JP5968591B2 - 整形外科用関節を制御する方法 - Google Patents
整形外科用関節を制御する方法 Download PDFInfo
- Publication number
- JP5968591B2 JP5968591B2 JP2010532428A JP2010532428A JP5968591B2 JP 5968591 B2 JP5968591 B2 JP 5968591B2 JP 2010532428 A JP2010532428 A JP 2010532428A JP 2010532428 A JP2010532428 A JP 2010532428A JP 5968591 B2 JP5968591 B2 JP 5968591B2
- Authority
- JP
- Japan
- Prior art keywords
- braking
- special function
- extension
- joint
- orthopedic
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 0 CCC(CC(C)=*)(CC1C2)C1C1C3C2C(*)CC3[C@@](CC=*=CC2C3)[C@@]2C3(CC2)C2C1 Chemical compound CCC(CC(C)=*)(CC1C2)C1C1C3C2C(*)CC3[C@@](CC=*=CC2C3)[C@@]2C3(CC2)C2C1 0.000 description 2
- XDTMQSROBMDMFD-UHFFFAOYSA-N C1CCCCC1 Chemical compound C1CCCCC1 XDTMQSROBMDMFD-UHFFFAOYSA-N 0.000 description 1
Images
Classifications
-
- 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
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
- A61B5/112—Gait analysis
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/48—Other medical applications
- A61B5/4851—Prosthesis assessment or monitoring
-
- 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
- A61F2/68—Operating or control means
-
- 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
- A61F2/68—Operating or control means
- A61F2/70—Operating or control means electrical
-
- 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
- A61F2/68—Operating or control means
- A61F2/74—Operating or control means fluid, i.e. hydraulic or pneumatic
-
- 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
- A61F2/68—Operating or control means
- A61F2/74—Operating or control means fluid, i.e. hydraulic or pneumatic
- A61F2/741—Operating or control means fluid, i.e. hydraulic or pneumatic using powered actuators, e.g. stepper motors or solenoids
-
- 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
- A61F2/64—Knee 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
- A61F2/66—Feet; Ankle joints
- A61F2/6607—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
- A61F2002/5003—Prostheses not implantable in the body having damping means, e.g. shock absorbers
- A61F2002/5006—Dampers, e.g. hydraulic damper
-
- 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
- A61F2002/5016—Prostheses not implantable in the body adjustable
- A61F2002/5033—Prostheses not implantable in the body adjustable for adjusting damping
-
- 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
- A61F2002/5016—Prostheses not implantable in the body adjustable
- A61F2002/5035—Prostheses not implantable in the body adjustable for adjusting volume flow
-
- 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
- A61F2/68—Operating or control means
- A61F2002/6818—Operating or control means for braking
-
- 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
- A61F2/68—Operating or control means
- A61F2/70—Operating or control means electrical
- A61F2002/701—Operating or control means electrical operated by electrically controlled means, e.g. solenoids or torque motors
-
- 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
- A61F2/68—Operating or control means
- A61F2/70—Operating or control means electrical
- A61F2002/704—Operating or control means electrical computer-controlled, e.g. robotic control
