JP5237144B2 - 整形外科用の足部および整形外科用の足部を制御するための方法 - Google Patents
整形外科用の足部および整形外科用の足部を制御するための方法 Download PDFInfo
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- JP5237144B2 JP5237144B2 JP2009027681A JP2009027681A JP5237144B2 JP 5237144 B2 JP5237144 B2 JP 5237144B2 JP 2009027681 A JP2009027681 A JP 2009027681A JP 2009027681 A JP2009027681 A JP 2009027681A JP 5237144 B2 JP5237144 B2 JP 5237144B2
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- 230000000399 orthopedic effect Effects 0.000 title claims description 28
- 238000000034 method Methods 0.000 title claims description 26
- 210000002683 foot Anatomy 0.000 claims description 117
- 210000004744 fore-foot Anatomy 0.000 claims description 35
- 230000033001 locomotion Effects 0.000 claims description 30
- 210000002414 leg Anatomy 0.000 claims description 24
- 210000001699 lower leg Anatomy 0.000 claims description 24
- 230000007935 neutral effect Effects 0.000 claims description 22
- 210000004394 hip joint Anatomy 0.000 claims description 19
- 239000012530 fluid Substances 0.000 claims description 6
- 238000005259 measurement Methods 0.000 claims description 5
- 230000008569 process Effects 0.000 claims description 4
- 238000001356 surgical procedure Methods 0.000 claims description 3
- 230000007423 decrease Effects 0.000 claims description 2
- 238000001514 detection method Methods 0.000 description 13
- 239000013013 elastic material Substances 0.000 description 7
- 239000007788 liquid Substances 0.000 description 7
- 210000003371 toe Anatomy 0.000 description 7
- 230000001133 acceleration Effects 0.000 description 6
- 238000005452 bending Methods 0.000 description 4
- 230000005021 gait Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
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- 230000007704 transition Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 238000004904 shortening Methods 0.000 description 2
- 210000001015 abdomen Anatomy 0.000 description 1
- 210000000544 articulatio talocruralis Anatomy 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 210000000629 knee joint Anatomy 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000037230 mobility Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 210000001226 toe joint Anatomy 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
- 210000001364 upper extremity Anatomy 0.000 description 1
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- Health & Medical Sciences (AREA)
- Transplantation (AREA)
- Vascular Medicine (AREA)
- Life Sciences & Earth Sciences (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Veterinary Medicine (AREA)
- Cardiology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Orthopedic Medicine & Surgery (AREA)
