JP4627326B2 - Reduction device - Google Patents

Description

  The present invention relates to a reduction device, and more particularly to a reduction device suitable for reduction treatment of a lower limb of a patient.

  When a fracture or dislocation occurs, reduction treatment is performed to treat this. Conventionally, when performing reduction treatment, a person who performs reduction treatment such as a doctor or a reduction teacher performs various operations such as stretching, bending, or twisting the leg of the patient by his / her own power.

  However, in order to perform various movements on the patient's legs, etc., considerable force is required, and it will impose heavy labor on doctors and reduction workers. The number of patients was small.

  Then, the joint physical therapy apparatus for solving such a problem is proposed (refer patent document 1). As shown in FIG. 8, the joint physical therapy device 1 includes a top plate 2 on which the patient a is supine, a thigh support means 3 that supports the thigh b of the patient a in an upwardly inclined manner, The traction means 4 for grasping the ankle of the patient a and pulling the crus c in the long axis direction, and the rolling means for grasping the cervical head part d and rotating in a direction perpendicular to the long axis of the crus c 5.

The joint physical therapy device 1 can swing the knee to the left and right by operating the rolling means 5 at the same time as the knee of the patient a is expanded and contracted by operating the traction means 4.
Japanese Patent Laid-Open No. 11-56888

  However, the conventional joint physiotherapy device 1 can only perform an expansion / contraction operation and a left / right swing operation on the knee of the patient a, and cannot be used for reduction treatment. In the reduction treatment, it is frequently performed that the patient's lower limb is subjected to a torsional motion in addition to the stretching and contracting motion. In addition, it is often required to perform other movements, that is, movement movements in the vertical and horizontal directions with respect to the lower limbs, or various movements with respect to the ankles. I had to do it with a few people, using my strength and the assistant.

  The present invention has been made to solve such problems, and it is an object of the present invention to provide a reduction device capable of performing an operation necessary for reducing a lower limb of a patient.

  The present invention is a reduction device and is configured as follows in order to solve the above-described technical problem.

That is, the reduction device of the present invention includes a support base (50) that supports at least the lower body of the patient (K) whose lower limb (K1) is to be reduced, and a crus support base that supports the lower leg (K2) of the patient (K). 58), a first movable table (61) for moving the crus support (58) around a substantially horizontal axis (60), and first drive means (62) for driving the first movable table (61) And a second movable table (67) for moving the crus support (58) in a substantially horizontal direction and a second drive means (68) for driving the second movable table (67). Features.

  According to the present invention, it is possible to perform an operation indispensable for reducing the lower limb of the patient, that is, a twisting operation (arrow R direction) and an expansion / contraction operation (arrow Y direction).

  Further, the reduction device of the present invention is configured such that when an excessive force is applied from the first movable table (61) to the lower leg (K2) of the patient (K), the patient (K ) The first mechanical safety switch that does not transmit power to the lower leg (K2) may be further provided. Further, when an excessive force is applied from the second movable table (67) to the lower leg (K2) of the patient (K), the second movable table (67) is applied to the lower leg (K2) of the patient (K). You may make it further provide the 2nd mechanical safety switch from which power transmission is not made.

  According to this, it is possible to prevent an excessive force from being applied to the lower limb from the device when reducing the lower limb of the patient.

  Further, the reduction device of the present invention includes a control unit (113) for controlling the first drive means (62) and the second drive means (68), and a person who performs the reduction treatment by his / her own force. A changeover switch for switching control by the control unit (113) to move the lower limb (K1), and a sensor (114) for detecting a force applied to the patient's lower limb by a person performing reduction treatment and a direction thereof. When the control is switched by the changeover switch so that the person performing reduction treatment moves the lower limb (K1) of the patient (K) by his / her own force, the control unit (113) When force is applied to the lower limb (K1) of the patient (K) by a person who performs treatment, the first drive means (62) and the second drive means ( Of 8), those corresponding to the direction of the force detected by said sensor (114) may be driven in the direction which the force to be detected reduced by said sensor (114).

  According to this, when a doctor etc. move a leg by own power, it can suppress that the retention strength by the drive system containing each motor becomes obstructive. It is also possible to make the apparatus recognize the situation in an optimum situation for performing reduction treatment.

  Further, a swing arm (52) for swinging the crus support (58) in a substantially horizontal plane, a third movable table (64) for moving the crus support (58) in a substantially vertical direction, and the third. And third driving means (65) for driving the movable table (64).

  In this case, in addition to the twisting operation (arrow R direction) and the expansion / contraction operation (arrow Y direction), a left / right movement operation (arrow X direction) and a vertical movement operation (arrow Z direction) can be performed. It is possible to perform almost all the operations necessary for reducing the image with a single device.

  Furthermore, arm drive means (120) for driving the swing arm (52) can be provided.

  The swing arm may be swung by human power, but in this case, it can also be performed automatically.

  The swing arm (52) can be extended and retracted.

  In this case, regardless of the physique, such as the patient is small, large, adult, or child, the swing arm can be appropriately extended and contracted.

  Further, arm extending / contracting means for extending / contracting the swing arm (52) can be provided.

  The swing arm can be expanded and contracted by human power, but in this case, this can be done automatically and requires little human power.

  Further, the swing arm (52) causes the lower limb (K1) to move left and right (arrow X direction), and the first movable table (61) twists the lower limb (K1) (arrow R direction). The second movable table (67) causes the lower limb (K1) to expand and contract (arrow Y direction), and the third movable table (64) moves the lower limb (K1) up and down (arrow). Z direction) can be performed.

  In this case, it is suitable for allowing a doctor or the like to perform reduction treatment freely.

The swing arm (52), the first movable table (61), the second movable table (67), the third movable table (64), and the crus support (58) 50) in a predetermined order, for example, as described above, the swing arm (52), the third movable table (64), the second movable table (67), and the first movable table (61). And it can attach in steps in order of the said leg support (58).

  In this case, the configuration can be simplified as compared with the case where these parts such as the swinging arm are independently attached separately. However, the mounting order of the swing arm and the like is not limited to this, and may be changed as necessary. Even when the order is changed, a corresponding effect can be achieved with regard to simplification of the configuration.

  Further, the crus support (58) can include a fixing means (111) for fixing the crus (K2) of the patient (K).

  As the fixing means, for example, a band is adopted. In this case, force can be effectively transmitted from the lower leg support (58) to the leg of the patient (K).

