JP2014161477A - Limb joint device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a limb joint device that can be easily fit by permitting a difference of alignment due to an individual difference, and can be smoothly bent and extended to a three-dimensional angle difference.SOLUTION: A limb joint device 20 includes a link structure 1 having link hubs 2, 3 at a proximal side and a distal side and two sets of link mechanisms 4A, 4B for connecting these link hubs 2, 3 with each other. The link mechanisms 4A, 4B are three-joint chain link mechanisms comprising four rotary contrapositions constituted of end links 5 at the proximal side, central links 7 and end links 6 at the distal side. Supporting members 24 extending along the side of breaking away to the opposed link hubs 3, 2 are provided at two places opposed to the line direction of two sets of link mechanisms 4A, 4B across a hollow part in the link hubs 2, 3 in a fixed state, respectively. Mounting parts 21, 22 mounted to limb parts 152, 153 are installed in these two supporting members 24.

Description

  The present invention relates to a limb joint orthosis for the purpose of prevention and correction of deformation associated with osteoarthritis of the limbs, fractures, etc., as well as protection of pathological tissues and assisting rehabilitation.

  For example, Patent Document 1 discloses a limb joint orthosis for the above-described purpose. This "pain prevention walking aid" includes a shin part attachment plate made of polyethylene resin or the like. Prior to mounting, the shin part attachment plate is in a state of opening about 30 ° outward from the shin part. At the time of mounting, the shin part attaching plate is forcibly deformed and brought into contact with the shin part and fixed with tape. Thereby, the shin part is displaced to the valgus side by the elastic restoring force of the attachment plate for the shin part, the contact part which becomes the pain part inside the joint part is separated, and the pain is relieved.

  Patent document 2 is an improvement of the above-mentioned patent document 1, and the physiological bending center of the knee joint is matched with the angle of the walking holder so as to be compatible with the size and shape of the patient's knee joint. is there. Patent documents 3-5 are mentioned as other limb joint part orthosis.

Utility Model Registration No. 3080727 JP 2004-167175 A JP 2007-160029 A Japanese National Patent Publication No. 8-511957 JP 2006-115971 A

  Joint alignment (bone alignment) varies from person to person. For example, the knee joint is a one-degree-of-flexion movement of flexion / extension on the sagittal plane, but the knee joint angle is not only on the sagittal plane but also on the frontal plane (tibial tibial angle). Also varies from person to person. However, as in Patent Documents 1 to 5, none of the conventional limb joint part orthoses can adjust the angle on the frontal plane. In addition, the conventional limb joint orthosis performs only movement on the sagittal plane, but in reality, it is bent with an angle on the frontal plane and does not move within one plane. .

  For this reason, it is difficult to fit the orthosis and the limb in the conventional limb joint orthosis. In addition, when accompanied by a bending / extending operation, the clearance between the orthosis and the limb is increased, and the orthosis is liable to occur. As a result, there have been problems that functions such as correction and protection of the affected area are deteriorated, and that the brace between the orthosis and the limbs is generated. On the other hand, customizing the brace according to the person's alignment takes time to manufacture, so it is difficult to respond to a sudden demand due to injury or illness.

  The object of the present invention is to allow for a difference in alignment due to individual differences in a limb joint orthosis used for treatment and rehabilitation after injury or post-operation, and to easily fit the three-dimensional angle. An object of the present invention is to provide a limb joint orthosis that can smoothly bend and extend in response to changes.

The limb joint orthosis according to the present invention is a link structure having a link hub disposed on the proximal side and the distal side, respectively, and two sets of link mechanisms for connecting the proximal and distal link hubs to each other. Prepare the body. The link mechanism rotatably connects end links to the proximal and distal link hubs, and the proximal and distal end links are rotatable relative to a central link, respectively. Is a three-joint mechanism consisting of four rotating pairs consisting of the proximal end link, the central link, and the distal end link. The link hub has a shape having a hollow portion penetrating along the link hub central axis. Support members extending along the central axis of the link hub to two sides facing the arrangement direction of the two sets of link mechanisms across the hollow portion in the link hub toward the side away from the opposite link hub. Each of them is provided in a fixed state, and a mounting portion attached to the limb body portion is installed on these two support members.
In the above description, “proximal side” and “distal side” refer to the positional relationship in a state where the limb joint orthosis is mounted around the limb joint portion, and the side closer to the trunk connection point is referred to as “proximal”. "Side" and the far side is called "Distal". Further, the rotational pair center axes of the link hub and the end link are in a positional relationship crossing each other, and this intersection is the center of the spherical link. The link hub central axis extends toward the spherical link center of the opposite link hub through the spherical link center of one link hub with the proximal and distal link hubs parallel to each other. It is an axis.

  The link structure comprises a one-degree-of-freedom spherical link mechanism with a proximal link hub and a proximal end link, and a distal link hub and a distal end link, A spherical link mechanism with one degree of freedom is formed. There is one degree of freedom between the central links of the two sets of link mechanisms. Therefore, the link structure is a mechanism with three degrees of freedom, and the posture of the distal link hub can be changed with two degrees of freedom relative to the proximal link hub, and the movable range of the posture change can be widened.

  In this limb joint part orthosis, the limb joint part is positioned between the link hubs on the proximal side and the distal side of the link structure, and the limb body parts on the proximal side and the distal side with respect to the limb joint part. Are inserted into the hollow portions of the link hub on the proximal side and the distal side, respectively, and the attachment portions on the proximal side and the distal side are attached to the limbs, respectively. At this time, in a state where the proximal and distal link hubs are parallel to each other, the alignment direction of the two sets of link mechanisms is made substantially parallel to the bending motion axis of the limb joint part. As described above, since the link structure has a wide movable range, the angle of the proximal and distal link hubs can be changed according to the bone alignment of each person. Therefore, it is easy to attach the mounting part to each limb body part, and it is possible to smoothly follow the bending operation of the limb joint part. The two support members that support the mounting portion are provided on two sides facing the link direction of the two sets of link mechanisms across the hollow portion, on the side away from the opposite link hub. In addition, it does not hinder the bending operation of the limb joints due to interference between the members of the link mechanism.

  Since the mounting portion is supported by the support member fixed to the link hub, the mounting portion can be supported with high rigidity. In addition, the two support members are members extending in the direction of the link hub central axis, and the mounting portion can be disposed at an arbitrary position in the length direction of the support member. Can be attached in position. For these reasons, force and moment are reliably transmitted between the link hub and the limb. Specifically, a load in the length direction of the limb from the distal end of the limb is transmitted from the distal mounting portion to the proximal mounting portion via the link structure. At that time, since the load in the limb body length direction can be received by the limb joint part orthosis, the load on the joint is reduced, and the wounded part can be protected and the internal pressure of the joint can be reduced. In addition, the bending and stretching motion for preventing contracture after the operation can be performed in a state where the wounded portion is considered as described above.

