JP5128132B2 - 切断患者のための作動人工補装器 - Google Patents
切断患者のための作動人工補装器 Download PDFInfo
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- JP5128132B2 JP5128132B2 JP2006540123A JP2006540123A JP5128132B2 JP 5128132 B2 JP5128132 B2 JP 5128132B2 JP 2006540123 A JP2006540123 A JP 2006540123A JP 2006540123 A JP2006540123 A JP 2006540123A JP 5128132 B2 JP5128132 B2 JP 5128132B2
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- actuated
- femoral prosthesis
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/60—Artificial legs or feet or parts thereof
- A61F2/66—Feet; Ankle joints
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/60—Artificial legs or feet or parts thereof
-
- A—HUMAN NECESSITIES
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- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
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- A61F2/64—Knee joints
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- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/60—Artificial legs or feet or parts thereof
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- A61F2/642—Polycentric joints, without longitudinal rotation
- A61F2/644—Polycentric joints, without longitudinal rotation of the single-bar or multi-bar linkage type
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- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
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- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/68—Operating or control means
- A61F2/74—Operating or control means fluid, i.e. hydraulic or pneumatic
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- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
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- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
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- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
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- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
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- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
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- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
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Description
従って、本発明は上述のような欠点を回避又は軽減することを目的とする。
一次関節部材と;
前記一次関節部材にソケットを接続するためのソケット部材と;
主長手軸に沿って離間する両端を有する長尺構造部材と;
該構造部材の一端に、端部を接続するためのソケットコネクタ・アッセンブリーと;