  A joint member (72A) movable around a substantially horizontal axis and the joint member (72A) are disposed between the crus support (58) and the first movable table (61). A fourth driving means (102) that moves around a horizontal axis can be interposed.

  In this case, the ankle (K4) can be bent back and forth (in the direction of arrow Q).

  In addition, a universal joint (72) is formed together with the joint member (72A) and has a second joint member (72B) movable around a substantially vertical axis, and the crus support (58) and the first movable base Between the table (61), a fifth drive means (104) for moving the second joint member (72B) around the substantially vertical axis can be interposed.

  In this case, the ankle (K4) can be swung left and right (in the direction of arrow P).

Further, in this case, the control unit (113) for controlling the entire apparatus and the control unit (113) so that the person who performs reduction treatment moves the lower limb (K1) of the patient (K) by his / her own power. And a sensor (114) for detecting the force and direction applied to the lower limb (K1) of the patient (K) by a person who performs reduction treatment, and the reduction switch is used to perform reduction treatment. In the case where the control is switched so that the performer moves the lower limb (K1) of the patient (K) by his / her own power, the control unit (113) may When a force is applied to the lower limb (K1), the first driving means (62), the second driving means (68), the third driving means (65), Of the fourth driving means (102) and the fifth driving means (104), the force detected by the sensor (114) is reduced corresponding to the direction of the force detected by the sensor (114). You may make it drive in a direction.

  Also by this, when the doctor or the like moves the lower limb by his / her own power, it is possible to prevent the holding force by each drive system from being hindered. It is also possible to make the apparatus recognize the situation in an optimum situation for performing reduction treatment.

  Further, the crus support (58) may include an auxiliary member (106) that is extendable and detachable along the longitudinal direction of the crus (K2).

  In this case, usually, the auxiliary member (106) is attached to the crus support (58) and extended to support the crus (K2) as a whole, thereby reducing the burden on the patient.

  In addition, when X-ray photography is performed, the auxiliary member (106) can be contracted or removed so that the auxiliary member (106) does not appear in the X-ray photograph.

  Moreover, the said leg support stand (58) can be provided with the sole support member (110) which contacts the sole of the said patient (K).

  In this case, a force is applied to the entire sole of the patient when the lower limb (K1) is subjected to front / rear expansion / contraction, or the ankle (K4) is subjected to front / rear bending / swinging. This can prevent unnecessary pain from being given to the patient.

  In addition, each said component can be mutually combined as much as possible.

  As described above, the reduction device of the present invention provides a support base that supports at least the lower body of a patient whose leg should be reduced, a lower leg support base that supports the patient's lower leg, and the lower leg support base that has a substantially horizontal axis. A first movable table that moves around, a first drive means that drives the first movable table, a second movable table that moves the crus support base in a substantially horizontal direction, and a second drive that drives the second movable table Means. With this configuration, it is possible to perform essential movements to reduce the patient's lower limbs, i.e., torsional and telescopic movements. The time required can be greatly reduced, and the number of personnel can be reduced. Therefore, reduction treatment can be performed on a large number of patients in a day.

  Further, in addition to the above configuration, if an excessive force is applied from the first movable table to the patient's lower leg, power is not transmitted from the first movable table to the patient's lower leg. By providing the tee switch, it is possible to prevent an excessive force from being applied to the lower limb from the apparatus when the lower limb of the patient is reduced. Similarly, when an excessive force is applied to the patient's lower leg from the second movable table, a second mechanical safety switch is provided that prevents transmission of power from the second movable table to the patient's lower leg. It is possible to prevent an excessive force from being applied to the lower limb from the device when reducing the lower limb of the patient.

A control unit for controlling the first driving means and the second driving means; a changeover switch for switching control by the control unit so that a person who performs reduction treatment moves the patient's lower limb by his / her own force; And a sensor for detecting a force applied to the patient's lower limb and a direction thereof by the person who performs the operation. When the control is switched by the changeover switch so that the person who performs reduction treatment moves the patient's lower limb by his / her own force, the control unit is applied to the patient's lower limb by the person performing reduction treatment. When a force is applied, one of the first driving means and the second driving means corresponding to the direction of the force detected by the sensor is driven in a direction in which the force detected by the sensor is reduced. By this, when a doctor etc. move a leg by own power, it can suppress that the retention strength by each drive system becomes obstructive. It is also possible to make the apparatus recognize the situation in an optimum situation for performing reduction treatment.

  Further, in addition to the above configuration, a swing arm that swings the crus support base in a substantially horizontal plane, a third movable table that moves the crus support base in a substantially vertical direction, and the third movable table are driven. Third driving means. Therefore, in addition to the twisting operation and the expansion / contraction operation, it is possible to perform a left / right movement operation and an up / down movement operation, and it is possible to perform almost all the operations necessary for reducing the lower limbs with a single device. Become.

  Furthermore, by providing arm driving means for driving the swing arm, the swing arm can be automatically swung without any human power.

  In addition, by making the swing arm extendable and retractable, the swing arm can be extended and retracted as appropriate regardless of the size of the patient, such as small, large, adult, or child. It can respond by making it.

  Further, by having an arm expansion / contraction means for extending / contracting the swing arm, the swing arm can be automatically expanded / contracted, and almost no human power is required.

  Further, the swing arm causes the lower limbs to move left and right, the first movable table causes the lower limbs to twist, the second movable table causes the lower limbs to expand and contract, and the third movable table includes Make the lower limb move up and down. This configuration is suitable for allowing a doctor or the like to freely perform reduction treatment.

  In addition, the swing arm, the first movable table, the second movable table, the third movable table, and the crus support can be attached stepwise in a predetermined order, for example, the order described. The configuration can be simplified as compared with the case where the components are assembled separately.

  Further, since the lower leg support is provided with fixing means for fixing the lower leg of the patient K, the force can be effectively transmitted from the lower leg support to the patient's leg.

  In addition, since the joint member is provided so that the crus support can be moved around the substantially horizontal axis or the substantially vertical axis, the ankle can be bent back and forth and swinged left and right. .

  In addition, although each operation | movement made to perform a leg and an ankle can each be performed independently, two or more types of operation | movement can also be performed simultaneously. For example, by simultaneously driving the swing arm and the joint member, it is possible to cause the ankle to bend back and forth while causing the lower limb to move left and right.

