1 (de
EP3965712C0 (de
Inventor
Pascal Lindemann
Christof Steiner
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Johannes Gutenberg Universitaet Mainz
Universitaetsmedizin der Johannes Gutenberg-Universitaet Mainz
Original Assignee
Johannes Gutenberg Universitaet Mainz
Universitaetsmedizin der Johannes Gutenberg-Universitaet Mainz
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Publication of EP3965712A1 publication Critical patent/EP3965712A1/de
Application granted granted Critical
Publication of EP3965712B1 publication Critical patent/EP3965712B1/de
Publication of EP3965712C0 publication Critical patent/EP3965712C0/de
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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
    • A61H1/0285—Hand
    • A61H1/0288—Fingers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • A61H2201/123—Linear drive
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
    • A61H2201/1481—Special movement conversion means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
    • A61H2201/1481—Special movement conversion means
    • A61H2201/149—Special movement conversion means rotation-linear or vice versa
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/1635—Hand or arm, e.g. handle
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/1635—Hand or arm, e.g. handle
    • A61H2201/1638—Holding means therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/165—Wearable interfaces
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/165—Wearable interfaces
    • A61H2201/1652—Harness
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1657—Movement of interface, i.e. force application means
    • A61H2201/1676—Pivoting
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/06—Arms
    • A61H2205/065—Hands
    • A61H2205/067—Fingers