前記構造部材を前記一次関節部材に操作自在に接続するためのピボットアッセンブリーであって、前記一次関節部材と該構造部材との間で、前記ピボットアッセンブリーにより規定される第1のピボット軸を中心として両者の相対的な回動を許容するピボットアッセンブリーと;
一端が前記構造部材に接続され、他端が前記ピボットアッセンブリーから離間した位置において前記一次関節部材に接続されたリニアアクチュエータであって、該アクチュエータの進退動作により、前記構造部材に対して前記ピボット軸周りに前記一次関節部材に対応した回動を誘起させるリニアアクチュエータと;
を具備してなることを特徴とする。
図1および2は人工補装器(10)の基本的部材を示しており、これには一次関節部材、つまり膝部材(12)と、長尺構造部材、つまり長尺の下腿部材(14)と、この膝部材(12)と下腿部材(14)と間に作用しこれらの間に相対的動きを生じさせるリニアアクチュエータ(16)とが含まれる。人工補装器(10)は更に、膝部材(12)にソケット(18)を接続させるためのソケットコネクター・アッセンブリー(17)と、下腿部材(14)の下端の下に義足(20)のような手足の端部を接続させるためのコネクターアッセンブリー(19)が含まれる。
図1ないし7の義肢に示されているアクチュエータ(16)は図14に示す制御システム(200)により制御される。図14では最初に1セットとなる複数の人工固有受容器(artificial proprioceptors)(210)を示している。これらの複数の人工固有受容器(210)は切断患者の歩行の動力学について実時間で情報を捕捉するのに使用される複数のセンサーである。1セットとなる複数の人工固有受容器(210)は感知した情報をコントローラ(220)に提供する。このコントローラ(220)は、関節の軌道(joint trajectories)およびアクチュエータ(16)により与えなければならない必要な動力を決定する。ついで、整定値(関節の軌道および必要な動力)が、動力供給部(240)に接続された動力駆動部(230)を介して、アクチュエータ(16)に送られる。
操作に際し、膝アッセンブリー(12)をソケット(18)に接続させ、ピボットアッセンブリー(30)により、下腿部材と、膝との間の、横断水平軸を中心とする相対的動きを可能にさせる。下腿部材(14)との関連での膝部材の回動はアクチュエータ(16)の操作により制御する。このアクチュエータ(16)は、膝部材(12)上のピボットアッセンブリー(80)と、下腿部材(14)の下端のピボットアッセンブリー(100)との間に作用し、アクチュエータ(16)の長さの変化によりピボット(30)を中心とした対応する回動を生じさせる。
図8ないし13は第2の可能な実施例に係る義肢(10)を示している。つまり、ここには後方アクチュエータ構造を備えた義肢(10)の1例が示されている。この実施例は前記前方アクチュエータ構造を使用したものと非常によく似ている。これはアクチュエータ(16)の他の種類のもの、および義足(20)の他のモデルが示されている。下腿部材(14)の中間部(14B)は2個ではなく、4個のバー(54)を使用している。これにはバックプレートが含まれない。更に、下腿部材(14)上に下方延出部が設けられていない。
上記実施例の夫々において、アクチュエータ(16)は、モータ(70)を膝部材(12)近傍に配し、従動部材(74)を下腿部材(14)の下方足首領域に延出させたものである。このような配置は動力の経路および制御ラインを簡略化させ、かつ、足首に向けてのテーパー形状をほぼ可能にし、それにより自然の脚の外形に合致させることができる。しかし、これらの配置においては、モータ(70)は第2のピボットアッセンブリー(80)と共に義肢の動きの範囲を通して移動することになり、従って、膝部材(12)の設計においては、モータの工程容積を融通しなければならない。同様に、膝部材近傍のモータ(70)の位置は、脚の動きの間において、質量分布に変動を生じさせ、それ故、義肢の動力学に変化を生じさせ、使用時に義肢に対し不自然な感じを生じさせることになる。このような問題に対処するものとして、義肢(10)の更なる実施例が図15ないし21に示されている。なお、これらの図において、同様の部材に対しては同様の符号に明瞭のためアクセント符号(’)が付されている。
逆アクチュエータの操作は基本的には、前面装着アクチュエータの場合と同様である。つまり、モータ(70’)の回転によりアクチュエータ(16’)の有効長さを変化させ、下腿部材(14’)との関連で膝部材(12’)を対応して回動させる。このような回動の間において、モータ(70’)はそのピボットアッセンブリー(100’)を中心として揺動するが義肢(10’)の軸に沿って移動することはないことに留意すべきである。従って、モータの動きの範囲でのモータの行程容積は減少し、利用可能な空間のより良好な利用が図られる。更に、義肢における質量分布も、モータの移動の少なさに鑑み、実質的に均一化され、義肢の操作に対しより自然な感触が得られることに気付くであろう。
以下のような技術仕様を推定することができる。
* 最大長さ“r”を0.055m、つまり、r<0.055mに設定する;
* 最小長さおよび最大長さLTを0.3mおよび0.4mにそれぞれ設定する、つまり0.3m<LT<0.4m;
* 最小距離および最大距離dTを−0.015mおよび+0.015mにそれぞれ設定する、つまり−0.015m<dT<+0.015mに設定する。
θK 膝の角度、つまり、角DOA;
r 膝部材(12)の回動中心“O”と、膝部材(12)上のアクチュエータ(16)の取付け点との間の距離;
θfix rと断端の中心軸との間の角度、つまり、角EOC;
LA 膝部材(12)の回動中心と、下腿部材(14)上のアクチュエータ(16)の取付け点との間の距離、つまり、線分OB;
LT 膝部材(12)の回動中心と、下腿部材(14)の取付け点との間の長さ、つまり、線分OA;
dT 下腿部材(14)の中心軸と、下腿部材(14)へのアクチュエータ(16)の取付け点との間の距離、つまり、線分AB;
α LTとLAとの間のなす角度、つまり、角AOB;
L アクチュエータ(16)の長さ、つまり、線分BC;
β LAとrとの間の角度、つまり、角BOC;
br 第1のピボット軸(31)に対するアクチュエータ(16)のレバーアーム
好ましくは、レバーアームbrは、35°の膝角度θKで最大となるようにする。機械的設計の幾何学的計算は、距離r、長さLT、距離dTおよび角度θfixの設定に基づくものである。従って、これらのパラメータは切断患者の固有受容器の測定および選択されたアクチュエータ(16)に従って規定される。
12 膝部材
14 下腿部材
16 アクチュエータ
17 ソケットコネクター・アッセンブリー
18 ソケット
19 コネクター・アッセンブリー
20 義足
22 下部ソケット・コネクター
24 フランジ
26 上部プレート
28 ネジ孔
30 第1のピボットアッセンブリー
32 車軸
34 ベアリング
35 外部スペーサー
36 ハウジング
38 光学スイッチ支持部材
42 ブラケット
44 バンパー
50 フランジ
52 装着ベース
56 バックプレート
70 モータ
72 ネジ
74 従動部材
80 第2のピボットアッセンブリー
82 ベアリング
84 コネクター
86 段付きネジ
90 車軸
92 ロードセル
220 コントローラ
252 光学スイッチ
Claims (27)
- 膝上切断患者の脚部を置換するための作動大腿義足であって、
膝部材と;
該膝部材にソケットを接続するためのソケットコネクターアッセンブリーと;
主長手軸に沿って離間する上端と下端を有する下腿部材と;
該下腿部材の前記下端に、果義足を接続するためのコネクターアッセンブリーと;
前記下腿部材の上端を前記膝部材に操作自在に接続するための第1のピボットアッセンブリーであって、前記膝部材と前記下腿部材との間で、前記第1のピボットアッセンブリーにより規定される第1のピボット軸を中心として両者の相対的な回動を許容する第1のピボットアッセンブリーと;
ロータリーモータと、該モータにより駆動されて前記モータの回転運動を直線状の変位に変換する駆動部材と、弾性部材とを有するシリアルエラスチックアクチュエータであり、前記モータが第2のピボット軸を規定する第2のピボットアッセンブリーを介して前記下腿部材に枢動可能に接続されており、前記駆動部材が第1のピボットアッセンブリーから離間した位置において第3のピボット軸を形成するように前記膝部材に枢動可能に接続されているリニアアクチュエータと;
前記膝上切断患者の歩行の動力学について実時間で情報を捕捉する複数のセンサーで検出して取得した前記膝上切断患者の動作の情報に応じて前記リニアアクチュエータで与えられる動力を決定するコントローラと、を具備し、
前記駆動部材の直線状の変位運動は、前記第1のピボット軸を中心として下腿部材に対応する膝部材の相対的な回動を誘起させ、膝部材と下腿部材との間の相対的な回動は、第1のピボット軸のみで行われ、リニアアクチュエータと下腿部材との間の相対的な回動は、第2のピボット軸のみで行われ、リニアアクチュエータと膝部材との間の相対的な回動は、第3のピボット軸のみで行われることを特徴とする作動大腿義足。 - 前記リニアアクチュエータは、弾性部品の変形に基づく力制御作動を可能にすることを特徴とする請求項1に記載の作動大腿義足。
- 前記複数のセンサーは、弾性部材の圧縮を測定することによってトルクを測定するセンサーを含むことを特徴とする請求項1記載の作動大腿義足。
- 前記アクチュエータは、前記第1のピボット軸に実質的に平行で、かつ、該第1のビボット軸から離間した第2及び第3のピボット軸を有することを特徴とする請求項1記載の作動大腿義足。
- 前記リニアアクチュエータが前記下腿部材内に配置されている請求項1記載の作動大腿義足。
- 前記下腿部材が少なくとも2つの離間したバーを含み、該バーが前記リニアアクチュエータを配置する空間を画成している請求項5記載の作動大腿義足。
- 前記下腿部材が中空シェルを含み、前記リニアアクチュエータが前記シェル内に配置されている請求項5記載の作動大腿義足。
- 前記シェルが、開口部を有したチャンネル部材と、該開口部を覆う着脱自在な蓋体とから形成されている請求項7記載の作動大腿義足。
- エネルギー貯蔵モジュールが前記シェル上に支持されている請求項7記載の作動大腿義足。
- 回路基板が前記シェル上に支持されている請求項7記載の作動大腿義足。
- 前記コネクターアッセンブリーに取着された果義足を更に含み、該果義足が前記作動大腿義足の前方側および後方側を画成している請求項1記載の作動大腿義足。
- 前記リニアアクチュエータの一端が前記第1のピボット軸の前方で、前記膝部材に接続されている請求項11記載の作動大腿義足。
- 前記下腿部材は、上端と下端との間に延出するバックプレートを有する請求項5記載の作動大腿義足。
- 前記リニアアクチュエータの一端が前記第1のピボット軸の後方で、前記膝部材に接続されている請求項11記載の作動大腿義足。
- 前記下腿部材が少なくとも2つの離間したバーからなる中間部を有し、該バーが前記リニアアクチュエータを収納する空間を画成している請求項14記載の作動大腿義足。
- 前記膝部材に取着されたソケットを更に具備している請求項11記載の作動大腿義足。
- 前記コントローラが、少なくとも一つの固有受容器を構成する複数のセンサーからの入力信号に応答して制御信号を前記リニアアクチュエータに出力するようになっている請求項1記載の作動大腿義足。