In addition, since the crus support base is provided with an auxiliary member that can be extended and retracted along the longitudinal direction of the crus, usually the auxiliary member is attached to the crus support base and the crus are stretched in the extended state. Supporting the patient can reduce the burden on the patient. In addition, when X-ray photography is performed, the auxiliary member can be reduced or removed so that the auxiliary member does not appear in the X-ray photograph.

  In addition, since the foot support member that touches the patient's foot is provided on the lower leg support, when the front and rear are extended or retracted on the lower limbs, or the ankle is bent back and forth or swinged left and right Sometimes force can be applied to the entire patient's sole, thereby preventing unnecessary pain from the patient.

  Hereinafter, embodiments of a reduction device according to the present invention will be described in detail with reference to the drawings.

FIG. 1 is a perspective view showing the entire reduction device 5 according to the present invention. The reduction device 5 performs reduction treatment on the lower limb K1 of the patient K, and includes a support base 50 that supports at least the lower body of the patient K whose lower limb K1 should be reduced. Patient K is also shown in FIG.

  A swing arm 52 formed linearly is attached to the support base 50 so as to be swingable in a substantially horizontal plane. Specifically, the mounting plate 53 shown in FIG. 3 is mounted on the support base 50 with bolts, and the swing arm 52 is swingably mounted on the mounting plate 53 with a support pin 53A at the base end. .

  A positioning bolt 52A is screwed in the vicinity of the base end portion of the swing arm 52, and a neck portion of the bolt 52A is inserted into an arcuate guide groove 53B formed in the mounting plate 53. That is, the swinging arm 52 is swung to a desired position while the positioning bolt 52A is loosened, and when the positioning is completed, the positioning bolt 52A is tightened again. The oscillating arm 52 is driven, that is, oscillated by a manual operation by a doctor or a reduction surgeon, or arm driving means (not shown) (only a motor included as a driving source, “reference numeral 120” shown in FIG. 7). When the swing operation of the swing arm 52 is automatically performed by the arm driving means, the positioning bolt 52A is replaced with an electromagnetic chuck (not shown) or the like, and the positioning and release of the swing arm 52 are also automated. It is preferable to do.

  As shown in FIG. 1, covers 55A and 55B are provided to cover the mounting plate 53 and the swing arm 52, and the cover 55A has an arcuate hole 55C for avoiding interference with the positioning bolt 52A. Is formed.

  As shown in FIGS. 1 and 3, a support plate 56 is fixed to the free end of the swing arm 52. The support plate 56 is provided with a caster 56A for facilitating the swing of the swing arm 52 on the floor and a stopper 56B for stopping and fixing the swing arm 52 at an arbitrary position. The support plate 56 is also covered with a cover 57 shown in FIG.

  The stopper 56B swings as the positioning bolt 52A is replaced with an electromagnetic chuck (not shown) or the like when the swinging motion of the swinging arm 52 is automatically performed by the arm driving means. The arm 52 is fixed and released so that it can be automatically released.

  A crus support 58 that supports the lower leg K2 of the patient K is disposed immediately above the swing arm 52. The swing arm 52 is for swinging the crus support 58 in a substantially horizontal plane.

As shown in FIGS. 1 and 3, the reduction device 5 includes a first movable table 61 for moving, that is, rotating, the crus support 58 around a substantially horizontal axis 60, and the first movable table 61. And a motor 62 as first driving means for rotationally driving the motor. Further, the reduction device 5 substantially includes a third movable table 64 for moving the crus support table 58 in a substantially vertical direction, third drive means 65 for driving the third movable table 64, and the crus support table 58. A second movable table 67 for moving in the horizontal direction and a second driving means 68 for driving the second movable table 67 are provided.

  The swing arm 52, the first movable table 61, the second movable table 67, the third movable table 64, and the crus support table 58 are attached to the support table 50 step by step in a predetermined order. In this embodiment, the swingable arm 52, the third movable table 64, the second movable table 67, the first movable table 61, and the crus support 58 are attached in stages, and the first movable table that is the final stage is attached. A crus support 58 is attached to 61.

  Note that the mounting order of the swing arm 52 and the movable tables 61, 67, 64 is not limited to this embodiment, and can be changed as appropriate.

  The swing arm 52 causes the lower limb K1 of the patient K shown in FIGS. 1 and 2 to perform a left / right (arrow X direction) movement operation, that is, a swing operation, and the crus support 58 is attached to the left and right legs of the patient K. It is used for positioning corresponding to any of the above. Further, the first movable table 61 performs a twisting operation (in the direction of arrow R) on the lower limb K1 of the patient K, and the second movable table 67 performs a movement operation in the front and rear (in the direction of arrow Y), that is, an expansion / contraction operation on the lower limb K1. The movable table 64 is used to cause the lower limb K1 to move up and down (arrow Z direction).

  Next, each component described above will be described in detail.

  First, the support base 50 that supports at least the lower body of the patient K will be described.

  As shown in FIG. 1, the support base 50 is attached to a base 70 serving as a base portion of the apparatus, a leg portion 50A fixed on the base 70 at a lower end portion, and an upper end portion of the leg portion 50A. And a placement unit 50B for placing the buttocks of the patient K. The mounting portion 50B is provided with a column 50C applied to the crotch of the patient K in order to prevent the patient K from moving during reduction treatment.

  The base 70 is provided with a caster 70A for transporting the reduction device and a stopper 70B for stopping and fixing the device transported to an arbitrary position.

  Subsequently, the first movable table 61 and the motor (first driving means) for moving the lower leg support 58 around the substantially horizontal axis 60, that is, for causing the patient's lower limb K1 to perform twisting (in the direction of arrow R). ) 62 and the configuration around it.

  As shown in FIGS. 1 and 3, the first movable table 61 is formed in a disc shape and is attached to an output shaft (described later) of the motor 62. The crus support 58 is connected to the first movable table 61 through a universal joint 72 and a relay plate 73 in order.

  A universal joint 72 interposed between the crus support 58 and the first movable table 61 includes a joint member 72A that is movable or rotatable around a substantially horizontal axis, and the universal joint 72 together with the joint member 72A. And a second joint member 72B that is movable, that is, rotatable about a substantially vertical axis.

  A circular seat 73A is formed at the front end of the relay plate 73, and the lower end of the second joint member 72B is fitted into the seat 73A. The rear end 73B of the relay plate 73 is fitted to the first movable table 61.

  Next, the third movable table 64 and the third driving means 65 for moving the lower leg support 58 in a substantially vertical direction, that is, for causing the patient's lower limb K1 to move up and down (in the direction of the arrow Z), and the periphery thereof. The configuration of will be described.