In the limb joint orthosis according to the present invention, the mounting portion positions the limb joint between the proximal and distal link hubs, and each of the proximal and distal limb joints. The limb body part is inserted into the hollow part of the proximal and distal link hubs so that the frontal face is along the alignment direction of the two support members, and the frontal face of the limb part is On the other hand, in the same state as the holding plate that covers the outer periphery on one side, the support members that are wound around the outer periphery on the other side with respect to the forehead surface of the limb body portion and fix the limb body portion to the holding plate. It is preferable to have a plurality of limb fixing belts that are located apart from each other in the length direction.
As described above, when the mounting part is configured to fix the limb body part to the holding plate by the plurality of limb body fixing belts that are separated from each other in the length direction of the support member, the cross section of the limb body part according to the position in the limb body length direction. Even if the shapes are different, the limb body can be securely and firmly fixed to the holding plate.

The holding plate and the limb fixing belt are preferably connected to each other so as to be rotatable.
When the limb body fixing belt is rotatable relative to each other, the limb body portion can be fixed to the holding plate in a state where the limb body fixing belt is in contact with the limb body portion over the entire width in the length direction of the support member. For this reason, the contact area between the limb body fixing belt and the limb body part is wide, and the contact is not strong locally, and the limb body part can be firmly fixed. In addition, since the angle of each limb body fixing belt with respect to the holding plate can be changed in accordance with the inclination of the outer peripheral surface of the limb body portion in the limb body length direction, the limb body section can be fixed more firmly.

In the limb joint apparatus according to the present invention, the spherical link center may be located between the posture change center and the link hub surface. The posture changing center refers to a point where the proximal and distal link hub central axes intersect each other in a state where the proximal and distal link hubs are not parallel to each other. The link hub surface includes a portion where the position of the link hub in the direction of the link hub central axis is closest to the posture change center, and indicates a plane perpendicular to the link hub central axis.
In this limb joint orthosis, the spherical link centers of the proximal and distal spherical link mechanisms are the centers of bending, respectively. The fact that the spherical link center is located between the posture change center and the link hub surface means that the rotation pair center axis of the link hub and the end link is inclined toward the opposite link hub. By changing the inclination of the rotation pair central axis, the distance between the proximal and distal spherical link centers can be set to match the movement of the joint. Thereby, even if the angle of the joint is changed, the limb joint part orthosis is difficult to shift, and the burden on the user such as absorbing the displacement difference between the limb body part and the mounting part by the elasticity of the limb body part is reduced.

In the limb joint orthosis according to the present invention, the proximal end link and the distal end link are interlocked so that the rotational directions with respect to the central link are opposite to each other and the rotational displacement angle is the same. It is advisable to provide interlocking means.
When the interlocking means is provided, the posture of the distal link hub with respect to the proximal link hub is defined, the link structure becomes a mechanism of two degrees of freedom, and the bending point of the link structure is determined. Therefore, when the joint portion is unstable due to fracture of the joint surface, ligament damage, etc., the position of the bone in the joint is stabilized by wearing this limb joint portion orthosis.

A guide member is provided in parallel with a movement restricting plane that is a plane that passes through the posture changing center and intersects with the central axis of the proximal and distal link hubs at the same angle. It is preferable that each central link is regulated so as to move in parallel with the movement regulating plane.
By providing the guide member, the rigidity of the link structure is improved. Thereby, with this extremity joint part orthosis, the load concerning a joint can be received more and the load concerning a joint can be reduced more.

You may provide the rotation angle position control mechanism which controls the rotation angle position of the rotation pair part between this link member between the link members which comprise the said link structure.
This limits the movable range to a normal and safe range with respect to the angular position of the proximal limb to which the proximal mounting part is attached and the distal limb to which the distal mounting part is attached. it can. In addition, the movable range can be easily changed according to the rehabilitation plan.

The rotation angle position restricting mechanism may be one in which the proximal end link and the distal end link of the same link mechanism are connected by a shaft between end links.
This structure increases the rigidity of the link structure because the link structure is closed by the proximal end link, the central link, the distal end link, and the shaft between the end links.

The shaft between the end links is rotatably connected to the proximal and distal end links, respectively, and the distance between the connection points with the proximal and distal end links is changed. It is possible to provide rotation angle position changing means for changing the rotation angle position of the rotation pair between the link members by forcibly changing the distance between the connecting points.
When the rotation angle position changing means is provided, it is possible to easily apply an external force to the joint from the limb joint unit orthosis, and it is possible to hold the external force applied. Thereby, it is possible to correct in two directions according to the patient's symptoms for osteoarthritis and the like.

A spring member is provided between a pair of link members in each link member constituting the link structure, and external force is applied to the joint via the proximal and distal mounting portions by the elastic restoring force of the spring member. You may make it do.
By using a spring member as means for applying an external force to the joint, the external force can be easily set to an arbitrary strength. For patients with osteoarthritis, ligament injury, etc., by making the appropriate bone alignment corrected by the elastic restoring force of the spring member, daily operations can be performed with the affected area protected Become.
In addition, when the elastic restoring force of the spring member acts in the direction in which the joint is bent, the elastic restoring force of the spring member is an assisting force against a joint that is difficult to bend and a decrease in muscle strength in the bending direction. Helps to bend and work. If the setting is such that the elastic restoring force of the spring member acts in the direction in which the joint is extended, it serves as an assisting force for the weakened joint in the extension direction and the muscular strength in the extension direction, and serves to assist the extension operation.

The spring member may be provided around a rotation pair center axis of the pair of link members.
In this case, since the spring member is accommodated around the rotation pair center axis, it can be arranged in a compact manner.

An attenuation member that attenuates the force of the pair of link members relative to each other may be interposed between the pair of link members of the link members constituting the link structure.
When a sudden load change or posture change occurs, an impact force or the like is applied to the joint and a load is applied to the affected part. If the damping member is provided, the load applied to the affected area can be reduced.

In the limb joint orthosis, the proximal mounting portion is attached to the thigh, the distal mounting portion is attached to the lower leg, and the distal mounting portion is installed. A sole member to be applied to the sole is provided ahead of the distal support member in the direction of the central axis of the link hub, and the distal support member and the sole member are connected via a spring member and a damper. May be connected.
In this case, the load from the sole is applied to the thigh through the sole member, the spring member and the damper, the distal support member, the link structure, the proximal support member, and the proximal mounting portion. Transmitted to the club. By adjusting the elastic restoring force of the spring member and the magnitude of the resistance of the damper, the load applied to the knee joint can be easily changed. Therefore, planned rehabilitation can be performed.