- 前記コントローラが、動力駆動部に接続された出力部を有し、前記動力駆動部が前記制御信号に応答して電源から前記リニアアクチュエータに電気エネルギーを供給するようになっている請求項17記載の作動大腿義足。
- 前記入力信号が更に、前記リニアアクチュエータに装着されたセンサーからの信号を含むものである請求項17記載の作動大腿義足。
- 前記駆動部材はネジ及び従動部を有し、前記ネジが前記モータにより回動され、前記従動部が前記モータの回動により前記ネジに沿って変位可能である請求項1記載の作動大腿義足。
- 前記モータが前記下腿部材近傍に配置され、前記従動部が前記一次関節部材に接続されている請求項20記載の作動大腿義足。
- 荷重センサーが、前記リニアアクチュエータと前記膝部材及び下腿部材のいずれかとの間に介在されており、作動大腿義足に印加された荷重を示すようになっている請求項1記載の作動大腿義足。
- 前記膝部材と前記下腿部材との間の相対的動きを示すセンサーを更に具備してなる請求項1記載の作動大腿義足。
- 前記センサーが光学センサーである請求項23記載の作動大腿義足。
- 前記膝部材は、上方プレートから下方に向かって突出するフランジを有するU字形部材として形成されている請求項1記載の作動大腿義足。
- 前記ソケットコネクターアッセンブリーは、前記ソケットを接続するために前記膝部材の上方プレートに設けられている請求項25記載の作動大腿義足。
- 前記第1のピボットアッセンブリーは、前記膝部材のフランジに前記下腿部材の上端を動作可能に接続している請求項1記載の作動大腿義足。
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Application Number | Priority Date | Filing Date | Title |
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US10/721,764 US7736394B2 (en) | 2002-08-22 | 2003-11-25 | Actuated prosthesis for amputees |
US10/721,764 | 2003-11-25 | ||
PCT/CA2004/002035 WO2005051248A1 (en) | 2003-11-25 | 2004-11-25 | Actuated prosthesis for amputees |
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JP2007512053A JP2007512053A (ja) | 2007-05-17 |
JP2007512053A5 JP2007512053A5 (ja) | 2011-06-30 |
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JP2006540123A Expired - Fee Related JP5128132B2 (ja) | 2003-11-25 | 2004-11-25 | 切断患者のための作動人工補装器 |
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EP (1) | EP1689332B1 (ja) |
JP (1) | JP5128132B2 (ja) |
KR (1) | KR100834050B1 (ja) |
CN (1) | CN1901858B (ja) |
AT (1) | ATE504270T1 (ja) |
AU (1) | AU2004292345B2 (ja) |
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KR101733858B1 (ko) | 2015-03-27 | 2017-05-08 | 서강대학교산학협력단 | 능동 하퇴 의지 장치 |
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CN1901858B (zh) | 2011-06-15 |
AU2004292345B2 (en) | 2009-06-11 |
DE602004032168D1 (en) | 2011-05-19 |
KR20060105026A (ko) | 2006-10-09 |
US20040181289A1 (en) | 2004-09-16 |
US7736394B2 (en) | 2010-06-15 |
CA2546858A1 (en) | 2005-06-09 |
JP2007512053A (ja) | 2007-05-17 |
US20100262260A1 (en) | 2010-10-14 |
EP1689332B1 (en) | 2011-04-06 |
ATE504270T1 (de) | 2011-04-15 |
US9358137B2 (en) | 2016-06-07 |
CA2546858C (en) | 2011-09-27 |
WO2005051248A1 (en) | 2005-06-09 |
CN1901858A (zh) | 2007-01-24 |
KR100834050B1 (ko) | 2008-06-02 |
EP1689332A1 (en) | 2006-08-16 |
AU2004292345A1 (en) | 2005-06-09 |
EP1689332A4 (en) | 2009-04-22 |
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