  As shown in FIG. 1, a guide member 75 is erected on a support plate 56 attached to the free end of the swing arm 52. The third movable table 64 is attached to the guide member 75 so as to be movable vertically (in the direction of arrow Z).

  Specifically, as shown in FIG. 3, an intermediate member 76 is attached to the guide member 75 so as to be movable up and down, and an elevating member 77 is attached to the intermediate member 76 so as to be movable up and down. The third movable table 64 is mounted on the upper end portion of the elevating member 77.

  More specifically, a track rail 76A is fixed to one side surface of the intermediate member 76, and the track rail 76A is guided by a block 75A fixed to the side surface of the guide member 75, whereby the intermediate member 76 is guided. Is guided up and down.

  Although not shown in the drawing, similar track rails and blocks are provided on the other side surface of the intermediate member 76 and the side surface of the elevating member 77 opposed thereto, and the elevating member 77 is guided up and down.

  As shown in FIG. 3, racks 75B and 77B are provided on the mutually facing surfaces of the guide member 75 and the lifting member 77, respectively. A pinion 76B provided on the intermediate member 76 is engaged with these racks 75B and 77B. Thereby, what is called a double speed mechanism is comprised.

  A ball screw shaft 79 is erected on the support plate 56 and is rotatably supported. On the other hand, the intermediate member 76 incorporates a ball screw nut 80, and a ball screw shaft 79 is screwed to the ball screw nut 80. A large-diameter toothed belt wheel 82 </ b> A is fitted to the lower end portion of the ball screw shaft 79.

  A motor 83 is disposed in the vicinity of the toothed belt wheel 82 </ b> A, and a small diameter toothed belt wheel 82 </ b> B is fitted to the output shaft of the motor 83. A toothed belt 82C is wound around the both toothed belt wheels 82A and 82B.

  The third driving means 65 is configured as described above. In such a configuration, the ball screw shaft 79 is rotationally driven by the operation of the motor 83, and the ball screw nut 80 screwed to the ball screw shaft 79 moves upward or downward, and is integrated with the ball screw nut 80. The intermediate member 76 that is connected to each other moves up and down.

  Then, the pinion 76B provided in the intermediate member 76 rolls in an engaged state along the rack 75B of the guide member 75, and the elevating member 77 having the rack 77B engaged with the pinion 76B moves up and down. Accordingly, the third movable table 64 moves up and down, and the crus support 58 is moved.

  Note that the third movable table 64, and thus the crus support 58, is movable in the left and right direction (arrow X direction) with respect to the lifting member 77. That is, as shown in FIG. 3, the track rail 85 </ b> A is attached to the upper end portion of the elevating member 77 so as to extend left and right. The moving block 85B is fixed to the lower surface of the third movable table 64, and the moving block 85B is movably engaged with the track rail 85A.

  As shown in FIG. 1, covers 87 to 90 are provided to cover the third movable table 64 and the second driving means 65 described above. However, the cover 87 that covers the third movable table 64 is formed with an opening 87A that allows the moving block 85B to reciprocate. The cover 88 that mainly covers the elevating member 77 is movable in the vertical direction with respect to the cover 89 that mainly covers the guide member 75 on the fixed side.

  Subsequently, the second movable table 67 and the second driving means 68 for moving the crus support 58 in a substantially horizontal direction, that is, for causing the patient's lower limb K1 to move forward and backward (in the direction of the arrow Y), that is, to perform a telescopic operation. And the structure of the periphery is demonstrated.

  The second driving means 68 is composed of a linear driving device shown in FIG. FIG. 4 shows the internal structure with the cover of the second driving means 68 removed. As shown in the figure, the second driving means 68 is disposed in a hollow portion of the outer rail 93 having a highly rigid U-shaped cross section, and is rotatably attached to the outer rail 93 via bearings at both ends. A ball screw shaft 94 and an inner block 95 including a ball screw nut (not shown) that is screwed onto the ball screw shaft 94 are provided. The second movable table 67 is fastened to the upper surface of the inner block 95 with bolts.

  A motor 97 (also shown in FIGS. 1 and 3) is provided at one end of the outer rail 93. A small-diameter toothed belt wheel 97 </ b> A is fitted on the output shaft of the motor 97. A large-diameter toothed belt wheel 98 is connected to one end of the ball screw shaft 94 via a coupler or the like, and a toothed belt 99 is wound around the toothed belt wheels 97A and 98.

  On the inner side surface of the outer rail 93, ball rolling grooves 93A are formed over the entire length, for example, two strips on one side. The inner block 95 is provided with an infinite circulation path including a loaded ball rolling groove corresponding to the ball rolling grooves 93A, and a large number of balls 100 are arranged and accommodated in each of the infinite circulation paths.

  The second driving means 68 is configured as described above. In this configuration, when the motor 97 operates, the ball screw shaft 94 is rotationally driven, and the inner block 95 including the ball screw nut that is screwed to the ball screw shaft 94 moves and is fastened to the inner block 95. The third movable table 67 moves. Therefore, the crus support 58 is moved in the substantially horizontal direction.

  The reduction device has the above-described configuration as a main configuration, but further includes the configuration described below.

  That is, in the joint member 72A (movable or rotatable about a substantially horizontal axis) included in the universal joint 72 shown in FIGS. 1 and 3, the fourth drive for rotating the joint member 72A about its rotation center axis. A hollow motor 102 as a means is incorporated. In addition, the second joint member 72B (movable or rotatable about a substantially vertical axis) that constitutes the universal joint 72 together with the joint member 72A is rotated around the center axis of the second joint member 72B. A hollow motor 104 is incorporated as a fifth driving means.

  In such a configuration, by operating the hollow motor 102, the crus support 58 moves in the direction indicated by the arrow Q. That is, the patient's ankle K4 can be bent back and forth. In addition, when the other hollow motor 104 is operated, the crus support 58 moves in the direction indicated by the arrow P, and thereby, a swinging motion to the left and right of the patient's ankle K4 can be performed.

  As is apparent from FIGS. 1 and 3, the crus support 58 is formed in a table shape of an appropriate size so that the foot K3 of the patient K and the lower side of the crus K2 can be placed and held. Yes.

  Further, as shown in FIG. 3, an auxiliary table 106 that is extendable and detachable along the longitudinal direction of the lower leg K2, that is, an auxiliary member, is attached to the lower leg support base 58 as required. The auxiliary table 106 is provided with a pair of rods 106 </ b> A, which are extendable and detachable by being inserted into a sleeve 58 </ b> A formed on the crus support 58.