Definitions

  • the present invention relates to a finger movement splint for carrying out a continuous, passive and/or actively assisted movement of a finger and/or a thumb of a patient, comprising: a means for flexing a metacarpophalangeal joint arranged laterally next to the respective finger and/or thumb; a mechanism arranged laterally next to the respective finger and/or thumb for flexing a middle finger joint and/or a distal finger joint, a first connecting lever for connecting the mechanism to the means for flexing a metacarpophalangeal joint, wherein the mechanism has at least one pivoting lever operatively connected to the first connecting lever for interacting with the middle finger joint and/or with the distal finger joint.
  • the present invention further relates to a therapy device for carrying out a continuous, passive and/or actively assisted movement of the fingers and/or thumb of a patient's hand, comprising: one or more such finger movement splints.
  • the US 5 697 892 A discloses, for example, a device for continuous passive movement of the hand, with which bending and stretching movements of the fingers can be carried out.
  • the disadvantage here is that the mechanical movement kinematics resting on the fingers finger movement is restricted.
  • the fingers cannot be treated individually and independently of each other.
  • the EP 2 549 971 B1 a hand rehabilitation device which is characterized by flexible rods for passive and supported-active simultaneous and/or selective bending/stretching of the five fingers according to a complete bending movement or grasping of objects and/or simulation of daily life activities with exercises, sequences and/or combinations of movements that can be freely selected by the user, as well as elements for sliding and supporting the flexible rods during bending/stretching of the fingers.
  • the rods are disadvantageously arranged directly above the fingers and can limit the range of motion.
  • JP 2011 115 248 A and in the US 2014/028 86 64 A1 Devices for supporting finger movement are disclosed, the movement mechanism of which is arranged laterally next to the respective fingers, so that movement restriction by resting on the finger is avoided.
  • the JP 2011 115 248 A discloses a device for supporting a movement, in particular a finger movement splint, which is said to be able to set a three-joint region to a natural bent position.
  • a finger movement support device is disclosed which uses sensor technology to determine the user's intention regarding a desired finger movement ("bending or stretching") and then supports this movement with the help of piezoelectric drives arranged on each finger joint.
  • both devices can only be inadequately adapted to the differentiated anatomical shapes of the fingers or thumbs of different patients, which means that the automated movement of the fingers performed by them can deviate relatively significantly from a natural movement.
  • the EN 11 2017 000 012 B4 a therapy device for carrying out a continuous, passive and/or actively assisted movement of the fingers and thumb of a patient's hand, which allows each selected finger to be provided with its own finger movement splint with movement kinematics for To provide a device that is positioned to the side of the finger to be treated and allows it to bend and/or stretch without hindrance.
  • the well-known finger movement splint is based on a slide-rail movement kinematics that enables automated finger movement that is very close to an anatomically natural finger movement.
  • the slide is only guided in a sliding manner in the rail and can therefore, under certain circumstances, be susceptible to twisting or the effect of axial forces, i.e. forces acting on a longitudinal axis of the device, which in turn can have a negative influence on the automated finger movement.
  • a portable finger rehabilitation device which comprises a thumb mechanism, three finger mechanisms for the index, middle and ring fingers as well as a movement mechanism for the little finger and can be arranged on the back of the user's hand.
  • the movement of the individual movement mechanisms is realized by a type of multi-joint hinge, which in turn is moved by means of a telescopic drive.
  • the telescopic drive is directly connected to the multi-joint hinge via a pivot point and moves with it during operation, whereby the supply cables of the drive (e.g. power supply) in particular are constantly mechanically influenced, which can promote signs of wear such as cable breakage.
  • a rehabilitation manipulator in the form of an exoskeleton has become known as a training device for automated rehabilitation training of the hand, which also enables automated finger or thumb movement using a multi-joint hinge as a movement mechanism for the entire finger movement.
  • a proximal finger stop of the multi-joint hinge is ball-bearing mounted on the frame of the device and a guide rail is rotatably attached to said frame, with the center of the rear end of the ball-bearing proximal finger stop on the frame being on the axis of rotation of the guide rail.
  • This construction makes it possible to rotate the proximal finger stop and the drive element to the left and right at the same time, so that the angle of the position of the respective stop can be adapted to the angle of the fingers of different people.
  • the improved adaptability provided by the ball joint has the disadvantage of destabilizing the automated finger movement.
  • the object of the present invention is therefore to provide a finger movement splint that is improved compared to the prior art, as well as an improved therapy device for carrying out a continuous, passive and/or actively assisted movement of a finger and/or a thumb of a patient, which enables an anatomically natural, disability-free, automated finger movement and at the same time is durable and robust against external forces.
  • the finger movement splint or therapy device should - especially compared to the EN 11 2017 000 012 B4 disclosed therapy device, to whose movement principle this application expressly refers - be more robust against the effects of axial forces as well as torsional forces.
  • a therapy device is accordingly characterized in that it comprises a holder for connecting the therapy device to the hand of a patient, wherein the holder has a superstructure to which one or more finger movement rails according to the invention are connected for each selected finger, as well as at least one movement drive for the motor drive of one and/or more such finger movement rails, and at least one control device which is in control connection with the finger movement rail(s) according to the invention.
  • a therapy device according to the invention or a finger movement splint according to the invention with a means designed as a multi-joint hinge for bending a finger metacarpophalangeal joint is noticeably more robust against the effects of pressure and tensile forces acting along the longitudinal axis of the finger movement splint, as well as against the effects of rotational or torsional forces with respect to the longitudinal axis of the finger movement splint.
  • This advantageously allows a more precise, trouble-free execution of an anatomically natural (elliptical), automated finger movement, which advantageously increases the success of the therapy.
  • the service life of the device is advantageously increased compared to the state of the art.
  • Fig.1 shows an example of a basic structure of a therapy device 1 with exemplary five finger movement rails 2 on a holder 4 in a top view.
  • the therapy device 1 shown here comprises a holder 4 for connecting the therapy device 1 to the hand 3 of a patient, as well as one or more, in particular five as shown here, finger movement rails 2 for the fingers and/or the thumb of a patient.
  • the holder 4 advantageously has an upper structure 40 with which a or several finger movement rails 2 can be connected for each selected finger.
  • the therapy device 1 further comprises at least one movement drive 23 for the motor drive of one and/or more finger movement rails 2 and at least one control device 14, which is in control connection with the finger movement rail(s) 2.
  • the control connection between the finger movement rail 2 or its movement drive 23 and the control device 14 can be wireless (as shown) and/or by cable connections (not shown).
  • the movement drive(s) 23 can preferably be designed as linear drives as in Fig.4 shown, in particular with a guide rail 232 and a movement means 235 running along the guide rail 232 for each finger movement rail 2.
  • the finger movement splints 2 for carrying out a continuous, passive and/or actively assisted movement of a finger and/or a thumb of a patient comprise a means 21 arranged laterally next to the respective finger and/or thumb for flexing a metacarpophalangeal joint 31 and a mechanism 22 arranged laterally next to the respective finger and/or thumb for flexing a middle finger joint 32 and/or a finger end joint 33, a first connecting lever 2113 for connecting the mechanism 22 to the means 21 for flexing a metacarpophalangeal joint 31 and at least one or, as shown here, two pivot levers 2201 and 2202 operatively connected to the first connecting lever 2113 for interacting with the middle finger joint 32 and/or with the finger end joint 33.
  • the interaction with the respective finger end joint 33 and/or with the finger middle joint 32 can preferably take place via a first detachable fastening and/or contact means 26 for fastening to the first 2201 or second 2202 pivot lever and/or a second detachable fastening and/or contact means 27 for fastening to the first connecting lever 2113, wherein both the detachable fastening and/or contact means 26 and 27 for fastening and/or contacting the fingers, as well as possibly also detachable fastening means 42 for fastening the holder 4 to the forearm and/or to the hand 3, can advantageously be designed to be adjustable in size and can thus be used universally for different sizes of the body part to be fastened.
  • Fig. 2 and Fig.3 now show embodiments of a finger movement splint 2 according to the invention in an extended position ( Fig. 2 ) or in a bent position ( Fig.3 ) each in a side view.
  • the Fig. 2 and 3 The embodiments shown are intended in particular to illustrate the operating principle of the means 21 designed as a multi-joint hinge for flexing a metacarpophalangeal joint 31.
  • the means 21 for bending a metacarpal joint 31 is designed as a multi-joint hinge which, in addition to the connection via the first connecting lever 2113, is operatively connected to the mechanism 22 for bending a middle finger joint 32 and/or a finger end joint 33 via at least a second 2203, in particular additionally via a third connecting lever 2204, and at least one connecting joint 2114 and 2115.
  • the means 21 for bending a metacarpal joint 31 designed as a multi-joint hinge enables a movement around the respective ("virtual") metacarpal joint 31, whereby the movement generated advantageously corresponds to an anatomically "natural" (elliptical) finger movement.
  • the means 21 for flexing a metacarpophalangeal joint 31 can comprise, for example, seven joints 2101; 2102; 2103; 2104; 2105; 2106 and 2107, which each rotatably connect two of the six levers 2108; 2109; 2110; 2111; 2112 and 2113 to one another.
  • the means 21 according to the invention for flexing a metacarpophalangeal joint 31 comprises a first lever 2108 for rigid connection to a holder 4 of a therapy device 1 for carrying out a continuous, passive and/or actively assisted movement of the fingers and/or thumb of the hand 3 of a patient.
  • Such a lever 2108 advantageously enables a stable arrangement of one or more finger movement rails 2 on the holder 4 of a therapy device 1 for carrying out a continuous, passive and/or actively assisted movement of the fingers and/or thumb of the hand 3 of a patient.
  • the first lever 2108 also advantageously specifies the structural distance between the first joint 2101 and the second joint 2102 and thus determines the lever-mechanical interaction, in particular of a second 2109, third 2110 and fourth 2111 lever of the means 21 for flexing a metacarpophalangeal joint 31.
  • the lever 2108 advantageously serves as a distance measure for the design of the means 21 for flexing a metacarpophalangeal joint 31, which is designed as a multi-joint hinge.
  • a second lever 2109 is rotatably connected to the first lever 2108 via a first joint 2101.
  • the second lever 2109 comprises at least one engagement joint 231 for the operative connection with a motion drive 23.
  • a connecting element 233 can be provided on the attack joint 231, for example, which can advantageously bring the lever 2109 into operative connection with a movement drive 23, in particular a linear drive (see also Fig.4 ).
  • a connecting joint 234 to a movement means 235 of the movement drive 23 can be arranged at the end of the connecting element 233 opposite the attack joint 231.
  • the movement means 235 can then be moved along the guide rail 232 and in turn move the connecting element 233 via the connecting joint 234.
  • This movement of the connecting element 233 can then set in motion, in particular, the second lever 2109 and thus ultimately the entire means 21 for bending the metacarpophalangeal joint 31, which is designed as a multi-joint hinge.
  • the motion drive 23, in particular its stationary components such as the guide rail 232, remains rigid with respect to the first lever 2108, ie within the entire link the orientation of the motion drive 23 remains constant with respect to the orientation of the means 21 designed as a multi-joint hinge for bending a finger metacarpophalangeal joint 31.
  • the guide rail 232 can also advantageously allow an adaptation to the anatomical conditions of the respective patient, in particular a length adaptation to the finger length.
  • a third lever 2110 is rotatably connected to the first lever 2108 via a second joint 2102, the second lever 2109 being rotatably connected to one another via a fourth joint 2104 and the third lever 2110 being rotatably connected to one another via a third joint 2103. It is also advantageous if the distance between the second joint 2102 and the third joint 2103 is approximately twice as long as the distance between the third joint 2103 and the fifth joint 2105.
  • the third lever 2110 is then rotatably connected to a fifth lever 2112 via a fifth joint 2105 and the fourth lever 2111 via a seventh joint 2107 and the fifth lever 2112 via a sixth joint 2106 are rotatably connected to each other via the connecting lever 2113.
  • a further preferred embodiment of a finger movement splint 2 according to the invention is shown in a bent position in a side view.
  • the means 21 for bending a metacarpophalangeal joint 31 is advantageously designed to bend the axis between the first joint 2101 and the second joint 2206 arranged between the first pivot lever 2201 and the connecting lever 2113 with respect to an angle BW between the longitudinal axis LA of the finger movement splint 2 and a horizontal H in an angular range of -15° to 90°, preferably between 0° and 90° (equivalent to a finger stretched out in the same orientation as the palm of the hand).
  • the mechanism 22 for bending a middle finger joint 32 and/or a finger end joint 33 can advantageously allow a combined bending of the middle finger joint 32 and the finger end joint 33, by means of which at the end of the bending a finger end joint 331 is aligned approximately parallel to a finger proximal joint 311 (cf. also again a further embodiment in a bent position in Fig.4 ).
  • the interaction of the means 21 for bending a metacarpophalangeal joint 31 and the mechanism 22 for bending a middle finger joint 32 and/or a finger end joint 33 via the (common) connecting lever 2113 advantageously enables an anatomically natural, automated finger movement over the full range of motion of the fingers and/or the thumb of a hand 3, whereby movement impairments in particular by components resting on the fingers or thumb.
  • the means 21 designed as a multi-joint hinge for bending a finger metacarpophalangeal joint 31 is robust against axial forces and torsional forces, in particular with respect to the longitudinal axis LA of the finger movement splint 2, which advantageously increases the resistance to disturbances of the finger movement carried out by the finger movement splint 2 or the therapy device 1.
  • the present invention relates to a finger movement splint 2 and a therapy device 1 for carrying out a continuous, passive and/or actively assisted movement of a patient's finger and/or thumb. It is characterized in that a means 21 arranged laterally next to the respective finger and/or thumb for bending a metacarpophalangeal joint 31 is designed as a multi-joint hinge which, in addition to the connection via a first connecting lever 2113, is operatively connected via at least one second (and/or third) connecting lever 2203; 2204 and at least one connecting joint 2114; 2115 to a mechanism 22 also arranged laterally next to the respective finger and/or thumb for bending a middle finger joint 32 and/or a distal finger joint 33.
  • the finger movement splint 2 according to the invention or a therapy device 1 comprising such a splint is robust against the effects of pressure, tensile and torsional forces, in particular with respect to a longitudinal axis LA of the finger movement splint 2 and advantageously allows a more precise, trouble-free execution of an anatomically natural, automated finger movement, which increases the success of the therapy and the service life of the device.
  • a therapy device 1 according to the invention or a finger movement splint 2 according to the invention with a means 21 designed as a multi-joint hinge for bending a metacarpophalangeal joint 31 is noticeably more robust against the effects of pressure and tensile forces which act along the longitudinal axis of the finger movement splint 2, as well as against the effects of rotational or torsional forces with respect to the longitudinal axis LA of the finger movement splint 2.
  • This advantageously allows a more precise, trouble-free execution of an anatomically natural (elliptical), automated finger movement, which can advantageously increase the success of the therapy.
  • the service life of the device is advantageously increased compared to the prior art.