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Description
立脚と歩行との間の相違は、以下の判定基準でなされる。
遊脚局面は、足部が遊脚局面において無負荷であるので、踝モーメントがゼロに近いことによって検出される。
(底屈の際の)マイナスの踝モーメントが検出される。絶対角度信号が、立脚に関して個々に定められているしきい値と比較した、前方へ揺動された足部に対応する。
踵の接地が検出された後に、前足部分10の絶対角度が、立脚に関して個々に定められているしきい値の範囲内にある。その代わりにまたは補足的に、背部から足底への立脚局面中期における動き方向のアクティブな反転を、立脚か否かの判断基準として検出することができる。
歩行サイクルにおける立脚局面中期の初めの、すなわち、地面への足部全体の着地後の、測定された絶対角度は、絶対角度に関する、平面における歩行に関して定められた数値範囲よりも大きいか、小さい。
後方への歩行の検出は、後方遊脚局面(Rueckschwungsphase)の検出と、戻された状態における前足部分の接地の検出とからなる。
測定された踝モーメントがゼロに近いときは、絶対角度信号は、立脚に対して戻された足部(後傾)に対応する。絶対角速度は、所定のしきい値を上回る。
より大きなプラスの踝モーメントが測定される。
トリガ信号が手動で始動される最中に、踵の高さを、絶対角度信号の読み取りによって検出することは好ましい。絶対角度に比例して、制御弁27,28のための中立点が調整される。
足底から背部への動き方向の転向の際に絶対角度が測定されるのは、踝モーメントが中立点の通過を達成する場合である。これに応じて、制御弁27,28を有する液圧シリンダ17を制御するための背部ストッパは、地面の傾斜に従って調整される。
絶対角度センサ20が、互いに直交している複数の加速成分のための2つの加速度センサからなり、これらの加速成分が別個に形成されているとき、主要部分10の、垂直方向に進んだ距離および水平方向に進んだ距離が検出される。距離区間は、対応の加速成分上の2重積分によって、算出される。これらの場合、階段の降下の区別を行い、これに従って、底屈および背屈の際の制動特性のためにストッパを調整することが可能である。
7 踝関節
10 足部、主要足部
17 制動装置
20 絶対角度センサ
21 モーメント・センサ
Claims (29)
- 整形外科用の足部であって、下腿接続部と、踝関節(7)として作用する回転ヒンジ(5)と、前記回転ヒンジ(5)を中心とした回転運動に影響を及ぼす制動装置(17)と、前記整形外科用の足部の作動状態を検出するためのセンサ装置と、このセンサ装置に結合されておりかつ前記制動装置(17)を制御する制御装置とを具備し、前記回転ヒンジによって、足部(10)が背屈および底屈の方向に回転自在に前記下腿接続部に結合されており、
前記センサ装置は、前記下腿接続部と前記足部(10)との間の角度を測定する踝角度センサと、垂直線に対する絶対角度センサ(20)と、前記踝関節(7)におけるトルクまたは前記踝関節(7)におけるトルクを発生させる力を検出するためのモーメント・センサ(21)とを有することを特徴とする整形外科用の足部。 - 前記制動装置は、一方では底屈方向におよび他方では背屈の方向に別個のおよび別個に制御可能な制動手段を有することを特徴とする請求項1に記載の整形外科用の足部。
- 前記足部は、剛性をもって形成されていることを特徴とする請求項1または2に記載の整形外科用の足部。
- 前記足部(10)は、剛性の基体を有し、この基体からは、弾性的な踵部分が延びていることを特徴とする請求項1または2に記載の整形外科用の足部。
- 前記制動装置(17)は、複数の中間段階に調整可能であることを特徴とする請求項1ないし4のいずれか1に記載の整形外科用の足部。
- 前記制動装置(17)は、連続的に調整可能であることを特徴とする請求項5に記載の整形外科用の足部。
- 前記踝関節(7)の中立点位置を定めるためのスイッチが設けられていることを特徴とする請求項1ないし6のいずれか1に記載の整形外科用の足部。
- 前記スイッチは、遠隔操作スイッチとして形成されていることを特徴とする請求項7に記載の整形外科用の足部。
- 前記センサ装置のデータによる制御によって中立点位置が検出可能であること、および制動手段はゼロ位置から出て制御可能であることを特徴とする請求項1ないし8のいずれか1に記載の整形外科用の足部。
- 前記制動装置(17)は、圧液が貫流する液圧装置であることを特徴とする請求項1ないし9のいずれか1に記載の整形外科用の足部。
- 流れに影響を及ぼすために、背屈方向に背部弁が設けられており、底屈方向に、足底弁が設けられていることを特徴とする請求項10に記載の整形外科用の足部。
- 下腿接続部と、踝関節(7)として作用する回転ヒンジ(5)と、前記回転ヒンジ(5)を中心とした回転運動に影響を及ぼす制動装置(17)と、前記整形外科用の足部の作動状態を検出するためのセンサ装置と、このセンサ装置に結合されておりかつ前記制動装置(17)を制御する制御装置とを具備し、前記回転ヒンジによって、足部(10)が背屈および底屈の方向に回転自在に前記下腿接続部に結合されていてなる整形外科用の足部を制御する方法において、
前記踝関節(7)に生じるトルクに比例する値と、前記下腿接続部と前記足部分(10)との間の踝角度と、垂直線に対する前記足部分(10)の絶対角度とを確定すること、および、これらの測定された値に従って、歩行の立脚局面における足部の運びと、歩行の遊脚局面における前記足部(10)の位置と、立脚中の前記脚部(10)の位置決めおよび可動性とを、前記制動装置(17)によって制御することを特徴とする方法。 - 前記足部の制御を前記制動装置(17)によってのみ定めることを特徴とする請求項12に記載の方法。
- 制動を制御するために、背屈の方向におよび底屈の方向に、複数の別個の制動手段を使用しかつ制御することを特徴とする請求項12または13に記載の方法。
- 前記制動手段を、歩行過程中に、多数の中間位置に、好ましくは連続的に調整することを特徴とする請求項14に記載の方法。
- 前記制動手段を、前記測定された踝角度および/または前記絶対角度を用いて、前記回転ヒンジ(5)をブロックするまで調整することを特徴とする請求項15に記載の方法。
