GR1009888B - Robotic in-shoe orthosis -exoskeleton support for lower limbs - Google Patents

Abstract

There is disclosed a robotic in-shoe orthosis fully automated with digital directional servomotors (5), (10) set at each articulation. Walking is regulated by sensors implanted in the shoe (27). It is manufactured by 95% 3D printing, with special biopolymer plastic characterized by low specific weight and good mechanical properties. In parallel, it is able to support recovery from injuries or the post-operative patient’s rehabilitation ("Recovery Stage") and strengthen the muscle tone. The invention is a solution to monoplegia.

Description

Robotic femoral foot insole protector

DESCRIPTION

Robotic femoral tibial insole to support people suffering from lower limb disability or atrophy, with an automatic control system that can be properly programmed according to the desired potential movements.

This invention refers to the automated femoral foot guardian insole for the exoskeletal support of the lower extremity of people with special needs.

The primary purpose of an orthosis is to improve function from applied or removed forces to the body and in a controlled manner to protect a body part by limiting or altering movement to correct a deformity and compensate for the deformity or weakness. Generally the goal of an orthosis is to apply force to a part of the body to limit or control unwanted movement. Orthotic devices include splints and braces to support the limbs and spine. They help to heal fractures as they protect the limb from full loading. Orthopedic shoes correct any biomechanical abnormalities and deformities of the foot end. They limit and sometimes increase the mobility of an orthosis based on the desired effect. Local immobilization reduces inflammation and pain and promotes normal joint position, which is achieved by using splints or guards. In today's reality, which is characterized by complexity in the movement with simultaneous continuous changes and optimal decision-making for their implementation, it is imperative to upgrade and expand the already existing conventional guardian-splints with new innovative and flexible products, for the benefit of man. Until today, in the field of orthotics, mechanical supporting devices of guardians - splints are still used, but without having the desired results. The robotic femoral foot insole protector can cover a wide range of needs of people with special needs due to its automation.

Basic disadvantages of the already existing guardians - splints are: (a) The necessary imposition of force by the person himself to create a reaction from the mechanism, so that there is a function, resulting in people with inability to control the lower limb (monoplegia, multiple - sclerosis, cerebral palsy) this may not be possible, due to the fact that they cannot exert the desired force. (b) The increased cost combined with the few possibilities they offer, (c) Their limited use.

The invention has many advantages as it "cures" the disadvantages of the previous techniques mentioned in the previous paragraph, while the disadvantages are the uniqueness of the construction of the mechanism for each individual, due to different body types. In particular, the invention uses a reliable principle of transmission of the torque from the servo mechanisms in the knee joint with suitable gears (Figure 1), where in combination with the tensioner a stable and smooth operation is presented while we have an increase in the torque. The ankle joint (Figure 3) is characterized by a different way of transmitting this torque with a shaft - arm, where now in combination with the connecting arm we have the complete function. With the help of the sensors where they are implanted inside the shoe, the activation is received as a control signal, which passes through the printed circuit board, where it is then sent to the microcontroller to start the servos. The necessary power supply of the servos is provided by a battery. The special design of the knee joint prevents tibial flexion, while at the ankle, plantar flexion.

A practical example of the flexibility possessed by the invention lies in the ability to allow small deformations in the main parts under the imposition of superior loads due to external factors, as a result of which they are restored to the original state. At the same time, the use of suitable plastic materials prevents the occurrence of cracks inside the parts of the mechanism.

In addition to the previous features, the microcontroller and the other electronic elements are inside a box, where with the help of a special belt it is wrapped around the patient's waist.

It can therefore be seen that the present invention provides an innovative type of treatment for Monoplegia, as well as the rehabilitation of individuals after accidents.

The standard robotic femoral foot protector insole is characterized by five parts which together contribute to the strengthening and control of the lower right limb, as well as to support the limb due to loss of control by the disabled patient himself. The automation of the mechanism is achieved using a programmable microcontroller while its activation is done through suitable sensors.

The fields of invention are mechanical engineering, electrical engineering and medicine.