-
- 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
- A61F2/76—Means for assembling, fitting or testing prostheses, e.g. for measuring or balancing, e.g. alignment means
- A61F2002/7615—Measuring means
- A61F2002/7625—Measuring means for measuring angular position
-
- 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
- A61F2/76—Means for assembling, fitting or testing prostheses, e.g. for measuring or balancing, e.g. alignment means
- A61F2002/7615—Measuring means
- A61F2002/763—Measuring means for measuring spatial position, e.g. global positioning system [GPS]
-
- 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
- A61F2/76—Means for assembling, fitting or testing prostheses, e.g. for measuring or balancing, e.g. alignment means
- A61F2002/7615—Measuring means
- A61F2002/7635—Measuring means for measuring force, pressure or mechanical tension
-
- 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
- A61F2/76—Means for assembling, fitting or testing prostheses, e.g. for measuring or balancing, e.g. alignment means
- A61F2002/7615—Measuring means
- A61F2002/764—Measuring means for measuring acceleration
-
- 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
- A61F2/76—Means for assembling, fitting or testing prostheses, e.g. for measuring or balancing, e.g. alignment means
- A61F2002/7615—Measuring means
- A61F2002/7645—Measuring means for measuring torque, e.g. hinge or turning moment, moment of force
-
- 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
- A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices; Anti-rape devices
- A61F5/01—Orthopaedic devices, e.g. splints, casts or braces
- A61F5/0102—Orthopaedic devices, e.g. splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations
- A61F2005/0132—Additional features of the articulation
- A61F2005/0155—Additional features of the articulation with actuating means
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Animal Behavior & Ethology (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Transplantation (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Vascular Medicine (AREA)
- Cardiology (AREA)
- Physics & Mathematics (AREA)
- Biophysics (AREA)
- Pathology (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Surgery (AREA)
- Physiology (AREA)
- Dentistry (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Prostheses (AREA)
Description
K 基準
S 特殊機能
Claims (24)
- 下肢の整形外科用関節を、少なくとも1自由度で、調整可能なアクチュエータによって、制御するための方法であって、このアクチュエータは、或る肢に取り付けるための上方の接続手段と、これらの接続手段から遠位で関節式に設けられた整形外科要素とを有する整形外科用装置を、平面歩行とは異なる歩行状況に適合させるために用いられ、前記方法は、以下の工程を備える。
a)前記整形外科用装置の複数のパラメータを複数のセンサによって検出すること、
b)前記検出されたパラメータを、複数のパラメータおよび/またはパラメータ・プロファイルに基づいて作成されかつコンピュータ・ユニットに保存された複数の基準と比較すること、
c)前記検出されたパラメータおよび/またはパラメータ・プロファイルに基づいて最も適切である基準を選択すること、および
d)運動抵抗、可動域、駆動力および/または運動抵抗、可動域、駆動力のプロファイルを、前記選択された基準に基づいて適合させ、平面歩行とは異なる特殊機能を制御することであって、
前記特殊機能は、着地期および股関節伸展期における伸展制動および/または屈曲制動を、平面歩行のための立脚期制御の制動より上のレベルへ高めることである、平面歩行とは異なる特殊機能を制御すること、及び、
前記特殊機能では、着地期および股関節伸展期における調整された屈曲制動および/または伸展制動を、完全な股関節伸展まで維持すること。 - 前記アクチュエータとしては、スイッチ、ポンプ、エネルギ貯蔵装置および/または電気モータを用いることを特徴とする請求項1に記載の方法。
- 前記パラメータとしては、関節角度および/または関節角度の変化のプロファイルを用いることを特徴とする請求項1または2に記載の方法。
- 前記パラメータとしては、軸方向力および/または軸方向力プロファイルを用いることを特徴とする請求項1ないし3のいずれか1項に記載の方法。