  The limb joint orthosis according to the present invention is a link structure having a link hub disposed on the proximal side and the distal side, respectively, and two sets of link mechanisms for connecting the proximal and distal link hubs to each other. The link mechanism rotatably connects end links to the proximal and distal link hubs, and the proximal and distal end links are connected to a central link, respectively. A three-joint chain mechanism consisting of four rotating pairs, consisting of the proximal end link, the central link, and the distal end link by being rotatably coupled to each other; The rotational pair central axes of the link hub and the end link intersect each other, and this intersection is called a spherical link center, and the proximal and distal link hubs are parallel to each other. , One When an axis extending toward the spherical link center of the opposite link hub passing through the spherical link center of the hub is referred to as a link hub central axis, the link hub includes a hollow portion penetrating along the link hub central axis. The link hub has two locations opposite to each other in the arrangement direction of the two sets of link mechanisms across the hollow portion, along the link hub central axis toward the side away from the opposite link hub. The support members that extend in a fixed state are provided, and the mounting parts that are attached to the limbs are installed on these two support members, allowing for differences in alignment due to individual differences, making it easy to fit, and three-dimensional It can be bent and extended smoothly in response to a change in angle.

(A) is a front view which shows the use condition of the limb joint part orthosis concerning one Embodiment of this invention, (B) is the side view. It is a front view of the link structure of the limb joint part orthosis. It is a side view of the link structure. It is a top view of the link hub of a figure link structure. It is a figure which shows the shape of the edge part link of the link structure. It is sectional drawing which shows the rotation pair of a link hub and an end link of the link structure. (A) Sectional drawing which shows the rotation part pair of the edge part link and center link of the link structure, (B) is the side view. It is VIII-VIII sectional drawing of FIG. 1 (A). It is a perspective view of the link hub of the limb joint part orthosis, a support member, and a bridge member. It is a front view of a different link structure. It is XI-XI sectional drawing of FIG. It is a XII arrow line view of FIG. It is XIII-XIII sectional drawing of FIG. Furthermore, it is the external view of the rotation pair part of the link hub and end part link of a different link structure. Furthermore, it is a figure which shows one state of a different link structure. It is XVI-XVI sectional drawing of FIG. Furthermore, it is a figure which shows one state of a different link structure. It is XVIII-XVIII sectional drawing of FIG. Furthermore, it is sectional drawing of a different link structure. Furthermore, it is sectional drawing of the rotation pair part of the link hub and end part link of a different link structure. It is an external view of the rotation pair part. It is a side view which shows the use condition of the limb joint part orthosis concerning one Embodiment from which this invention differs.

An embodiment of the present invention will be described with reference to FIGS.
FIG. 1 shows a state in which a limb joint device 20 of the present invention is mounted around a human knee joint (tibial femoral joint). The illustrated example is applied to a knee joint portion with an abnormal alignment in which the angle α between the femur and the tibia on the frontal plane is inverted.

  The limb joint device 20 includes a link structure 1 and proximal and distal attachment portions 21 provided on the link hubs 2 and 3 on the proximal and distal sides of the link structure 1, respectively. 22. Here, “proximal side” and “distal side” refer to the positional relationship in a state where the limb joint part orthosis 20 is mounted around the limb joint part, and the side near the coupling point with the trunk is referred to as “proximal side”. And the far side is called the “distal side”.

  As shown in FIGS. 2 and 3, the link structure 1 is obtained by connecting the proximal and distal link hubs 2 and 3 with two sets of link mechanisms 4A and 4B. Each of the link mechanisms 4A and 4B is a three-joint mechanism composed of four rotating pairs, a proximal end link 5 having one end rotatably connected to the proximal link hub 2, and a distal side. A distal end link 6 having one end rotatably connected to the link hub 3 and a central link 7 having both ends rotatably connected to the other ends of the end links 5 and 6. The

  The two sets of link mechanisms 4A and 4B have the same geometric shape. The geometrically same shape means that a geometric model expressing the link mechanisms 4A and 4B as straight lines, that is, a model expressed by each rotating pair and a straight line connecting these rotating pairs has the same shape. . Each of the link mechanisms 4A and 4B has a geometric model expressed by a straight line in which the proximal portion and the distal portion with respect to the central portion of the central link 7 are mirror images of each other.

  The proximal and distal end links 5 and 6 of the link mechanisms 4A and 4B are both spherical link structures. The spherical link structure is a rotation pair center axis O1A, O1B (O2A, O2B) of the link hub 2 (3) and the end link 5 (6), and a rotation pair center of the end link 5 (6) and the central link 7. A structure in which the axes O3A and O3B (O4A and O4B) intersect at a common spherical link center P1 (P2).

  As shown in FIGS. 2 and 3, the proximal and distal link hubs 2, 3 are parallel to each other and face each other through the spherical link center P <b> 1 (P <b> 2) of one link hub 2 (3). An axis extending toward the spherical link center P2 (P1) of the link hub 3 (2) is referred to as a link hub center axis C1 (C2). When the proximal and distal link hubs 2 and 3 are not parallel to each other (FIG. 1), the link hub central axes C1 and C2 intersect each other. This intersection is referred to as a posture change center O.

  The rotation pair central axes O3A and O3B of the proximal end link 5 and the central link 7 and the rotation pair central axes O4A and O4B of the distal end link 6 and the central link 7 are parallel to each other. In contrast, the rotation pair center axis O1A, O1B of the proximal link hub 2 and the proximal end link 5 and the rotation pair center of the distal link hub 3 and the distal end link 6 are shown. The shafts O2A and O2B are inclined toward the opposite link hubs 3 and 2, respectively. Therefore, the spherical link centers P1 and P2 are located between the posture change center O and the link hub surfaces F1 and F2. The link hub surfaces F1 and F2 include portions where the positions of the link hubs 2 and 3 in the direction of the link hub central axes C1 and C2 are closest to the posture change center O and are perpendicular to the link hub central axis C1 (C2). That is.

  The end links 5 and 6 have an arc shape shown in FIG. 5, and the rotation hubs O1A and O1B (O2A and O2B) of the link hub 2 (3) and the end link 5 (6) and end portions The angle β formed by the rotational pair center axes O3A and O3B (O4A and O4B) of the link 5 (6) and the central link 7 is, for example, 90 °. Further, an angle η (FIG. 6) formed by the rotation pair center axes O1A, O1B (O2A, O2B) and the link hub center axis C1 (C2) is, for example, 45 °.