  In FIG. 3, reference numeral 108 is a screw member with a handle screwed from the side of the sleeve 58A to lock the rod 106A, and reference numeral 110 is a crus support for applying the sole of the patient K. 58 is a band member as a fixing means for fixing the lower leg K2 of the patient K. The auxiliary table 106 is also provided with a band 106B as a fixing means for fixing the lower leg (K2) of the patient K, in this case the lower leg K1.

  The swing arm 52 can be expanded and contracted. Specifically, as shown in FIGS. 1 and 3, the swing arm 52 includes a first arm 52C on the base side and a second arm 52D on the free end side, and these first and second arms 52C and 52D. Are connected to each other in the longitudinal direction. Further, as is apparent from FIG. 1, the cover 55B that covers the swing arm 52 similarly includes a first cover 55B1 and a second cover 55B2 that are coupled so as to be guided in the longitudinal direction.

  The second arm 52D and the second cover 55B2 have bolt insertion holes 52D1 at positions corresponding to each other along the longitudinal direction and at equal pitches (however, regarding the bolt insertion holes formed in the second cover 55B2). The reference numeral is omitted), and the bolts 54 are inserted into these bolt insertion holes. Further, screw holes 52C1 and 55B12 are formed in the first arm 52C and the second cover 55B1 so as to correspond to the bolt insertion holes, and the bolts 54 can be screwed into the screw holes 52C1 and 55B12. .

  That is, the bolts 54 are loosened to release the screwed state with the screw holes 52C1 and 55B12, and the second arm 52D and the second cover 55B2 are moved relative to the first arm 52C and the first cover 55B1 to swing. The entire arm 52 and cover 55B are expanded and contracted to a desired length, and in this state, the bolts 54 are screwed into the screw holes 55C1 and 55B12 again and tightened.

  The extension and contraction of the swing arm 52 is not limited to the manual method as described above, and can be automated. Although not specifically illustrated, this is easily realized by providing an arm expansion / contraction means including a ball screw mechanism as shown in FIG. 4 and a driving mechanism such as a motor for operating the ball screw mechanism.

  By the way, the reduction device 5 is provided with means for restricting the transmission force so that an excessive force is not applied from the device to the lower limb K1 when the lower limb K1 of the patient K is reduced. This means has a completely mechanical configuration, and the inventor has called it a mechanical safety switch. The structure of this mechanical safety switch will be described.

In the reduction device, the mechanical safety switch is provided in a drive unit that twists the lower leg K1 of the patient K (in the direction of arrow R) and a drive unit that expands and contracts (in the direction of arrow Y). However, other operations, that is, a left / right movement operation (arrow X direction) of the lower limb K1, a vertical movement operation (arrow Z direction), an ankle K4 bending operation (arrow Q direction), and a left / right swinging operation (arrow) Of course, the mechanical safety switch may be provided in the drive unit that performs the (P direction) as necessary.

  FIG. 5 shows a mechanical safety switch provided in the power transmission system from the first drive means 62 for twisting the lower limb K1 (in the direction of arrow R).

  In FIG. 5, a first movable table 61 for moving the crus support 58 (see FIGS. 1 and 3) around a horizontal axis (60) is formed in a disc shape. Is fixed to an output shaft 62A of a motor 62 which is a first driving means for driving the motor. A cylindrical protrusion 61A is formed at the rotation center of the first movable table 61 on the side opposite to the motor 62, and the protrusion 61A is rotatably fitted to a bearing 73C provided on the relay plate 73. Are combined. Thereby, the relay plate 73 is rotatable with respect to the first movable table 61.

  In the first movable table 61, a through hole 61B having an oval cross section extending in the radial direction is formed at a position deviated from the rotation center. On the other hand, the relay plate 73 has a threaded hole 73E penetrating at a position corresponding to the through hole 61B, and an adjusting screw 74A is screwed into the threaded hole 73E. A steel ball 74B is arranged on the tip end side of the screw portion of the adjustment screw 74A, and the steel ball 74B is movably fitted in the screw hole 73E. A coil spring 74C is contracted between the adjustment screw 74A and the steel ball 74B, whereby the steel ball 74B is urged and pressed against the through hole 61B with a predetermined pressing force. However, the width dimension of the through hole 61B is set smaller than the diameter of the steel ball 74B, and the steel ball 74B does not enter the through hole 61B.

  In such a configuration, when the lower limb K1 is twisted (in the direction of arrow R), the driving force from the motor 62 is applied to the lower leg through the first movable table 61, the steel ball 74B, the relay plate 73,. Although the force is transmitted to the support base 58, when an unreasonable force in the twisting direction is applied to the lower limb K1, the steel ball 74B is disengaged from the through hole 61B against the urging force of the coil spring 74C. , No power is transmitted. The “unreasonable force” at this time is adjusted in advance by the tightening amount of the adjusting screw 74A.

  Next, a mechanical safety switch provided in the power transmission system from the second driving means 68 (see FIG. 4) for extending and contracting the lower limb K1 (in the arrow Y direction) will be described based on FIG.

  As shown in FIG. 6, between the second movable table 67 for moving the crus support 58 (see FIGS. 1 and 3) in a substantially horizontal direction and the inner block 95 provided in the second driving means 68. An intermediate plate 96 is interposed, and the intermediate plate 96 is fixed to the upper surface of the inner block 95.

  On the upper surface side of the intermediate plate 96, for example, two guide shafts 96A are arranged and fixed so as to be parallel in the moving direction of the inner block 95. A moving block 67A is fixed to the lower surface side of the second movable table 67, and the moving block 67A is movably engaged with the guide shaft 96A. Thus, the second movable table 67 can reciprocate in the moving direction of the inner block 95 with respect to the inner block 95 and the intermediate plate 96.

The intermediate plate 96 is formed with a through hole 96B having an oval cross section extending in the left-right direction (arrow X direction). On the other hand, the second movable table 67 is formed with a screw hole 67B penetrating at a position corresponding to the through hole 96B, and an adjustment screw 92A is screwed into the screw hole 67B. A steel ball 92B is disposed on the tip end side of the adjustment screw 92A, and the steel ball 9
2B is movably fitted in the screw hole 67B. A coil spring 92C is contracted between the adjusting screw 92A and the steel ball 92B, whereby the steel ball 92B is urged and pressed against the through hole 96B with a predetermined pressing force. However, the width dimension of the through hole 96B is set smaller than the diameter of the steel ball 92B, and the steel ball 92B does not enter the through hole 96B.

  In such a configuration, when the lower limb K1 is caused to expand and contract (in the arrow Y direction), the driving force from the motor 97 (see FIG. 4 and the like) is driven by the inner block 95, the intermediate plate 96, the steel ball 92B, and the second movable It is transmitted to the crus support 58 through the table 67,... Sequentially, but if an excessive force in the expansion / contraction direction is applied to the lower limb K1, the steel ball 92B resists the urging force of the coil spring 92C. The engaged state with the through hole 96B is released, and power is not transmitted. The “unreasonable force” at this time is adjusted in advance by the tightening amount of the adjusting screw 92A.

  Next, a control system for controlling the reduction device 5 will be described with reference to FIG.

  As shown in the figure, this control system includes a control unit 113 for controlling the entire system, sensors 114 for detecting forces applied to the lower limb K1 when various movements are performed on the lower limb K1, and the sensors 114. A force display unit 115 for displaying the detected force and a portable operation box 117 are provided.

  Further, the control unit 113 includes motors 120 included in the above-described arm driving means (only shown in FIG. 7) and first to fifth driving means via drivers 118, 118. Each motor 62, 97, 83, 102, 104 is connected.

  Next, the operation of the reduction device 5 having the above-described configuration will be described. As shown in FIG. 1, when performing reduction treatment on the lower limb 1 of a patient K, the lower body is placed on the placement portion 50B of the support base 50 while the patient K is in a supine position, and the upper body is appropriately placed on a table ( (Not shown). Then, the lower leg K 2 and the foot K 3 of the patient K are placed on the lower leg support 58, and the lower leg K 2 is fixed by the band 111.

  Next, the operation box 117 is appropriately operated according to the content to be reduced, and the swing arm 52, the first to third movable tables 61, 67, 64 or the joint members 72A, 72B of the universal joint 72 are driven. That is, as shown in FIG. 2, when the lower limb K1 is moved in the left-right (arrow X) direction, the swing arm 52 is swung in the X direction.

  When the lower limb K1 is twisted (arrow R direction), the first movable table 61 is rotated. When moving the lower limb K1 in the vertical direction (arrow Z), the third movable table 64 is driven up and down. Further, when the lower limb K1 is expanded and contracted in the front-rear (arrow Y) direction, the second movable table 67 is driven back and forth.

  Further, when the ankle K4 is swung to the left and right (arrow P direction), the second joint member 72B on the lower side of the universal joint 72 is rotationally driven in the same direction. When the ankle K4 is bent back and forth (in the direction of the arrow Q), the joint member 72A on the upper side of the universal joint 72 is rotationally driven in the same direction.

By the way, in the description so far, each motor is operated by operating the operation box 117 by a doctor or the like, thereby driving the swing arm 52 and others so that the lower limb K1 of the patient K is moved in an appropriate direction. It was. However, on the other hand, a doctor or the like moves the lower limb K1 by his / her own power to make the apparatus recognize the situation in an optimum situation for performing reduction treatment. In that case, even if a doctor or the like tries to move the lower limb K1 of the patient K, the holding force by the drive system including each motor is obstructed, and is impossible.

  Therefore, the following configuration is adopted.

That is, the above-described sensors 114 can detect external forces (forces applied by a doctor or the like) in any direction of the six axes (directions of arrows X, Y, Z, P, Q, and R). Is. As shown in FIGS. 1 and 3, the sensors 114 are formed on the seat 72A1 formed on the joint member 72A of the universal joint 72 and on the back surface of the foot support member 110 of the crus support 58. It is interposed between the seat part 110A.

  On the other hand, in the operation box 117 shown in FIG. 7, the operation of each motor causes the lower limb K1 to move to a desired state, and the doctor's own power makes the lower limb K1 optimal for reduction treatment. A switch is provided for switching the control of the reduction device depending on the movement of the reduction device. The control unit 113 changes the control according to this switching. When attempting to move the lower limb K1 to a desired situation by the operation of each motor, the control is performed as described above, and the doctor himself / herself tries to move the lower limb K1 to an optimum situation for reduction treatment. When it is switched as much as possible, the following control is performed.

  That is, when a doctor or the like tries to move the lower limb K1 in an arbitrary direction, a force in that direction acts on the sensors 114, and the sensors 114 detect the force and direction. Then, the control unit 113 drives the motor corresponding to the direction in a direction in which the force applied by a doctor or the like is reduced, and stops the motor when the force detected by the sensors 114 becomes zero. As a result, the lower limb K1 is moved by the movement of the doctor or the like, and when the doctor or the like no longer applies force, the stopped state is maintained by the holding force of the drive system (motor or the like).

  The inventor calls the above-described operation, that is, direct teaching that a doctor or the like moves the lower limb K1 by his / her own force to make the apparatus recognize the situation in an optimal situation.

  As described above, the reduction device 5 includes the support base 50 that supports at least the lower body of the patient K whose leg K1 is to be reduced, the lower leg support base 58 that supports the lower leg K2 of the patient K, and the lower leg support base 58. A first movable table 61 that moves around a substantially horizontal axis 60, a first drive means 62 that drives the first movable table 61, a second movable table 67 that moves the crus support 58 in a substantially horizontal direction, and this In addition to the second driving means 68 for driving the second movable table 67, a swing arm 52 for swinging the lower leg support in a substantially horizontal plane, and a third movable for moving the lower leg support 58 in a substantially vertical direction. A table 64 and third driving means 65 for driving the third movable table 64 are provided. Therefore, in addition to the twisting operation and the expansion / contraction operation, the left / right moving operation and the up / down moving operation can be performed, and almost all the operations necessary for reducing the lower limb K1 can be performed by one device. Become.

  Further, in addition to the above configuration, a power transmission system from the first driving means 62 for twisting the lower limb K1 (in the direction of arrow R) and a second drive for extending and contracting the lower limb K1 (in the direction of arrow Y). Since the mechanical safety switch is provided in the power transmission system from the means 68, it is possible to prevent an excessive force from being applied to the lower limb K1 from the apparatus.

Further, in the reduction device 5, when the switch for switching the control of the reduction device is switched to move the lower limb K1 so as to be in an optimal situation for reduction treatment by the doctor's own power, When trying to move the lower limb K1 in any direction, the sensors 1
14 detects the force and direction. Then, the control unit 113 drives the motor corresponding to the direction in a direction in which the force applied by a doctor or the like is reduced. Accordingly, a doctor or the like can move the lower limb K1 by his / her own power to make the apparatus recognize the situation in an optimal situation for performing reduction treatment.

  Further, by providing the arm driving means 120 for driving the swing arm 52, the swing arm 52 can be automatically swung without human power.

  In addition, by making the swing arm 52 extendable and retractable, the swing arm 52 can be of any size, such as a small, large, adult, or child patient K. This can be dealt with by appropriately expanding and contracting.

  Further, by having an arm expansion / contraction means for expanding / contracting the swing arm 52, the swing arm 52 can be automatically expanded / contracted, and almost no human power is required.

  Further, the swing arm 52 causes the lower limb K1 to move left and right, the first movable table 61 causes the lower limb K1 to twist, and the second movable table 67 causes the lower limb K1 to expand and contract, The third movable table 64 causes the lower limb K1 to move up and down. This configuration is suitable for allowing a doctor or the like to freely perform reduction treatment.

  Further, the swing arm 52, the first movable table 61, the second movable table 67, the third movable table 64, and the crus support 58 are attached stepwise in a predetermined order, for example, the order described in this embodiment. In this case, the configuration can be simplified as compared with the case where the components are assembled separately and assembled separately.

  Further, since the lower leg support 58 is provided with fixing means (such as the band 111) for fixing the lower leg K2 of the patient K, force can be effectively transmitted from the lower leg support 58 to the leg of the patient K.

  In addition, since the joint members 72A and 72B are provided so that the crus support 58 can be moved around the substantially horizontal axis or the substantially vertical axis, the ankle K4 is bent forward and backward and swinged left and right. Can be done.

  In addition, although each operation | movement made to perform the leg K1 and the ankle K4 can each be performed independently, two or more types of operation | movement can also be performed simultaneously. For example, by simultaneously driving the swing arm 52 and the joint members 72A and 72B, it is possible to cause the ankle K4 to perform a forward / backward bending operation or the like while causing the lower limb K1 to move left and right.

  Further, since the crus support 58 is provided with an auxiliary member (auxiliary table 106) that is extendable and detachable along the longitudinal direction of the crus K2, the auxiliary member is usually attached to the crus support 58, and By fully supporting the lower leg K2 in the stretched state, the burden on the patient K can be reduced. In addition, when X-ray photography is performed, the auxiliary member can be reduced or removed so that the auxiliary member does not appear in the X-ray photograph.

  In addition, since the foot support member 110 that touches the foot of the patient K is provided on the crus support 58, when the front and back of the lower limb K1 is extended or retracted, or when the ankle K4 is bent back and forth or left and right. When the swing motion is performed, a force can be applied to the entire sole of the patient K, thereby preventing unnecessary pain on the patient K.

In the above-described embodiment, the case where the drive unit (arm drive unit) for swinging the swing arm 52 of the reduction device 5 is shown, but this drive unit is not necessarily provided. If not provided, the swing arm 52 is swung to a desired position by human power and positioned.

It is a perspective view which shows the reduction apparatus which concerns on this invention. It is a figure for demonstrating the operation | movement which can be performed to a patient's leg by the reduction apparatus shown in FIG. FIG. 2 is an exploded perspective view of the reduction device shown in FIG. 1. It is a perspective view including a partial cross section showing the 2nd drive means which the reduction device shown in Drawing 1 contains. It is a disassembled perspective view for demonstrating the mechanical safety switch in the leg twist direction with which the reduction device shown in FIG. 1 is provided. It is a disassembled perspective view for demonstrating the mechanical safety switch in the leg expansion / contraction direction with which the reduction device shown in FIG. 1 is provided. It is a figure which shows the control system of the reduction apparatus shown in FIG. It is a figure which shows the joint physical therapy apparatus which concerns on a prior art example.

Explanation of symbols

K patient K1 lower limb K2 lower leg K3 foot K4 ankle 5 reduction device 52 swing arm 56 support plate 58 lower leg support 59 cover 60 substantially horizontal axis 61 first movable table 62 motor (first drive means)
64 Third movable table 65 Third drive means 67 Second movable table 68 Second drive means 70 Base 72 Universal joint 72A (Universal joint) joint member 72B (Universal joint) second joint member 73 Relay plate 97 Motor 102 Hollow Motor (fourth drive means)
104 Hollow motor (fifth drive means)
106 Auxiliary table (auxiliary member)
110 Foot sole member 111 Band (fixing means)
113 Control unit 114 Sensors 115 Force display unit 117 Operation box 118 Driver 120 Motor (motor included in the arm driving means)

Claims (9)

A reduction device for reducing the patient's lower limbs,
A support (50) that supports at least the lower body of the patient whose leg should be reduced;
A lower leg support (58) for supporting the patient's lower leg;
The axis of the first movable table for moving (61) and the first movable table (61) around the lower leg support base (58) expansion and contraction direction of the axis of the lower leg a substantially parallel to the installation surface of the reduction device First driving means (62) that is a first motor that rotates around
A ball screw shaft ( 67) is moved by a second movable table (67) for moving the crus support (58) in a direction substantially parallel to the installation surface of the reduction device and parallel to the axis , and a second motor (97). 94) and a second driving means (68) for driving the second movable table (67) by moving a ball screw nut screwed to the ball screw shaft (94) .
A first mechanical safety switch that prevents transmission of power from the first movable table (61) to the patient's lower leg when an excessive force is applied to the patient's lower leg; With
The first mechanical safety switch is
A spherical member (74B) that is movable in parallel with the axis of expansion and contraction of the lower leg,
The distal end of the spherical member (74B) is pressed with a predetermined urging force to engage with the spherical member (74B), and the expansion / contraction direction of the crus between the crus support (58) and the first movable table (61) A through hole (61B) that prohibits relative movement around the axis of
When an excessive force is applied to the patient's lower leg from the first movable table (61), the engagement state between the spherical member (74B) and the through hole (61B) is released against the biasing force. Accordingly, the power is not transmitted from the first movable table (61) to the lower leg of the patient . A reduction device for reducing the patient's lower limbs,
A support (50) that supports at least the lower body of the patient whose leg should be reduced;
A lower leg support (58) for supporting the patient's lower leg;
A first movable table (61) and a first movable table (61) for moving the lower leg support (58) around an axis line in the expansion and contraction direction of the lower leg substantially parallel to the installation surface of the reduction device. 61) first driving means (62), which is a first motor that rotationally drives around the axis ;
A ball screw shaft ( 67) is moved by a second movable table (67) for moving the crus support (58) in a direction substantially parallel to the installation surface of the reduction device and parallel to the axis , and a second motor (97). 94) and a second driving means (68) for driving the second movable table (67) by moving a ball screw nut screwed to the ball screw shaft (94) .
A second mechanical safety switch that prevents transmission of power from the second movable table (67) to the patient's lower leg when an excessive force is applied to the patient's lower leg; With
The second mechanical safety switch is
A spherical member (92B) that is movable perpendicularly to the axis of the lower leg's stretch direction;
The tip of the spherical member (92B) is pressed with a predetermined urging force to engage with the spherical member (92B), and the second movable table (67) and the ball screw nut are relative to each other in the direction parallel to the axis. Including a through hole (96B) that prohibits general movement,
When an excessive force is applied to the patient's lower leg from the second movable table (67), the engagement state between the spherical member (92B) and the through hole (96B) is released against the biasing force. Thus, the power is not transmitted from the second movable table (67) to the patient's lower leg . When an excessive force is applied from the first movable table (61) to the patient's lower leg, the first mechanical safety switch is arranged so that power is not transmitted from the first movable table (61) to the patient's lower leg. And more,
The first mechanical safety switch is
A spherical member (74B) that is movable in parallel with the axis of expansion and contraction of the lower leg,
The distal end of the spherical member (74B) is pressed with a predetermined urging force to engage with the spherical member (74B), and the expansion / contraction direction of the crus between the crus support (58) and the first movable table (61) Including a through hole (61B) that prohibits relative movement about the axis of
When an excessive force is applied to the patient's lower leg from the first movable table (61), the engagement state between the spherical member (74B) and the through hole (61B) is released against the biasing force. The reduction device according to claim 2, wherein no power is transmitted from the first movable table to the patient's lower leg . A swing arm (52) for swinging the lower leg support (58) in a substantially horizontal plane;
The lower leg support (58), the first movable table (61), and the second movable table (67) are supported, and the lower leg support (58) is supported by the first movable table (61) and the second movable table. A third movable table (64) that moves in the vertical direction together with (67) and a ball screw shaft (79) installed upright are rotationally driven by a third motor (83) and screwed with the ball screw shaft (79). 3. A third drive means (65) for driving the third movable table (64) by moving the mating ball screw nut (80) in the vertical direction. 5. The reduction device according to any one of the above. Between the lower leg support (58) and the first movable table (61), a universal joint (72) is movable around an axis that is substantially parallel to the installation surface of the reduction device and perpendicular to the axis. a joint member constituting the (72A), fourth drive means is a motor for moving around an axis perpendicular to said axis a substantially parallel to the installation surface of the reduction device by rotating the joint member (72A) The reduction device according to any one of claims 1 to 4 , wherein (102) is interposed. A second joint member (72B) that forms a universal joint (72) together with the joint member (72A) and is movable around an axis substantially perpendicular to an installation surface of the reduction device ;
Between the lower leg support (58) and the first movable table (61) is a motor that moves the second joint member (72B) around an axis substantially perpendicular to the installation surface of the reduction device . 6. Reduction device according to claim 5 , characterized in that five drive means (104) are interposed. A reduction device for reducing the patient's lower limbs,
A support (50) that supports at least the lower body of the patient whose leg should be reduced;
A lower leg support (58) for supporting the patient's lower leg;
The axis of the first movable table for moving (61) and the first movable table (61) around the lower leg support base (58) expansion and contraction direction of the axis of the lower leg a substantially parallel to the installation surface of the reduction device First driving means (62) that is a first motor that rotates around
A ball screw shaft ( 67) is moved by a second movable table (67) for moving the crus support (58) in a direction substantially parallel to the installation surface of the reduction device and parallel to the axis , and a second motor (97). 94) and a second driving means (68) for driving the second movable table (67) by moving a ball screw nut screwed to the ball screw shaft (94) .
A universal joint that is interposed between the crus support (58) and the first movable table (61), is movable substantially around an axis that is substantially parallel to the installation surface of the reduction device and perpendicular to the axis. 72) which is a motor that is moved around an axis that is substantially parallel to the installation surface of the reduction device and is perpendicular to the axis by rotating the joint member (72A ) that constitutes 72) . Driving means (102);
A second joint member (72B) which constitutes a universal joint (72) together with the joint member (72A) and is movable around an axis substantially perpendicular to an installation surface of the reduction device ;
The second joint member (72B) interposed between the crus support (58) and the first movable table (61) is moved around an axis that is substantially perpendicular to the installation surface of the reduction device . And a fifth drive means (104) which is a motor . A control unit (113) for controlling the entire apparatus;
A change-over switch for switching the control by the control unit (113) so that a person performing reduction treatment moves the lower leg by performing various operations such as expansion, contraction, or twisting of the patient's lower limb by his / her own force;
A sensor (114) for detecting the force applied to the patient's lower limb by the person performing the reduction treatment and its direction;
When the control is switched by the changeover switch so that the person who performs reduction therapy moves the patient's lower limb by his / her own force, the control unit (113) is configured so that the person performing the reduction therapy can move the lower limb of the patient. Force applied to the patient's lower limb by the person performing the reduction treatment, detected by the sensor (114) of the first drive means (62) and the second drive means (68). reduction devices of those corresponding to the direction, according to any one of claims 1 to 3, characterized in that drive in the direction force detected by said sensor (114) is reduced. A control unit (113) for controlling the entire apparatus;
A change-over switch for switching the control by the control unit (113) so that a person performing reduction treatment moves the lower leg by performing various operations such as expansion, contraction, or twisting of the patient's lower limb by his / her own force;
A sensor (114) for detecting the force applied to the patient's lower limb by the person performing the reduction treatment and its direction;
When the control is switched by the changeover switch so that the person who performs reduction therapy moves the patient's lower limb by his / her own force, the control unit (113) is configured so that the person performing the reduction therapy can move the lower limb of the patient. When a force is applied to the first driving means (62), the second driving means (68), the fourth driving means (102), and the fifth driving means (104), the sensor (114) Detected by the person performing reduction treatment
8. A reduction device according to claim 7 , characterized in that the one corresponding to the direction of the force applied to the lower leg of the person is driven in a direction in which the force detected by the sensor (114) is reduced.

Images