- 前記パラメータとしては、関節トルクおよび/または関節トルクの変化のプロファイルを用いることを特徴とする請求項1ないし4のいずれか1項に記載の方法。
- 前記パラメータとしては、垂直方向運動および/または垂直方向運動のプロファイルを用いることを特徴とする請求項1ないし5のいずれか1項に記載の方法。
- 前記パラメータとしては、水平方向運動および/または水平方向運動のプロファイルを用いることを特徴とする請求項1ないし6のいずれか1項に記載の方法。
- 前記パラメータとしては、前記整形外科用装置の一部分の、空間での傾斜角および/または前記整形外科用装置の一部分の傾斜角の変化のプロファイルを用いることを特徴とする請求項1ないし7のいずれか1項に記載の方法。
- 少なくとも2つのパラメータまたパラメータのプロファイルが、1つの基準に纏められていることを特徴とする請求項1ないし8のいずれか1に記載の方法。
- 複数の基準が、1つの特殊機能を開始することができることを特徴とする請求項1ないし9のいずれか1に記載の方法。
- 前記特殊機能では、着地期における伸展制動および/または屈曲制動を、最大値へ高めることを特徴とする請求項1ないし10のいずれか1項に記載の方法。
- 整形外科用の膝関節の場合に、前記特殊機能を、下腿に作用する軸方向力の低下の際に、および膝関節が伸展されているか伸展する際に、開始し、前記特殊機能では、屈曲制動を減少させることを特徴とする請求項1ないし11のいずれか1項に記載の方法。
- 更に、定められたレベルより下への軸方向力の低下を考慮することを特徴とする請求項12に記載の方法。
- 整形外科用の膝関節の場合に、特殊機能を、下腿が後方に傾斜されている際に、膝関節が伸展された際に、および、膝トルクが、定められたレベルより低い際に、開始し、前記特殊機能では、屈曲制動を減少させることを特徴とする請求項1ないし11のいずれか1項に記載の方法。
- 上方への垂直方向加速度があって、軸方向力が、定められたレベルより低い場合に、前記特殊機能を開始し、この特殊機能では、屈曲制動を減少させることを特徴とする請求項1ないし11のいずれか1項に記載の方法。
- 後方への水平方向加速度があって、軸方向力が、定められたレベルより低い場合に、前記特殊機能を開始し、この特殊機能では、屈曲制動を減少させることを特徴とする請求項1ないし11のいずれか1項に記載の方法。
- 前記制動を、持ち上げ期および/または着地期中に調整することを特徴とする請求項1ないし16のいずれか1項に記載の方法。
- 前記制動を、立脚期中にまたは遊脚期中に調整することを特徴とする請求項1ないし16のいずれか1に記載の方法。
- 前記遠位に設けられた整形外科要素の低トルクの持ち上げを、力センサまたはトルクセンサによって検出することを請求項1ないし18のいずれか1項に記載の方法。
- 低トルクの持ち上げを、前記遠位に設けられた整形外科要素の垂直方向加速度の測定および関節における屈曲の検出によって、検出することを特徴とする請求項1ないし19のいずれか1項に記載の方法。
- 前記持ち上げ期では、プレストレスされたばね機構により屈曲を支援することを特徴とする請求項1ないし20のいずれか1項に記載の方法。
- 前記屈曲制動が減少した後に、自由な伸展を、時間制御によって調整することを特徴とする請求項1ないし21のいずれか1項に記載の方法。
- 前記時間制御を機械式または電子式に行なうことを特徴とする請求項22に記載の方法。
- 前記複数のパラメータを歩行中に確定することを特徴とする請求項1ないし23のいずれか1項に記載の方法。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102007053389A DE102007053389A1 (de) | 2007-11-07 | 2007-11-07 | Verfahren zur Steuerung eines orthopädischen Gelenkes |
DE102007053389.8 | 2007-11-07 | ||
PCT/DE2008/001821 WO2009059594A2 (de) | 2007-11-07 | 2008-11-05 | Verfahren zur steuerung eines orthopädischen gelenkes |
Related Child Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2014165239A Division JP6109793B2 (ja) | 2007-11-07 | 2014-08-14 | 整形外科用関節を制御する方法 |
Publications (3)
Publication Number | Publication Date |
---|---|
JP2011502593A JP2011502593A (ja) | 2011-01-27 |
JP2011502593A5 JP2011502593A5 (ja) | 2011-05-26 |
JP5968591B2 true JP5968591B2 (ja) | 2016-08-10 |
Family
ID=40521507
Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2010532428A Active JP5968591B2 (ja) | 2007-11-07 | 2008-11-05 | 整形外科用関節を制御する方法 |
JP2014165239A Active JP6109793B2 (ja) | 2007-11-07 | 2014-08-14 | 整形外科用関節を制御する方法 |
Family Applications After (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2014165239A Active JP6109793B2 (ja) | 2007-11-07 | 2014-08-14 | 整形外科用関節を制御する方法 |
Country Status (9)
Country | Link |
---|---|
US (3) | US9877849B2 (ja) |
EP (2) | EP2222253B1 (ja) |
JP (2) | JP5968591B2 (ja) |
CN (1) | CN101909553B (ja) |
CA (1) | CA2704792C (ja) |
DE (1) | DE102007053389A1 (ja) |
RU (1) | RU2484789C2 (ja) |
TW (1) | TWI494095B (ja) |
WO (1) | WO2009059594A2 (ja) |
Families Citing this family (41)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7815689B2 (en) | 2003-11-18 | 2010-10-19 | Victhom Human Bionics Inc. | Instrumented prosthetic foot |
US20050107889A1 (en) | 2003-11-18 | 2005-05-19 | Stephane Bedard | Instrumented prosthetic foot |