The invention is indicated for the treatment of Monoplegia, i.e. the disability of the lower limb, which is due to cerebral palsy, the result of which is loss of muscle and nerve control of the limb. In particular, the invention refers to a robotic mechanism that is placed exoskeletal of the affected limb. The mechanism includes five parts (two mechanical, three static) (Figure 5) that of the upper (femoral) part (23), which has a crescent shape and embraces the (femoral) part, combined with the second part of the knee, where it is a joint (Figure 1) of a specific type and located in it with suitable servo mechanisms (5), (10) one part of the movement of the knee is achieved, continuing in the third part that of the tibia where it is made up of a special and reinforced part (25 ), where again the role is to embrace the tibia in connection with the knee joint and in combination with the fourth and fifth part of the ankle joint and foot (Figure 3), (27) have the final implementation and function of the mechanism treatment of Monoplegia.

The invention refers to a robotic mechanism, which includes the primary body (23), (25), (27) where are the parts that are in contact with the lower limb of the patient, while there are also the parts of the upper and lower joints (Figure 1 Figure 3). A contact member of the primary body with the limb is achieved by the use of special anti-slip fabrics. Each of the contact members has a curved portion due to the configuration of the tip and therefore for better attachment of the parts onto the tip (Figure 5). In particular, the middle part (Tibia) (25) and the lower part (Foot) (27), have a sufficiently reinforced structure from the creation of appropriate "nerves", which makes them resistant to adverse functions and load submission. The connection of the above sections is achieved by using metal connection plates, while they are fastened by means of screws in special positions. The (servo mechanisms) (10), (5) are based on special bases reinforced appropriately (21), (19), (2) due to the development of significant loads on the joints where the movement is implemented. The joint parts (Figure 1), (Figure 3) have an appropriate design to avoid flexion of the tibia and ankle.

SHAPES:

FIGURE 1: Side front view of the left hinge mechanism without the bolts and nuts.

FIGURE 2: Side front view of the left hinge mechanism without the bolts and nuts and detailed illustration of its individual parts.

With number (1): First part of knee joint.

With the number (3): Second part of the knee joint.

With number (5): Knee servo.

With the number (7): Copper Connection Pipe.

With the number (9): We move a gear of 69 teeth.

With number (11): Stiffness tensioner.

With the number (13): Safety ring.

With number (15): Drive gear 17 teeth.

With the number (17): Safety pin.

With the number (19): First part of a special base.

With the number (21): Second part of a special base.

FIGURE 3: Anterior lateral view of the ankle joint mechanism.

FIGURE 4: Front view of the ankle joint mechanism and detailed illustration of its individual parts.

With the number (2): Immovable part of the ankle.

With the number (4): Ankle wheel umbilicus or otherwise mobile part.

With the number (6): Arm shaft.

With the number (8): Ankle-foot safety pin.

With number (10): Ankle servo.

With number (12): Servo arm connecting servo - arm shaft.

With the number (14): Connecting arm.

FIGURE 5: Side front view of the complete mechanism.

With the number (23): Upper part or thigh part.

By number (25): Middle part or tibia part.

With the number (27): Bottom part or sole part.

With the number (20): Metal connection plate, made of stainless steel, for the upper and middle part.

With number (22): Metal connection plate, made of stainless steel, for the middle section.

With the number (24): Metal connection plate, made of stainless steel, for the middle and lower part.

With number (29): Square plate connector.

With reference to the drawings and in particular with reference to figures (Figure 1), (Figure 2), the system of the knee joint is depicted, where one part of the joint (1) and a second part (3) are in contact through the copper tube (7 ) and where the two sections can now be rotated, in limited degrees of rotation due to the specificity of the design. (The moving gear (9) is immobilized with the help of the safety pin (17) and the safety ring (13) on the copper pipe (7)). (The servo mechanism (5) is fixed to the joint part by means of the special bases (21), (19)). (The drive gear (15) is placed on the servo mechanism while with the help of the tensioner (11), the position of the two gears is immobilized and therefore the joint part is completed).