As shown in FIG. 4, the two pairs of link mechanisms 4A and 4B are in a positional relationship in which the respective rotation pair even center axes O1A and O1B (O2A and O2B) intersect each other. That is, the angle between the rotation pair center axes O1A and O1B (O2A and O2B) on the plane perpendicular to the link hub center axis C1 (C2) is not 180 °. The central links 7 (not shown in FIG. 4) of the link mechanisms 4A and 4B are located on the side where the inter-axis angle of the rotation pair central axes O1A and O1B (O2A and O2B) is larger than 180 °. In the illustrated example, the inter-axis angle alpha ₁ of the smaller is the 120 °. Thus, viewed from a direction along the link hub central axis C1 (C2), a turning pair center axis O1A, a O1B (O2A, O2B) and angle alpha ₂ is also 120 ° to the longitudinal plane of symmetry plane F3.

  The link hub 2 (3) has an arc shape extending along a plane perpendicular to the link hub central axis C1 (C2), and a hollow portion 10 penetrating in the direction of the link hub central axis C1 (C2) is formed therein. ing. The hollow portion 10 communicates with the outside of the link hubs 2 and 3 through the opening 11. The opening 11 is located on the same side with respect to each rotation pair central axis O1A, O1B, O2A, O2B for both the proximal and distal link hubs 2, 3. That is, as shown in FIGS. 2 and 3, in the posture where the proximal link hub 2 and the distal link hub 3 are parallel to each other, the opening portions 11 of both the link hubs 2 and 3 are on the same side. Turn to.

  At both ends of the link hub 2 (3), link connecting portions 13 to which the end links 5 (6) are rotatably connected are respectively provided. As shown in FIG. 6, the link connecting portion 13 has two rolling bearings 14 inside, and these rolling bearings 14 rotate a rotating shaft 15 provided integrally with the base end of the end link 5 (6). Support freely. The axis of the rotating shaft 15 coincides with the rotating pair center axes O1A, O1B (O2A, O2B). One end of the rotary shaft 15 protrudes from the link connecting portion 13 to the outer diameter side of the link hub 2 (3), and the base end of the end link 5 (6) is attached to the protruding portion by a key 16 so as not to rotate. ing. The rotary shaft 15 is prevented from coming off in the axial direction by sandwiching the base end of the rolling bearing 14 and the end link 5 (6) between a large diameter portion 15a at one end and a nut 17 screwed to the other end.

  In the rolling bearing 14, an outer ring 14 a is fitted to the inner periphery of the link connecting portion 13 by press fitting or the like, and an inner ring 14 b is fitted to the outer periphery of the rotary shaft 14 by press fitting or the like. The rolling bearing 14 is a ball bearing such as a deep groove ball bearing or an angular ball bearing. As the rolling bearing 14, a roller bearing may be used in addition to arranging ball bearings in a double row as shown in the illustrated example. Further, a sliding bearing may be used instead of the rolling bearing 14.

  Further, as shown in FIG. 7, two rolling bearings 18 are provided at both ends of the central link 7, and the connecting shafts 19 are coupled to the ends of the end links 5 and 6 by bolts 19 a by these rolling bearings 18. Is supported rotatably. The axis of the connecting shaft 19 coincides with the rotational pair center axes O3A, O3B (O4A, O4B). In the rolling bearing 18, an outer ring 18 a is fitted to the end of the center link 7 by press fitting or the like, and an inner ring 18 b is fitted to the outer periphery of the connecting shaft 19 by press fitting or the like. The rolling bearing 18 is a ball bearing such as a deep groove ball bearing or an angular ball bearing. As the rolling bearing 18, a roller bearing may be used in addition to arranging ball bearings in a double row as shown in the illustrated example. Further, a sliding bearing may be used instead of the rolling bearing 18.

  The link structure 1 having this configuration includes a proximal link hub 2 and a proximal end link 5 to form a one-degree-of-freedom spherical link mechanism, and a distal link hub 3 and a distal side link The end link 6 forms a one-degree-of-freedom spherical link mechanism. Further, there is one degree of freedom between the central links 7 of the two sets of link mechanisms 4A and 4B. Therefore, the link structure 1 is a mechanism with three degrees of freedom, and the posture of the link hub 3 on the distal side can be changed with two degrees of freedom with respect to the link hub 2 on the proximal side. Can be taken widely.

  Next, the mounting parts 21 and 22 will be described with reference to FIGS. 1, 8, and 9. The proximal mounting portion 21 and the distal mounting portion 22 have the same basic configuration although there are some differences in the shapes of the corresponding components. Therefore, in the following description, the proximal mounting portion 21 is taken as an example, and the same reference numerals are given to the components corresponding to the proximal side and the distal side.

  In FIG. 1, the mounting portions 21 and 22 are not provided directly on the link hubs 2 and 3 on the proximal side and the distal side of the link structure 1, but via the pair of support members 24. 3 is provided. The support member 24 is a columnar member that extends from the link hub 2 (3) to the side away from the opposing link hub 3 (2) along the link hub central axis C1 (C2). Thus, the base end is fixed to the link hub 2 (3). The pair of support members 24 are arranged at two locations facing the arrangement direction of the two sets of link mechanisms 4A and 4B across the hollow portion 10 (FIG. 4) in the link hub 2 (3).

  As shown in FIG. 9, both ends of bridge members 26 and 27 having a substantially arc shape are fixed by bolts 28 in the vicinity of the proximal ends and the distal end portions of the pair of support members 24. The bridge members 26 and 27 are provided on the same side as the link hub 2 (3) with respect to the support member 24 in parallel with the link hub 2 (3). As shown in FIG. 8, on the inner periphery of the bridge members 26, 27, the holding plate is curved along the inner peripheral surface and has a length in the direction of the link hub central axis C <b> 1 (C <b> 2) that is substantially the same as the support member 24. 30 is fixed to the bridge members 26 and 27 by a plurality of countersunk screws 31 from the inner diameter side. A buffer member 32 is attached to the inner diameter side surfaces of the bridge members 26 and 27 to improve the feeling of contact with the limbs.

  On the open side of the holding plate 30 having a curved shape, limb fixing belts 34 are provided at a plurality of locations (two locations in the illustrated example, see FIG. 1) separated in the length direction of the link hub central axis C1 (C2). Is provided. The limb body fixing belt 34 includes a belt portion 35a with a buckle that is rotatably attached to one end of the holding plate 30 by a belt rotation connecting portion 35, and similarly, the belt rotation connecting portion 35 to the other end of the holding plate 30. The belt portion 34b without a buckle attached so as to be freely rotatable is fastened to the buckle 34c of the belt portion 34a with a buckle so that the effective length can be adjusted. A buffer member 36 similar to that of the holding plate 30 is also bonded to the inner diameter side surface of the limb fixing belt 34.

  The belt rotation connecting portion 35 rotatably supports a belt rotation shaft 38 by a sliding member 37 bonded to the holding plate 30, and a limb fixing belt 34 (a belt portion 34 a with a buckle, a buckle) is supported on the belt rotation shaft 38. The base end of the belt portion 34b) is attached. The belt rotation shaft 38 is a shaft having a threaded portion 38a at one end and a collar portion 38b at the other end, and is fixed to the limb by a nut 39 screwed into the threaded portion 38a and the collar portion 38b. The base end of the belt 34, the two plate members 40 superimposed on both sides thereof, and the holding plate 30 are sandwiched and stopped.