US7637959B2 (en) | 2004-02-12 | 2009-12-29 | össur hf | Systems and methods for adjusting the angle of a prosthetic ankle based on a measured surface angle |
CA2863933C (en) | 2004-12-22 | 2018-08-07 | Ossur Hf | Systems and methods for processing limb motion |
DE102006021802A1 (de) | 2006-05-09 | 2007-11-15 | Otto Bock Healthcare Ip Gmbh & Co. Kg | Steuerung eines passiven Prothesenkniegelenkes mit verstellbarer Dämpfung |
US7985265B2 (en) * | 2006-12-14 | 2011-07-26 | Chas. A. Blatchford & Sons Limited | Prosthetic ankle and foot combination |
GB0701662D0 (en) | 2006-12-14 | 2007-03-07 | Blatchford & Sons Ltd | A lower limb prosthesis |
WO2008080233A1 (en) | 2007-01-05 | 2008-07-10 | Victhom Human Bionics Inc. | High torque active mechanism for orthotic and/or prosthetic devices |
US8435309B2 (en) | 2007-01-05 | 2013-05-07 | Victhom Human Bionics | Joint actuation mechanism for a prosthetic and/or orthotic device having a compliant transmission |
US10842653B2 (en) | 2007-09-19 | 2020-11-24 | Ability Dynamics, Llc | Vacuum system for a prosthetic foot |
DE102007053389A1 (de) * | 2007-11-07 | 2009-05-20 | Otto Bock Healthcare Ip Gmbh & Co. | Verfahren zur Steuerung eines orthopädischen Gelenkes |
DE102008008284A1 (de) | 2008-02-07 | 2009-08-13 | Otto Bock Healthcare Gmbh | Orthopädisches Kniegelenk sowie Verfahren zur Steuerung eines orthopädischen Kniegelenkes |
EP2257247B1 (en) | 2008-03-24 | 2018-04-25 | Ossur HF | Transfemoral prosthetic systems and methods for operating the same |
DE102009052893A1 (de) | 2009-11-13 | 2011-05-19 | Otto Bock Healthcare Products Gmbh | Verfahren und Vorrichtung zur Steuerung eines künstlichen orthetischen oder prothetischen Gelenkes |
DE102009052887B4 (de) * | 2009-11-13 | 2016-09-15 | Otto Bock Healthcare Products Gmbh | Verfahren zur Steuerung eines orthetischen oder prothetischen Gelenkes einer unteren Extremität |
DE102009052895A1 (de) | 2009-11-13 | 2011-05-19 | Otto Bock Healthcare Products Gmbh | Verfahren und Vorrichtung zur Steuerung eines künstlichen orthetischen oder prothetischen Kniegelenkes |
DE102009052890A1 (de) | 2009-11-13 | 2011-05-19 | Otto Bock Healthcare Products Gmbh | Vorrichtung und Verfahren zur Steuerung eines künstlichen orthetischen oder prothetischen Gelenkes |
DE102009052888A1 (de) | 2009-11-13 | 2011-05-19 | Otto Bock Healthcare Products Gmbh | Verfahren und Vorrichtung zur Steuerung eines künstlichen orthetischen oder prothetischen Gelenkes |
DE102009052894A1 (de) * | 2009-11-13 | 2011-06-01 | Otto Bock Healthcare Products Gmbh | Verfahren und Vorrichtung zur Steuerung eines künstlichen orthetischen oder prothetischen Gelenkes |
TWI502389B (zh) * | 2009-11-17 | 2015-10-01 | Ind Tech Res Inst | 生物力學分析系統與方法 |
CA2789584A1 (en) * | 2010-02-12 | 2011-08-18 | Freedom Innovations, L.L.C. | Novel enhanced methods for mimicking human gait with prosthetic knee devices |
WO2012047721A1 (en) | 2010-09-29 | 2012-04-12 | össur hf | Prosthetic and orthotic devices and methods and systems for controlling the same |
US9060884B2 (en) | 2011-05-03 | 2015-06-23 | Victhom Human Bionics Inc. | Impedance simulating motion controller for orthotic and prosthetic applications |
DE102012003369A1 (de) | 2012-02-22 | 2013-08-22 | Otto Bock Healthcare Gmbh | Verfahren zur Steuerung eines künstlichen Orthesen- oder Prothesenkniegelenks |