- 歩行サイクルのパラメータへの影響を、この歩行サイクルのための既に測定されたセンサ信号によって、及ぼすことを特徴とする請求項12ないし16のいずれか1に記載の方法。
- 前記歩行サイクルの立脚局面のパラメータへの影響を、同じ立脚局面のための、既に測定されたセンサ信号によって及ぼすことを特徴とする請求項17に記載の方法。
- 前記歩行サイクルの立脚局面中に、背屈のための最大限の踝角度を確定すること、および、当該の制動手段が、最大限の踝角度への接近の際に、自らの制動値をブロックの方向に増加的に上げることを特徴とする請求項12ないし18のいずれか1に記載の方法。
- 前記歩行サイクルの立脚局面中に、底屈方向における動きのための前記制動手段の制動値を、この方向への踝角度が増大するにつれて、徐々に上げることを特徴とする請求項12ないし19のいずれか1に記載の方法。
- 「踵の接地」という状態を、マイナスの踝モーメントの発生および底屈の方向における踝角度の動きによって、検出することを特徴とする請求項12ないし20のいずれか1に記載の方法。
- 立脚に関しては、前記制動手段の制動値の非常な上昇を、既に、中立点に近い小さな角度に対しても、調整することを特徴とする請求項12ないし21のいずれか1に記載の方法。
- 前記中立点を、足部の載置面の傾斜または靴の踵の高さに従って、確定することを特徴とする請求項22に記載の方法。
- 前記踝モーメントが、マイナスの値から始まって、ゼロより大きな値に達したとき、前記中立点を調整することを特徴とする請求項23に記載の方法。
- 前記踵の接地の際に、前記制動手段を、底屈の方向に制御しつつ、最大限の制動値まで調整し、プラスの踝モーメントへの移行の際に、前記制動手段を、底屈を制御しつつ戻すためにおよびストッパを形成するために、背屈の方向に制御することを特徴とする請求項12ないし24のいずれか1に記載の方法。
- 前記歩行サイクルの遊脚局面の初めに、戻しばねによって、背屈方向における戻りを、前記制動手段の値の低下によって、背側方向に行ない、その結果、前記踵の接地の際に、遊脚局面の終りに、前記足部分(10)の背屈が存することを特徴とする請求項12ないし25のいずれか1に記載の方法。
- 足部分として、前記回転ヒンジに接続された基礎部分と、回転ヒンジによってこの基礎部分に結合された前足部分(15)とを用いることを特徴とする請求項12ないし26のいずれか1に記載の方法。
- 前記基礎部分すなわち足部分(10)に対する前記前足部位分(15)の前足角度に関する角度測定を行なうことを特徴とする請求項27に記載の方法。
- 前方への地面の傾斜と、靴の、高くなった踵とを、前記基礎部分(10)と前記前足部分(15)との間の角度を確定することによって、区別することを特徴とする請求項28に記載の方法。
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- 2009-01-27 EP EP13003500.9A patent/EP2649968B1/de active Active
- 2009-01-27 EP EP09001070.3A patent/EP2087859B1/de active Active
- 2009-01-27 PL PL09001070T patent/PL2087859T3/pl unknown
- 2009-01-29 RU RU2009102957/14A patent/RU2473323C2/ru not_active IP Right Cessation
- 2009-02-05 CA CA2652723A patent/CA2652723C/en not_active Expired - Fee Related
- 2009-02-05 US US12/365,924 patent/US8298294B2/en active Active
- 2009-02-06 CN CN200910141983XA patent/CN101569567B/zh active Active
- 2009-02-09 JP JP2009027681A patent/JP5237144B2/ja active Active
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- 2012-09-25 US US13/625,942 patent/US8728171B2/en active Active
Also Published As
Publication number | Publication date |
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CA2652723A1 (en) | 2009-08-07 |
CA2652723C (en) | 2016-08-09 |
US8298294B2 (en) | 2012-10-30 |
US8728171B2 (en) | 2014-05-20 |
CN101569567A (zh) | 2009-11-04 |
PL2087859T3 (pl) | 2013-12-31 |
EP2649968A3 (de) | 2014-03-12 |
US20130024007A1 (en) | 2013-01-24 |
US20090204230A1 (en) | 2009-08-13 |
CN101569567B (zh) | 2013-11-06 |
RU2473323C2 (ru) | 2013-01-27 |
RU2009102957A (ru) | 2010-08-10 |
EP2087859A1 (de) | 2009-08-12 |
DE102008008282A1 (de) | 2009-08-20 |
EP2649968B1 (de) | 2016-04-06 |
DE102008008282B4 (de) | 2014-04-03 |
EP2087859B1 (de) | 2013-08-14 |
JP2009219864A (ja) | 2009-10-01 |
EP2649968A2 (de) | 2013-10-16 |
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