  As the material of the support member 24 and the bridge members 26 and 27, for example, stainless steel having high strength and good corrosion resistance is preferable, and lightweight fiber reinforced plastic, aluminum alloy, titanium, and the like are preferable. The holding plate 30 may be made of a lightweight material such as plastic or aluminum. Further, the cushioning members 32 and 36 are preferably made of porous urethane, rubber, cloth, or the like, whereby the concentrated load can be reduced, and the touch, breathability and the like are improved.

  The limb joint device 20 is used by being attached to a lower limb 150 as shown in FIG. That is, the knee joint portion 151 of the lower limb 150 is positioned between the link hubs 2 and 3 on the proximal side and the distal side of the link structure 1, and the portion of the thigh 152 close to the knee joint portion 151 and the lower leg In a state where the portions close to the knee joint portion 151 of the portion 153 are inserted through the hollow portions 10 (FIG. 4) of the proximal and distal link hubs 2 and 3, respectively, the thigh 152 and the crus 153 The proximal and distal mounting portions 21 and 22 are attached to the head, respectively. In the case of this use example, the “limb” is the lower limb 150, the “limb joint” is the knee joint 151, the “proximal limb” is the thigh 152, and the “distal limb”. "Is the lower leg 153.

  Specifically, the attachment portions 21 and 22 are attached to the thigh 152 and the crus 153 by placing the holding plate 30 on the outer circumference of the front side of the thigh 152 and the crus 153, and the thigh 152. Then, the two limb body fixing belts 34 are wound around the back side of the crus 153 to fix the thigh 152 and the crus 153 to the holding plate 30. In such a mounted state, the alignment direction of the two sets of link mechanisms 4A and 4B is substantially parallel to the bending motion axis of the knee joint. The bending motion axis of the knee joint is a horizontal axis parallel to the frontal plane. As described above, since the link structure 1 has a wide range of motion, the angle of the link hubs 2 and 3 on the proximal side and the distal side can be changed according to the bone alignment of each person. The attachment parts 21 and 22 can be easily attached to the part 152 and the lower leg part 153.

  When the limb joint device 20 is mounted around the knee joint portion 151 as described above, a part of the load in the limb body length direction from the tip of the foot is transmitted from the distal mounting portion 22 via the link structure 1. It is transmitted to the mounting portion 21 on the proximal side. Thus, since the load in the limb body length direction can be received by the limb joint part orthosis 20, the load on the knee joint is reduced, and the wounded part can be protected and the internal pressure of the joint can be reduced. In addition, the bending and stretching motion for preventing contracture after the operation can be performed in a state where the wounded portion is considered as described above. Since the link structure 1 has a wide movable range, it can smoothly follow the bending motion of the knee joint. Since the two support members 24 for supporting the mounting portions 21 and 22 are provided at two locations facing the arrangement direction of the two sets of link mechanisms 4A and 4B across the hollow portion 20 of the link hubs 2 and 3, respectively. It does not interfere with the bending motion of the knee joint.

  In this limb joint apparatus 20, the spherical link centers P <b> 1 and P <b> 2 of the proximal and distal spherical link mechanisms are the centers of bending, respectively. The spherical link centers P1 and P2 are positioned between the posture change center O and the link hub surfaces F1 and F2, and the rotation pairs of the link hubs 2 and 3 and the end links 5 and 6 are center axes O1A, O1B, O2A, O2B (FIGS. 2 and 3) is inclined toward the opposite link hub. By changing the inclinations of the rotation pair center axes O1A, O1B, O2A, and O2B, the distance between the proximal and distal spherical link centers P1 and P2 can be set to match the movement of the knee joint. Thereby, even if the knee joint is angle-changed, the limb joint orthosis 20 is not easily displaced, and the displacement difference between the thigh 152 and the lower leg 153 and the mounting parts 21 and 22 is changed to the thigh 152 and the lower leg 153. The burden on the user, such as absorption by the elasticity of, is reduced.

  Since the mounting portions 21 and 22 are supported by the support member 24 integral with the link hubs 2 and 3, the mounting portions 21 and 22 can be supported with high rigidity. Further, since the two support members 24 are members extending in the direction of the link hub central axes C1 and C2, the mounting portions 21 and 22 are disposed at appropriate positions in the length direction of the support member 24 in accordance with the lower limbs 150 of the patient. Can be installed. Therefore, force and moment can be reliably transmitted between the link hubs 2 and 3 and the lower limbs 150.

  The mounting parts 21 and 22 are a holding plate 30 that covers the front side of the limb 150 (thigh 152, lower leg 153), and a limb fixing belt 34 that is wound around the back of the limb 150 and can be adjusted in length. Since the two limb fixing belts 34 are arranged apart from each other in the length direction of the support member 24, the cross-sectional shape of the limb 150 differs depending on the position in the limb length direction. However, it can be securely and firmly fixed to the limb body 150. Further, since the holding plate 30 and the limb body fixing belt 34 are rotatably connected to each other, the angle of each limb body fixing belt 34 with respect to the holding plate 30 can be changed according to the inclination of the outer peripheral surface of the limb body 150, The limb body fixing belt 34 is brought into contact with the limb body over the entire width in the length direction of the support member 24. Therefore, the contact area between the limb body fixing belt 34 and the limb body 150 is wide, and the contact is not locally strong.

10 to 13 show different configurations of the link structure 1. The link structure 1 is provided with interlocking means 40 for interlocking the link mechanisms 4A and 4B between the proximal end link 5 and the distal end link 6 of the link mechanisms 4A and 4B. The interlocking means 40 includes a first gear 41 that rotates about a rotation pair center axis O3A, O3B of the proximal end link 5 and the central link 7, and rotation of the distal end link 6 and the central link 7. The second gear 42 is configured to rotate about the paired central axes O4A and O4B and mesh with the first gear 41. The pair of gears 41 and 42 have the same specifications, and the proximal end link 5 and the distal end link 6 are opposite in rotation direction and have the same rotational displacement angle. To be linked. Each of the gears 41 and 42 has a fan shape in which the tooth mold portion outside the movable range is omitted for weight reduction.
The interlocking means 40 is not limited to a configuration including a pair of gears 41 and 42. For example, auxiliary links (not shown) may be protruded from the end link 5 on the proximal side and the end link 6 on the distal side, and these auxiliary links may be connected to each other.

  When the interlocking means 40 is provided in this way, the posture of the distal link hub 3 with respect to the proximal link hub 2 is defined, and the link structure 1 becomes a mechanism with two degrees of freedom. The point is fixed. Therefore, when the joint portion is unstable due to fracture of the joint surface, ligament damage, etc., the position of the bone in the joint is stabilized by wearing this limb joint portion orthosis.