JP5967697B2 (ja) * | 2012-03-08 | 2016-08-10 | 国立大学法人 香川大学 | 膝継手 |
JP5967700B2 (ja) * | 2012-04-02 | 2016-08-10 | 国立大学法人 香川大学 | 膝継手 |
DE102012013141A1 (de) | 2012-07-03 | 2014-05-08 | Otto Bock Healthcare Gmbh | Orthetische oder prothetische Gelenkeinrichtung und Verfahren zu dessen Steuerung |
DE102012107117A1 (de) | 2012-08-02 | 2014-02-06 | Georg-August-Universität Göttingen Stiftung Öffentlichen Rechts | Orthesensteuerung |
EP3427702A1 (en) | 2013-02-26 | 2019-01-16 | Össur HF | Prosthetic foot with enhanced stability and elastic energy return |
DE102013013810B3 (de) * | 2013-08-22 | 2015-02-19 | Otto Bock Healthcare Products Gmbh | Verfahren zur Steuerung eines künstlichen Orthesen- oder Prothesenkniegelenkes |
TW201521700A (zh) * | 2013-12-11 | 2015-06-16 | Teh Lin Prosthetic & Orthopaedic Inc | 具有自動調整阻力層級功能的義肢膝關節及其調整方法 |
DE102014100460A1 (de) * | 2014-01-16 | 2015-07-16 | Tyromotion Gmbh | Anordnung zur unterstützenden Beeinflussung einer Bewegung, Rehabilitationssystem und Bewegungsunterstützungssystem |
WO2015157723A1 (en) * | 2014-04-11 | 2015-10-15 | össur hf | Prosthetic foot with removable flexible members |
EP3193789B1 (en) | 2014-09-19 | 2019-08-21 | Össur HF | Variable stiffness prosthetic foot |
DE102015106392B4 (de) | 2015-04-24 | 2020-07-09 | Otto Bock Healthcare Products Gmbh | Verfahren zur Steuerung der Standphasendämpfung eines künstlichen Kniegelenks |
DE102015106389B4 (de) * | 2015-04-24 | 2016-11-10 | Otto Bock Healthcare Products Gmbh | Verfahren zur Steuerung eines künstlichen Kniegelenkes |
DE102015107783A1 (de) * | 2015-05-18 | 2016-11-24 | Inventus Engineering Gmbh | Prothesen- oder Exoskelettkomponente, Prothesen- oder Exoskelett und Verfahren |
DE102017111558B3 (de) * | 2017-05-26 | 2018-08-16 | Ralph Scharpenberg E.K. | Gelenkprothese |
DE102017131319B4 (de) * | 2017-12-27 | 2019-07-04 | Otto Bock Healthcare Products Gmbh | Orthopädietechnische Einrichtung und Verfahren zu deren Steuerung |
DE102019115098A1 (de) * | 2019-06-05 | 2020-12-10 | Otto Bock Healthcare Products Gmbh | Verfahren zum Steuern eines künstlichen Kniegelenks |
DE102021006127A1 (de) | 2021-12-13 | 2023-06-15 | Otto Bock Healthcare Products Gmbh | Orthopädietechnische Elnrichtung und Verfahren zu deren Steuerung |
Family Cites Families (22)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS5971746A (ja) | 1982-10-19 | 1984-04-23 | 工業技術院長 | 動力義足 |
US5383939A (en) | 1991-12-05 | 1995-01-24 | James; Kelvin B. | System for controlling artificial knee joint action in an above knee prosthesis |
US5662693A (en) * | 1995-06-05 | 1997-09-02 | The United States Of America As Represented By The Secretary Of The Air Force | Mobility assist for the paralyzed, amputeed and spastic person |
GB9813904D0 (en) | 1997-08-15 | 1998-08-26 | Blatchford & Sons Ltd | A lower limb prosthesis |
GB2367753B (en) * | 1997-08-15 | 2002-05-29 | Blatchford & Sons Ltd | A lower limb prosthesis |
DE19859931A1 (de) | 1998-12-24 | 2000-07-06 | Biedermann Motech Gmbh | Beinprothese mit einem künstlichen Kniegelenk und Verfahren zur Steuerung einer Beinprothese |
JP3436513B2 (ja) * | 2000-02-08 | 2003-08-11 | 有限会社長崎かなえ義肢製作所 | 義 足 |