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  • Health & Medical Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • Pain & Pain Management (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Epidemiology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Rehabilitation Tools (AREA)
  • Orthopedics, Nursing, And Contraception (AREA)
  • Prostheses (AREA)
EP20727141.2A 2019-05-08 2020-05-08 Finger-bewegungsschiene zur durchführung einer kontinuierlichen, passiven und/oder aktiv-assistierten bewegung eines fingers und/oder eines daumens eines patienten, sowie therapiegerät umfassend eine solche finger-bewegungsschiene Active EP3965712B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102019112049.7A DE102019112049B4 (de) 2019-05-08 2019-05-08 Finger-Bewegungsschiene zur Durchführung einer kontinuierlichen, passiven und/oder aktiv-assistierten Bewegung eines Fingers und/oder eines Daumens eines Patienten, sowie Therapiegerät umfassend eine solche Finger-Bewegungsschiene
PCT/DE2020/100390 WO2020224727A1 (de) 2019-05-08 2020-05-08 Finger-bewegungsschiene zur durchführung einer kontinuierlichen, passiven und/oder aktiv-assistierten bewegung eines fingers und/oder eines daumens eines patienten, sowie therapiegerät umfassend eine solche finger-bewegungsschiene

Publications (3)

Publication Number Publication Date
EP3965712A1 EP3965712A1 (de) 2022-03-16
EP3965712B1 true EP3965712B1 (de) 2024-08-21
EP3965712C0 EP3965712C0 (de) 2024-08-21

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EP20727141.2A Active EP3965712B1 (de) 2019-05-08 2020-05-08 Finger-bewegungsschiene zur durchführung einer kontinuierlichen, passiven und/oder aktiv-assistierten bewegung eines fingers und/oder eines daumens eines patienten, sowie therapiegerät umfassend eine solche finger-bewegungsschiene

Country Status (10)

Country Link
US (1) US20220296453A1 (zh)
EP (1) EP3965712B1 (zh)
JP (1) JP2022531082A (zh)
KR (1) KR20220006058A (zh)
CN (1) CN113795231A (zh)
AU (1) AU2020268487A1 (zh)
BR (1) BR112021020160A2 (zh)
CA (1) CA3138888A1 (zh)
DE (2) DE102019112049B4 (zh)
WO (1) WO2020224727A1 (zh)

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CN114081473B (zh) * 2022-01-18 2022-04-08 东莞市维斯德新材料技术有限公司 一种基于碳纤维技术的可穿戴设备

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CN104887364B (zh) * 2014-03-03 2018-11-02 精工爱普生株式会社 指关节驱动装置
WO2017140302A2 (de) * 2016-02-15 2017-08-24 Lime Medical Gmbh Finger-bewegungsschiene, halterung hierfür sowie dieses umfassendes therapiegerät und betriebsverfahren
CN105597280B (zh) * 2016-03-21 2018-03-13 哈尔滨工业大学 一种主被动混合上肢康复训练外骨骼
CN105943308B (zh) * 2016-05-27 2018-04-10 中国科学技术大学 一种用于康复训练的手部外骨骼装置
CN106180449B (zh) * 2016-07-06 2018-04-03 燕山大学 混联构型冲压上下料机械手
TWI620558B (zh) * 2016-12-20 2018-04-11 富伯生醫科技股份有限公司 穿戴式手部復健輔具系統
TWI620559B (zh) * 2016-12-30 2018-04-11 富伯生醫科技股份有限公司 穿戴式手指復健裝置
CN107260490B (zh) * 2017-07-12 2023-03-14 合肥工业大学 一种外骨骼式康复机械手
CN107550685B (zh) * 2017-09-30 2019-11-12 华中科技大学 一种兼容人手旋转中心的手部外骨骼装置

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CA3138888A1 (en) 2020-11-12
EP3965712A1 (de) 2022-03-16
US20220296453A1 (en) 2022-09-22
JP2022531082A (ja) 2022-07-06
CN113795231A (zh) 2021-12-14
AU2020268487A1 (en) 2021-10-28
EP3965712C0 (de) 2024-08-21
KR20220006058A (ko) 2022-01-14
DE102019112049B4 (de) 2021-01-28
DE112020002243A5 (de) 2022-03-17
DE102019112049A1 (de) 2020-11-12
WO2020224727A1 (de) 2020-11-12

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