  Moreover, this link structure 1 is provided with the guide member 44 which controls the movement of the center link 7 of each link mechanism 4A, 4B. The guide member 44 is disposed on a movement restriction plane F4 that is a plane that passes through the posture change center O and intersects with the proximal and distal link hub central axes C1 and C2 at the same angle. It has an arc shape when viewed from a direction orthogonal to the plane F4. In FIG. 11, the movement restricting plane F4 is parallel to the paper surface.

  In the design of the link structure 1, the arc shape of the guide member 44 is determined by the angle of the proximal end link 5 with respect to the proximal link hub 2 and the distal side with respect to the distal link hub 3. This is a shape corresponding to the movement path of the center of each central link 7 when the angle of the end link 6 is changed by the same angle. The center of the central link 7 is an intermediate point of a line segment connecting the connection point between the central link 7 and the proximal end link 5 and the connection point between the central link 7 and the distal end link 6. is there.

  Specifically, as shown in FIG. 11, the guide member 44 includes a guide surface portion 44a having a guide surface F5 formed of a cylindrical surface perpendicular to the movement restriction plane F4 on the inner periphery, and from the guide surface portion 44a to the outer periphery side. It consists of the protruding groove fitting portion 44b. At both ends of the groove fitting portion 44b, stoppers 44c protruding from both surfaces of the groove fitting portion 44b are provided. The stopper 44c limits the moving range of each central link 7 on the moving path.

  On the other hand, each central link 7 is formed with a guide groove 45 into which the groove fitting portion 44b of the guide member 44 is slidably fitted. In addition, a sliding body 46 that is slidably in contact with the guide surface F5 is attached to each central link 7 with a bolt 47. The sliding body 46 sandwiches the guide member 44 between the bottom surface of the guide groove 45 of the central link 7 and holds the guide member 44 so as not to leave the central link 7.

  As described above, the guide member 44 restricts the central links 7 of the two link mechanisms 4A and 4B so as to move in parallel with the movement restricting plane F4, thereby causing abnormal bending and twisting of the joint, for example, the knee joint. In cases, varus and valgus can be prevented. In addition, since the rigidity of the link structure 1 is improved by providing the guide member 44, the limb joint unit orthosis 20 can receive more load on the joint, and the load on the joint is further reduced.

  FIG. 14 shows an example in which a rotation angle position restricting mechanism 50 that restricts the rotation angle position of the rotation pair between the link members is provided between the link members constituting the link structure 1. In the illustrated example, the rotation angle position restriction mechanism 50 restricts the rotation angle position of the rotation pair of the link hub 2 (3) and the end link 5 (6). Specifically, a bolt 51 is screwed to the link hub 2 (3) through the end link 5 (6), and the frictional resistance between the head of the bolt 51 and the outer surface of the end link 5 (6). Thus, the rotation of the end link 5 (6) with respect to the link hub 2 (3) is restricted. The bolt 51 is inserted into an arc-shaped hole 52 centered on the rotation pair O1A, O1B (O2A, O2B) formed in the end link 5 (6), and the rotation angle of the end link 5 (6). It is possible to cope with changes in θ.

  By providing the rotation angle position restricting mechanism 50 in this manner, the angle between the proximal limb body portion to which the proximal attachment portion 21 is attached and the distal limb body portion to which the distal attachment portion 22 is attached. Regarding the position, the movable range can be limited to a normal and safe range. In addition, the movable range can be easily changed according to the rehabilitation plan.

  15 and 16 show a rotation angle position restriction mechanism having a function of forcibly changing the rotation angle position in addition to the function of restricting the rotation angle position of the rotation pair between the link members. The rotation angle position restricting mechanism 60 is connected by an end link shaft 61 between the proximal end link 5 and the distal end link 6 of each of the two sets of link mechanisms 4A and 4B. It is. The end link shaft 61 is rotatable with the end links 5 and 6. 15 and 16 show a state in which the distance between the proximal end link 5 and the distal end link 6 is closest.

  Specifically, a turntable flange 64 that is rotatable via a bearing unit 63 is installed on each end link plate 62 fixed to each end link 5, 6. The bearing unit 63 is, for example, a structure in which two rolling bearings are arranged in parallel. A fixed-side flange 65 is attached to one turntable flange 64, and an adjustment-side flange 66 is attached to the other turntable flange 64. The fixed side flange 65 is provided with a through hole 65a, and the adjustment side flange 66 is provided with a screw hole 66a. The end link shaft 61 is rotatably and axially fixed to the through hole 65a. The threaded portion 61a of the end link shaft 61 is screwed into the threaded hole 66a. A disk-like knob 67 for rotating the end link shaft 61 is provided at one end of the end link shaft 61.

  According to the rotation angle position restricting mechanism 60, the posture of the distal link hub 3 with respect to the proximal link hub 2 is kept constant in a state where rotation is not applied to the end link shaft 61, and the link The rotation angle position of the rotation pair between the members is regulated. Since the link structure is closed by the proximal end link 5, the central link 7, the distal end link 6, and the end link shaft 61, the rigidity of the link structure 1 is high.

  By operating the knob 67 to rotate the end link shaft 61, the screwing position of the screw portion 61a of the end link shaft 61 with respect to the screw hole 66a of the adjustment side flange 66 is changed, and the adjustment with the fixed side flange 65 is performed. The distance to the side flange 66, ie the distance between the proximal end link 5 and the distal end link 6, is forced to change. Thereby, the rotation angle position of each rotation pair part of two sets of link mechanisms 4A and 4B is changed. The shaft 61 between the end links, the screw hole 66a, and the knob 67 can be changed between the link members by forcibly changing the distance between the connection points with the end links 5 and 6 on the proximal side and the distal side. The rotation angle position changing means 68 is configured to change the rotation angle position of the rotation pair.

  When the rotation angle position changing means 68 is provided as described above, an external force can be easily applied to the joint from the limb joint part orthosis 20 and can be held in a state where the external force is applied. Thereby, it is possible to correct in two directions according to the patient's symptoms for osteoarthritis and the like.

  17 and 18 show further different examples of the rotation angle position regulating mechanism. The rotation angle position restricting mechanism 70 has a turntable flange 74 similar to the turntable flange 64 of FIGS. 15 and 16. A linear motion guide side flange 75 is attached to one turntable flange 74, and the other turntable flange 74 is attached to the other turntable flange 74. An adjustment side flange 76 is attached to the turntable flange 74. A linear motion bearing 77 is installed in the linear motion guide side flange 75, and a screw hole 76a is provided in the adjustment side flange 76, and the linear motion shaft 71 is supported by the linear motion bearing 77 so as to be able to advance and retract in the axial direction. The effective length adjusting screw 71a of the linear motion shaft 71 is screwed into the screw hole 76a.