RU2271779C2 (ru) * | 2000-03-29 | 2006-03-20 | Массачусеттс Инститьют Оф Текнолоджи | Способ адаптивного управления амортизацией протезного колена в фазе стояния, способ адаптивного управления амортизацией момента протезного колена в фазе ходьбы, протезное колено, приспосабливающееся для управления моментом амортизации во время фазы стояния человека без ноги, и протезный узел |
US7918808B2 (en) * | 2000-09-20 | 2011-04-05 | Simmons John C | Assistive clothing |
US7637959B2 (en) * | 2004-02-12 | 2009-12-29 | össur hf | Systems and methods for adjusting the angle of a prosthetic ankle based on a measured surface angle |
CN1929797B (zh) * | 2004-02-12 | 2010-05-26 | 奥瑟Hf公司 | 用于运动受控制的足单元的系统和方法 |
US20060184280A1 (en) | 2005-02-16 | 2006-08-17 | Magnus Oddsson | System and method of synchronizing mechatronic devices |
WO2005087144A2 (en) | 2004-03-10 | 2005-09-22 | össur hf | Control system and method for a prosthetic knee |
GB0419480D0 (en) * | 2004-09-02 | 2004-10-06 | Univ Surrey | Movement description and analysis |
CA2863933C (en) * | 2004-12-22 | 2018-08-07 | Ossur Hf | Systems and methods for processing limb motion |
US20060249315A1 (en) * | 2005-03-31 | 2006-11-09 | Massachusetts Institute Of Technology | Artificial human limbs and joints employing actuators, springs, and variable-damper elements |
EP1874239B1 (en) * | 2005-04-13 | 2014-06-11 | The Regents of The University of California | Semi-powered lower extremity exoskeleton |
AU2006279208C1 (en) * | 2005-08-10 | 2011-10-20 | Bionic Power Inc. | Methods and apparatus for harvesting biomechanical energy |
WO2007027808A2 (en) * | 2005-09-01 | 2007-03-08 | össur hf | System and method for determining terrain transitions |
WO2007103579A2 (en) * | 2006-03-09 | 2007-09-13 | The Regents Of The University Of California | Power generating leg |
DE102006021802A1 (de) | 2006-05-09 | 2007-11-15 | Otto Bock Healthcare Ip Gmbh & Co. Kg | Steuerung eines passiven Prothesenkniegelenkes mit verstellbarer Dämpfung |
DE102007053389A1 (de) * | 2007-11-07 | 2009-05-20 | Otto Bock Healthcare Ip Gmbh & Co. | Verfahren zur Steuerung eines orthopädischen Gelenkes |
-
2007
- 2007-11-07 DE DE102007053389A patent/DE102007053389A1/de not_active Withdrawn
-
2008
- 2008-11-05 EP EP08847861.5A patent/EP2222253B1/de active Active
- 2008-11-05 EP EP15002897.5A patent/EP3001984B8/de active Active
- 2008-11-05 US US12/741,303 patent/US9877849B2/en active Active
- 2008-11-05 WO PCT/DE2008/001821 patent/WO2009059594A2/de active Application Filing
- 2008-11-05 JP JP2010532428A patent/JP5968591B2/ja active Active
- 2008-11-05 CA CA2704792A patent/CA2704792C/en not_active Expired - Fee Related
- 2008-11-05 RU RU2010122990/14A patent/RU2484789C2/ru active
- 2008-11-05 CN CN2008801240772A patent/CN101909553B/zh active Active
- 2008-11-06 TW TW097142807A patent/TWI494095B/zh active
-
2014
- 2014-08-14 JP JP2014165239A patent/JP6109793B2/ja active Active
-
2018
- 2018-01-26 US US15/881,537 patent/US10952875B2/en active Active
-
2021
- 2021-03-22 US US17/209,094 patent/US20210205100A1/en active Pending
Also Published As
Publication number | Publication date |
---|---|
DE102007053389A1 (de) | 2009-05-20 |
WO2009059594A3 (de) | 2009-08-06 |
US20180177617A1 (en) | 2018-06-28 |
EP2222253A2 (de) | 2010-09-01 |