The ankle joint (Figure 3), (Figure 4) consists of the fixed body (2) in which the (servo mechanism) (10) is immobilized, (the mobile part or otherwise "wheel hub" of rotation (4)), (which, in combination with the shaft - arm (6), is placed on the fixed body with the help of a safety pin (8)). The servo arm (12) is placed on the servo mechanism (10) and now the connection with the connection arm (14) is realized, on the axis - arm (6). The upper part consists of: the upper part of the femur (23), the middle part of the tibia (25), while the lower part, that of the foot (27). Summing up, the femoral guard consists of 3 parts as shown in (Figure 9), where the upper part includes the connections with the help of metal plates (20), (22), 24) with the knee joint, the middle part includes the joint of the ankle, and the lower part includes the sole, with which the mechanism is completed.

Claims (19)

1. The knee joint (Figure 1) is a key element of the invention with the help of the servo mechanism (5) and in particular the (gears (9), (15) where we have torque transmission). In particular, the two parts of the joint (1), (3) come into contact through the (copper tube (7) which is secured by means of a safety pin (17), achieving the rotational movement of the parts. The servo mechanism is immobilized on the special support bases (19) , (21) of composite material, which are (screwed to the joint part by means of embedded screws where the locking is done by a safety nut. The moving gear (9) is immobilized in the copper tube (7) by means of a safety fork (17) in combination with packing ring (13). The drive gear (15) is placed in the servo mechanism (5) and the positions are now immobilized by means of the stiffness tensioner (11)). 2. The knee joint mentioned in claim 1 wherein said parts are adapted to the joint parts to be connected to the (central metal connection plates (20) made of stainless steel) and thus to the main parts, is the torsion system with gears wheels (15), (9) in combination with the stiffness tensioner (11). 3. The knee joint as recited in claim 1 wherein said portions are adapted to the joint portions to prevent bending of the tibia and detachment of the knee. 4. The knee joint as recited in claim 1 wherein said portions are made of a biocompatible polymeric material. 5. The knee joint mentioned in claim 1 wherein said (metal connection plates (20) are riveted within the joint parts (1), (3)). 6. The knee joint mentioned in claim 1 wherein said parts of the joint are returned to the original position by means of the return spring which is placed on the outer side by means of the reinforced bases. 7. The ankle joint (Figure 3) is a key element of the invention where it consists of (two parts, the mobile (4) and the stationary (2), which come into contact through the arm axis (6) secured through a special pin safety (8). The servo (10) is placed on the stationary part (2) of the joint in suitable shaped positions with convex design). The connection of the servo mechanism (10) to the movable part (2) of the joint is achieved through the connection arm (12) made of composite polymer. 8. The ankle joint as claimed in claim 7 wherein said portions are in contact via the suitably shaped (arm shaft (6)). 9. The ankle joint mentioned in claim 7 wherein said connection is implemented with the (link arm (12) in combination with the servo arm (14) of the servo mechanism (10)). 10. The ankle joint as recited in claim 7 wherein said portions of the joint are of a biocompatible polymeric material. 11. Servo activation sensors are located (implanted in the shoe) in appropriate locations (27) while receiving power from a printed circuit board with the characteristics of the sensors. (The board is located in a special box which snaps onto the servo mechanism (10), (2)). 12. The actuation sensors recited in claim 11 wherein said components are implanted in the shoe. 13. The main bodies which are designed with special reinforcements nerves for the (connection with the metal plates (24) coupling) made of biocompatible polymer plastic. 14. The connections to the central metal plates (22) are realized with the (square plate fasteners (29)) made of composite polymer with the possibility of height adjustment. 15. The square plate connectors (29) mentioned in claim 14 wherein said parts and in combination with the connecting plates (22), (24) are made of stainless steel. 16. The square plate fasteners (29) recited in claim 14 wherein said component offers height adjustment. 17. The part of the sole (27) with suitable reinforcements and immobilization through the position for the safety pin (8) of the shoe. 18. The part of the tread mentioned in claim 17 wherein said part of biocompatible polymer plastic has a connection with the (part of the hub wheel (4) in a special reinforced position). 19. The part of the sole (27) referred to in claim 17 wherein said component has a stop position within the shoe by means of (safety pin (8)).