  A spring member 78 made of a compression coil spring is provided on both ends of the linear motion shaft 71 and the spring on the outer periphery of a portion of the linear motion shaft 71 that protrudes outward in the arrangement direction of both end links 5 and 6 from the linear motion bearing 77. The end member 79 is provided in a state of being positioned in the axial direction. The spring end member 79 is provided on a spring end holding member 80 that is screwed into the spring length adjusting screw portion 71 b of the linear motion shaft 71, and the axial position with respect to the linear motion shaft 71 can be changed. The spring end holding member 80 is prevented from rotating by a nut 81.

  In addition, the rotation angle position regulating mechanism 70 is provided with a damping member 83 that attenuates the force with which the pair of end links 5 and 6 are relatively operated. In the illustrated example, the damping member 83 is a damper provided in parallel with the linear motion shaft 71, the outer cylinder portion 83 a is fixed to the adjustment side flange 76, and the tip of the piston rod 83 b is the linear motion guide flange 75. It is fixed to. The outer cylinder portion 83a and the piston rod 83b may be fixed in reverse.

  When the rotation angle position restricting mechanism 70 is provided in both of the two sets of link mechanisms 4A and 4B, the end link 5 on the proximal side and the distal side of the link mechanisms 4A and 4B are caused by the elastic restoring force of the spring member 78. It acts to reduce the distance between the end links 6. Therefore, when the limb joint part orthosis 20 provided with the rotation angle position restriction mechanism 70 is mounted around the limb joint, an external force is applied to the limb body in the direction of bending the joint. Thereby, the automatic assistance movement of the bending direction and the automatic resistance movement of the extension direction can be performed.

  The external force can be easily set to an arbitrary strength by manually rotating the spring end holding member 80 to adjust the length of the spring member 78. For patients with osteoarthritis, ligament damage, etc., by making appropriate bone alignment corrected by the elastic restoring force of the spring member 78, daily operations can be performed while the affected area is protected. Further, as shown in the illustrated example, when the elastic restoring force of the spring member 78 is set to act in the direction of bending the joint, the elastic force of the spring member 78 is difficult to bend and the muscular strength in the bending direction. It serves as an auxiliary force against the decrease and helps the bending operation.

  By rotating the linear movement shaft 71 and changing the screwing position of the effective length adjusting screw portion 71a of the linear movement shaft 71 with respect to the screw hole 76a of the adjustment side flange 76, the linear movement guide side flange 75 and the adjustment side flange are changed. The distance between the proximal end link 5 and the distal end link 6 changes. Thereby, the rotation angle position of each rotation pair part of two sets of link mechanisms 4A and 4B is changed.

  Further, since the damping member 83 is provided, it is possible to alleviate external force and automatic angular displacement of the joint automatically, thereby protecting the joint portion and reducing joint pain. Moreover, when the damping member 83 and the spring member 78 are used together as in this example, a sudden return displacement due to the elastic restoring force of the spring member 78 can be reduced. Thereby, it is possible to reduce the load applied to the affected area due to a sudden load change or posture change.

  FIG. 19 shows still another example of the rotation angle position regulating mechanism. While the rotation angle position restriction mechanism 70 is provided with a spring member 78 that acts in a direction to reduce the distance between the two end links 5 and 6, the rotation angle position restriction mechanism 90 has two end portions. A spring member 110 is provided that acts in the direction of extending the distance between the links 5 and 6.

  Specifically, the rotational angle position regulating mechanism 90 also has a rotary base flange 94 provided on each of the end links 5 and 6, and a linear guide side flange 95 is attached to one rotary base flange 94, while the other An adjustment-side flange 96 is attached to the turntable flange 94. A linear motion bearing 97 is installed on the linear motion guide side flange 95, and a linear motion shaft 91 is supported by the linear motion bearing 97 so as to be movable forward and backward in the axial direction. A stopper 98 is attached to one end of the linear motion shaft 91 to prevent the linear motion bearing 97 from coming off.

  A spring holding outer cylinder 100 whose one end is closed is fixed to the adjustment side flange 96. A spring end holding member 101 is housed inside the spring holding outer cylinder 100 so as to be slidable in the axial direction, and the spring end holding member 101 holds the spring end member 102. The other end of the linear movement shaft 91 is fixed to the spring end member 102 with a screw 103.

  An axial screw hole 105 is formed at the closed end of the spring holding outer cylinder 100, and an adjustment screw 106 is screwed into the screw hole 105. One end of the adjustment screw 106 is screwed into the cylindrical portion 101a of the spring end holding member 101, and the tip of the fixing screw 107 is brought into contact with the D-cut surface formed on the outer peripheral surface, thereby the cylindrical portion 101a. Is non-rotatably coupled. A knob 108 for rotating the adjustment screw 106 is provided at the other end of the adjustment screw 106.

  A spring member 110 made of a compression coil spring is provided on the outer periphery of the linear motion shaft 91 between the linear motion bearing 97 and the spring end member 102. The spring member 110 acts in a direction to increase the distance between the link portions 5 and 6 by urging the linear motion guide side flange 95 on which the linear motion bearing 97 is installed away from the adjustment side flange 96. ing.

  In a state in which the limb joint device 20 provided with the rotation angle position restricting mechanism 90 in both of the two sets of link mechanisms 4A and 4B is mounted around the limb joint, the elastic restoring force of the spring member 110 causes the limb body to move. Apply external force in the direction to extend the joint. Thereby, the automatic assistance movement of the extension direction and the automatic resistance movement of the bending direction can be performed.

  When the rotation angle position restriction mechanism 70 shown in FIGS. 15 and 16 is provided in one of the two sets of link mechanisms 4A and 4B of the limb joint orthosis 20, and the rotation angle position restriction mechanism 90 shown in FIG. 17 is provided in the other. The external force is applied in the valgus direction or the varus direction. Thereby, it can hold | maintain in the state which corrected the joint. In addition, the automatic assistance movement and the automatic resistance movement can be performed.

  20 and 21, a spring member that regulates the rotational angle position of the rotating pair portion between the link members is provided in the link connecting portion 13 that is the rotating pair portion of the hub links 2 and 3 and the end links 5 and 6. An example is shown. A rotary shaft 120 is rotatably supported by the link connecting portion 13 by two rolling bearings 14, and the base end of the end link 5 (6) is connected to the link hub 2 (3) of the rotary shaft 120 via a key 16. It is attached so that it cannot rotate. The axis of the rotating shaft 120 coincides with the rotating pair center axes O1A, O1B (O2A, O2B).

  A flanged cylindrical link hub flange 121 is fastened to the outer end of the link connecting portion 13 with a plurality of bolts 122. Each bolt hole 121a of the link hub flange 121 is an arc-shaped hole, and the mounting position of the link hub flange 121 can be adjusted in the circumferential direction. The rotating shaft 120 has a spring guide portion 120a extending outward in the axial direction from the link hub 2 (3). The outer end of the spring guide portion 120a protrudes outward through the axial hole 121b of the link hub flange 121, and a retaining ring 123 is fitted to the protruding portion. The rotating shaft 120 is positioned in the axial direction by the retaining ring 123 and the proximal nut 17.

  A spring member 124 made of a torsion spring is fitted on the outer periphery of the spring guide portion 120 a, one end of which is fixed to the rotating shaft 120 and the other end is fixed to the link hub flange 121. Due to the elastic restoring force of the spring member 124, the link hub 2 (3) and the end link 5 (6) are urged to have a predetermined angle. For example, as shown in FIGS. 2 and 3, the state in which the proximal-side link hub 2 and the distal-side link hub 3 are parallel to each other is defined as a neutral state, and the direction from the neutral state to the distal-side link hub 3 is determined in any direction. Even when tilted, the spring member 124 urges the link hub 3 on the distal end side to return to the neutral state. The elastic restoring force of the spring member 124 can be changed by loosening the bolt 122 and adjusting the circumferential mounting position of the link hub flange 121.

  Thus, when the spring member 124 is a torsion spring that fits on the outer periphery of the rotating shaft 120, the spring member 120 is accommodated around O1A, O1B (O2A, O2B) around the rotating pair shaft, so that it can be compactly arranged. The illustrated spring member 124 is a torsion coil spring, but may be a torsion spring that is not coiled.

  FIG. 22 shows a different embodiment of the present invention. This limb joint orthosis 20 is used for rehabilitation of the knee joint, the proximal mounting portion 21 is mounted on the thigh 152, and the distal mounting portion 22 is mounted on the crus 153. Is done. The distal support member 24 ′ on which the distal mounting portion 22 is installed has an extension 24 a extending beyond the distal mounting portion 22 in the direction of the link hub central axis C 2. Further, a sole member 140 is provided that is separated from the extension portion 24a in the direction of the link hub central axis C2 and is applied to the sole. And the front-end | tip of the extension part 24a and the sole member 140 are connected via the spring member 141 and the damper 142. FIG. The distal end of the extension 24a and the sole member 140 are coupled to the support member 24 ′ via a slide coupling mechanism 143 that guides the sole member 140 along the link hub central axis C2.

  The load from the sole of the foot causes the sole member 140, the spring member 141 and the damper 142, the distal support member 24 ′, the link structure 1, the proximal support member 24, and the proximal mounting portion 21. Via the thigh 152. By adjusting the elastic restoring force of the spring member 141 and the magnitude of the resistance of the damper 142, the load applied to the knee joint can be easily changed. Therefore, planned rehabilitation can be performed.

DESCRIPTION OF SYMBOLS 1 ... Link structure 2 ... Proximal link hub 3 ... Distal link hub 4A, 4B ... Link mechanism 5 ... Proximal end link 6 ... Distal end link 7 ... Central link 10 ... hollow parts 21, 22 ... mounting parts 24 ... support members 26 and 27 ... holding plate 34 ... limb body fixing belt 35 ... belt rotation connecting part 40 ... interlocking means 44 ... guide members 50, 60, 70, 90 ... rotation angle positions Restriction mechanism 61 ... End link shaft 68 ... Rotation angle position changing means 78 ... Spring member 83 ... Damping member 140 ... Sole member 141 ... Spring member 142 ... Damper 150 ... Lower limb (limb)
151 ... Knee joint (limb joint)
152 ... Upper leg (proximal limb)
153: Lower limb (distal limb)
C1 ... Proximal link hub central axis C2 ... Distal link hub central axis F1 ... Proximal link hub surface F2 ... Distal link hub surface F3 ... Longitudinal symmetry plane F4 ... Movement restricting plane F5 ... guide surface O ... posture change center O1A, O1B ... rotational pair axis of proximal link hub and proximal end link O2A, O2B ... distal link hub and distal end link Rotating pair center axis O3A, O3B ... Proximal end link and center link rotation pair center axis O4A, O4B ... Distal end link and center link rotation pair center axis P1 ... Proximal spherical link Center P2 ... Spherical link center on the distal side

Claims (5)

A link structure having a link hub disposed on each of the proximal side and the distal side, and two sets of link mechanisms for connecting the proximal and distal link hubs to each other;
The link mechanism rotatably connects end links to the proximal and distal link hubs, and the proximal and distal end links are rotatable relative to a central link, respectively. A three-joint chain mechanism consisting of four rotating pairs consisting of the proximal end link, the central link, and the distal end link,
The rotational pair central axes of the link hub and the end link intersect each other, and this intersection is called a spherical link center, and the proximal and distal link hubs are parallel to each other. When an axis extending toward the spherical link center of the opposite link hub passing through the spherical link center of one link hub is referred to as a link hub central axis, the link hub penetrates along the link hub central axis. Is a shape having a hollow portion,
Support members extending along the central axis of the link hub to two sides facing the arrangement direction of the two sets of link mechanisms across the hollow portion in the link hub toward the side away from the opposite link hub. A limb joint orthosis characterized in that each of the two support members is provided with a mounting part attached to the limb body part in a fixed state.   The limb joint orthosis according to claim 1, wherein the mounting portion positions the limb joint between the proximal and distal link hubs, and is proximal and distal to the limb joint. In the state where each limb body part on the side is inserted into the hollow part of the proximal and distal link hubs so that the frontal plane is along the alignment direction of the two support members, A holding plate that covers the outer periphery on one side with respect to the frontal frame, and is wound around the outer periphery on the other side with respect to the frontal frame in the limb body in the same state, and fixes the limbs to the holding plate. A limb joint orthosis comprising a plurality of limb-body-fixing belts positioned apart in the length direction of the support member.   The limb joint apparatus according to claim 2, wherein the holding plate and the limb body fixing belt are rotatably connected to each other.   The limb joint orthosis according to any one of claims 1 to 3, wherein the proximal and distal links are in a state where the proximal and distal link hubs are not parallel to each other. A point at which the hub central axes intersect with each other is referred to as a posture change center, and includes a location where the position of the link hub in the link hub central axis direction is closest to the posture change center, and a plane perpendicular to the link hub central axis Is a link hub surface, the spherical link center is a limb joint orthosis located between the posture change center and the link hub surface.   5. The limb joint orthosis according to claim 1, wherein the proximal end link and the distal end link are rotated in opposite directions with respect to the central link. And the limb joint part orthosis which provided the interlocking | linkage means linked so that a rotational displacement angle might become the same.

Images