WO2009059594A2 (de) | 2009-05-14 |
US20100305716A1 (en) | 2010-12-02 |
US10952875B2 (en) | 2021-03-23 |
RU2010122990A (ru) | 2011-12-20 |
JP2011502593A (ja) | 2011-01-27 |
EP3001984B1 (de) | 2018-08-22 |
JP6109793B2 (ja) | 2017-04-05 |
EP2222253B1 (de) | 2015-09-30 |
JP2015013172A (ja) | 2015-01-22 |
TW200930340A (en) | 2009-07-16 |
CA2704792C (en) | 2016-05-17 |
EP3001984B8 (de) | 2018-10-31 |
CN101909553B (zh) | 2013-11-27 |
RU2484789C2 (ru) | 2013-06-20 |
EP3001984A1 (de) | 2016-04-06 |
TWI494095B (zh) | 2015-08-01 |
US20210205100A1 (en) | 2021-07-08 |
CA2704792A1 (en) | 2009-05-14 |
CN101909553A (zh) | 2010-12-08 |
US9877849B2 (en) | 2018-01-30 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP6109793B2 (ja) | 整形外科用関節を制御する方法 | |
JP5678079B2 (ja) | 下肢の矯正用または補装用の関節を制御するための方法 | |
US9572690B2 (en) | Method and device for controlling an artificial orthotic or prosthetic joint | |
JP4718635B2 (ja) | 調整可能な制動機能でパッシブな人工膝関節を制御する方法 | |
JP6139558B2 (ja) | 下肢義足 | |
US9278013B2 (en) | Device and method for controlling an artificial orthotic or prosthetic joint | |
JP2009183719A (ja) | 義足足部または足矯正器の形態のパッシブな整形外科用の補助手段 | |
JP2002533161A (ja) | 人工膝関節を備える脚用人工装具および脚用人工装具を制御するための方法 | |
JP2023542827A (ja) | 義足の制御方法 | |
US20220304831A1 (en) | Method for controlling an artificial knee joint | |
US20230270570A1 (en) | Method for controlling a prosthesis or orthesis | |
RU2814943C2 (ru) | Способ для управления искусственным коленным суставом | |
US20240207073A1 (en) | Gait controls for powered knee prosthesis | |
JP2023534396A (ja) | 義肢又は装具の制御方法 | |
WO2024134561A1 (en) | Control of sit-down activity for powered knee prosthesis |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20110406 |
|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20110406 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20121127 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20130227 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20130702 |
|
A601 | Written request for extension of time |
Free format text: JAPANESE INTERMEDIATE CODE: A601 Effective date: 20131002 |
|
A602 | Written permission of extension of time |
Free format text: JAPANESE INTERMEDIATE CODE: A602 Effective date: 20131009 |
|
A601 | Written request for extension of time |
Free format text: JAPANESE INTERMEDIATE CODE: A601 Effective date: 20131101 |
|
A602 | Written permission of extension of time |
Free format text: JAPANESE INTERMEDIATE CODE: A602 Effective date: 20131111 |
|
A601 | Written request for extension of time |
Free format text: JAPANESE INTERMEDIATE CODE: A601 Effective date: 20131202 |
|
A602 | Written permission of extension of time |
Free format text: JAPANESE INTERMEDIATE CODE: A602 Effective date: 20131209 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20131213 |
|
A02 | Decision of refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A02 Effective date: 20140415 |
|
A601 | Written request for extension of time |
Free format text: JAPANESE INTERMEDIATE CODE: A601 Effective date: 20151021 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20160121 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20160706 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 5968591 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |