KR102021306B1 - 3D Ankle Joint continuous passive motion device - Google Patents

Abstract

The purpose of the present invention is to provide a 3D ankle joint exercising treatment apparatus which provides a 3D complex rehabilitation exercise of ankle joints for ankle joint patients who have a limit to a joint mobility of ankle joints caused by injuries, operations, other diseases and causes or suffer the weakening of muscular strengths around the ankle. To this end, the 3D ankle joint exercising treatment apparatus comprises: ankle joint rehabilitating exercise providing boots which fix a lower part under knees of a patient, provide a joint exercising motion in a 3D direction for ankles of the patient within an anatomically allowable range of the ankle joint and give a rehabilitating exercise of the ankle joint of the patient; a body which has the ankle joint rehabilitating exercise providing boots fixed thereto and moves a location of the ankle joint rehabilitating exercise providing boots up and down, and back and forth according to body conditions of the patient and a location of the rehabilitating exercise of the patient; and a remote controller which controls ankle joint exercise motions in a 3D direction of the ankle joint rehabilitating exercise providing boots and controls a driving device unit moving a location of the ankle joint rehabilitating exercise providing boots by considering the body conditions of the patient and the location of the rehabilitating exercise of the patient.

Description

3D Ankle Joint continuous passive motion device

The present invention relates to a three-dimensional ankle joint continuous motion therapy device, and more particularly, to perform a complex operation in the ankle joint rehabilitation process of ankle injury patients to prevent complications and increase the therapeutic effect of the three-dimensional ankle joint continuous Manual motion device relates to a continuous manual motion therapy device.

In general, patients who are exposed to ankle injuries undergo rehabilitation by various treatment methods such as physical therapy, one-on-one bare hands with therapists, and exercise therapy for the purpose of restoring joint range and strength before the injury. .

However, in order to apply a greater number of rehabilitation treatment and faster damage recovery, the treatment of other than the conventional treatment is not smooth, which slows down the rehabilitation rate of the patient.

In addition, although it is applied in the clinical by the prior treatment device, the two-dimensional ankle joint CPM is common, there is a disadvantage that can be applied to simply reproduce the dorsi-flexion and plantar-flexion movements in the talocrural joint.

In addition, the conventional 3D ankle CPM provides only medial deviation & lateral deviation rather than accurate inversion & eversion in the transverse-tarsal joint, thereby improving patient rehabilitation speed and quality. There are limitations to expect.

Republic of Korea Patent No. 10-1765450 (Ankle joint angle change induction device for gait rehabilitation training)

The present invention can provide a three-dimensional complex rehabilitation exercise of the ankle joint patients with ankle joint patients who have limited mobility of the ankle joint due to trauma, surgery, or other diseases and causes or muscle weakness of the muscles around the ankle. It is an object to provide a three-dimensional ankle joint motion therapy device.

In addition, the present invention reinforces the lack of simple motion (dorsiflexion & plantarflexion) provided in the two-dimensional ankle joint CPM, and corrects the error of simple similar three-dimensional motion in the existing three-dimensional ankle joint CPM more ankle joint The purpose of the present invention is to provide a three-dimensional ankle joint motion therapy device that can reproduce the inherent joint anatomical physiological three-dimensional motion (dorsiflexion & plantarflexion + inversion & eversion).

The present invention fixes the lower limbs below the knee of the patient and provides an ankle movement in a three-dimensional direction to the ankle of the patient within the allowable range of the anatomical ankle joint to provide a rehabilitation exercise of the ankle joint of the patient Joint rehabilitation exercise providing boots (boots); and the ankle joint rehabilitation exercise providing boots are fixed and the position of the ankle joint rehabilitation exercise providing boots according to the physical condition of the patient and the patient's rehabilitation position is moved up and down or back and forth direction Letting the body; And a driving device for controlling joint movement in a three-dimensional direction of the ankle joint rehabilitation providing boot, and moving the position of the ankle joint rehabilitation providing boot in consideration of the physical condition of the patient and the rehabilitation position of the patient. It provides a three-dimensional ankle joint motion therapy device including a remote control for controlling the wealth.

The ankle joint rehabilitation exercise providing boots may include a first motor unit providing dorsi-flexion and plantar-flexion movements of the ankle joint to the patient; and a second motor unit providing inversion & eversion movement of the ankle joint to the patient. And a boot support frame which is a part of the ankle joint rehabilitation providing boots attached to and fixed to the body; and a calf support for supporting and fixing the calf portion of the patient; and a lower portion of the calf support. Ankle joint fixing part that rotates in the dorsi-flexion direction and plantar-flexion direction of the ankle joint by the part; and the ankle supported by the second motor part is connected to the heel support through the sole support and the support shaft rotation axis Plantar supports that rotate in the inversion and eversion directions of the joint; And a heel support to which the sole support is connected to the lower side, and an upper heel support to which the boot support frame and the calf support and the ankle joint fixing part are fixedly connected.

Here, the first motor unit may be formed in a portion where the boot support frame, the calf support and the ankle joint fixing part are fixedly connected or included in the heel support.

Here, the second motor unit may be characterized in that it is included in the sole support or the heel support.

The body may include a boot connection part connected to the ankle joint rehabilitation exercise providing boot, and the boot connection part may further include a third motor to move the ankle joint rehabilitation exercise providing boot up and down.

Here, the input unit for inputting the information on the physical condition of the patient, the information on the state of the ankle joint of the patient, and the rehabilitation process and rehabilitation schedule of the patient; and information about the physical condition of the patient and the rehabilitation of the patient and 3 A display unit displaying information on an operation state of the dimensional ankle joint exercise therapy device, and a storage unit to store information about the physical condition of the patient and the rehabilitation of the patient; And controlling the first motor unit and the second motor unit using the physical condition of the patient and information on the rehabilitation of the patient to provide an optimal three-dimensional ankle joint rehabilitation exercise to the patient, wherein the third motor unit And controlling the controller to control a position and distance relationship between the ankle joint rehabilitation exercise providing boot and the body according to the physical condition of the patient and the information on the rehabilitation of the patient.

When the present invention is applied to the ankle joint rehabilitation treatment of a patient with ankle injury using a three-dimensional ankle joint exercise therapy device, by providing the movement of the human anatomical physiological ankle joint, the ankle joint rehabilitation of the patient more quickly and effectively The procedure can be performed, thereby promoting recovery of the injured ankle joint of the patient and providing a quick return to daily life.

1 is a view showing the appearance of the three-dimensional ankle joint motion therapy apparatus according to the present invention.
Figure 2 is a view showing the structure of the ankle joint rehabilitation exercise providing boots according to the present invention.
3 is a view showing the rotation in the dorsi-flexion direction and plantar-flexion direction of the ankle joint rehabilitation exercise providing boots according to the present invention.
Figure 4 is a top view of the ankle joint rehabilitation exercise providing boots according to the present invention.
5 is a view showing the position of the second motor unit according to the present invention.
6 is a diagram for describing an operation of a control unit for controlling a first motor unit, a second motor unit, and a third motor unit according to an embodiment of the present invention.

Advantages and features of the present invention, and methods for achieving them will be apparent with reference to the embodiments described below in detail with reference to the accompanying drawings.

However, the present invention is not limited to the embodiments disclosed below, but may be implemented in various different forms.

In this specification, the embodiments are provided so that the disclosure of the present invention may be completed and the scope of the present invention may be completely provided to those skilled in the art.

And the present invention is only defined by the scope of the claims.

Thus, in some embodiments, well known components, well known operations, and well known techniques are not described in detail in order to avoid obscuring the present invention.

In addition, the same reference numerals throughout the specification refer to the same components, and the terminology (discussed) used herein is for the purpose of describing the embodiments are not intended to limit the invention.

As used herein, the singular forms "a", "an" and "the" include plural unless the context clearly dictates otherwise, and the elements and acts referred to as 'comprises' or 'do' not exclude the presence or addition of one or more other components and acts. .

Unless otherwise defined, all terms (including technical and scientific terms) used in the present specification may be used in a sense that can be commonly understood by those skilled in the art.

In addition, the terms defined in the commonly used dictionary are not ideally or excessively interpreted unless they are defined.

Hereinafter, with reference to the accompanying drawings will be described a preferred embodiment of the present invention.

1 is a view showing the appearance of the three-dimensional ankle joint motion therapy apparatus according to the present invention.

The three-dimensional ankle joint exercise treatment device of the present invention comprises an ankle joint rehabilitation exercise providing boots (boots) 100 and the body 200 and the remote control 300.

Ankle joint rehabilitation providing boots (boots) 100 is fixed to the lower limbs below the patient's knee and provides a three-dimensional articulation movement to the patient's ankle within the tolerance of the anatomical ankle joint to the patient Provide rehabilitation exercises of the ankle joints.

The ankle joint rehabilitation exercise providing boots 100 are attached to the body and fixed to move, the ankle joint rehabilitation exercise providing boots 100 is connected to the body 200 through the boot connection 210.

Boot connection 210 provides ankle joint rehabilitation exercise to provide ankle joint rehabilitation exercise movement boots (not shown) may be included to move the boot 100 to the front and rear portions of the body 200 Boots 100 can be moved, and if a boot movement motor (not shown) is not included, manually move the ankle joint rehabilitation exercise boot 100 to the front or rear portion of the body 200 Ankle joint rehabilitation providing boots 100 can be increased or decreased to fit the length of the lower limbs.

Boot movement groove 155 for moving the ankle joint rehabilitation exercise providing boots 100 is formed in the boot support frame 150 of the ankle joint rehabilitation exercise providing boots 100 for the above operation.

Body 200 is the ankle joint rehabilitation exercise providing boots 100 is fixed and the position of the ankle joint rehabilitation exercise providing boots 100 according to the physical condition of the patient and the patient's rehabilitation position relative to the body 200 Move up or down or forward and backward.

That is, the body 200 moves the ankle joint rehabilitation providing boots 100 upward or based on the body 200 according to the patient's rehabilitation exercise position (whether lying down or doing rehabilitation exercises). Perform the operation of moving to.

In addition, the body 200 moves the ankle joint rehabilitation exercise boots 100 to the front portion of the body 200 or to the rear portion to match the length of the lower limb of the patient by moving the ankle joint from the body 200 to fit the length of the lower limb of the patient The position of the rehabilitation exercise providing boot 100 may be moved.

Here, the body 200 is shown in Figure 1 so that the ankle joint rehabilitation exercise providing boot 100 is seated when the ankle joint rehabilitation exercise providing boots 100 to move down to contact the front portion of the body 200. As shown in the figure, the height increases from the front part to the rear part.

The remote controller 300 may be attached to the body 200 or separated from the body 200 to control the operation of the ankle joint rehabilitation providing boots 100.

When the remote controller 300 is separated from the body 200, it may be connected by wireless communication such as Bluetooth or Wi-Fi and may be connected to the body through a wire.

In addition, the remote controller 300 is a drive device for moving the position of the ankle joint rehabilitation exercise providing boots 100 included in the body 200 in consideration of the input information when the patient's physical condition and the patient's rehabilitation exercise position is input. To control wealth.

Here, the remote controller 300 is attached to the ankle joint rehabilitation exercise providing boots 100 to the body 200 and the boots connection for moving the ankle joint rehabilitation exercise providing boots 100 to the front and rear parts of the body 200 ( 210 may be attached.

Boot connection portion 210 is connected to the body 200 through the boot rotating part 220 to move the ankle joint rehabilitation exercise providing boots 100 up and down of the body 200.

Boot rotation unit 220 may include a motor unit (not shown) for moving the ankle joint rehabilitation exercise providing boots 100 up and down the body to automatically provide ankle joint rehabilitation exercise boots 100 to the body (200) ) Can be moved up and down.

Figure 2 is a view showing the structure of the ankle joint rehabilitation exercise providing boots according to the present invention.

Ankle joint rehabilitation exercise providing boots 100 of the present invention is calf support 110, ankle joint fixing part 120, sole support 130, heel support 140, boots support frame 150, the first motor The unit 180 and the second motor unit 190 are included.

The calf support 110 supports and fixes the calf portion of the patient. To this end, the calf support 110 may use a soft polyester-based cloth material so as to flexibly accommodate various calf volumes of patients, and may use a plastic or silicone material having good flexibility.

Here, the calf fixing bands 151, 152, and 153 are configured in the boot supporting frame 150 to support and fix the calf of the patient when the patient wears the ankle joint rehabilitation exercise providing boots 100.

Calf fixing band (151, 152, 153) is composed of a flexible band that can be adjusted according to the size of the calf of the patient is attached to the boot support frame 150 can fix and support the calf support 110, the calf of the patient It is composed of a soft cloth so as not to overdo it, and is treated with Velcro (Velcro) to adjust the length of the band according to the size of the calf of the patient and is attached to the boot support frame 150 to fix and support the calf support 110.

Calf fixing bands (151, 152, 153) may be composed of one (151) on the front, two (152, 153) on the rear of the calf support (110).

The ankle joint fixing part 120 is positioned below the calf support 110 and may rotate in the dorsi-flexion direction and the plantar-flexion direction of the ankle joint by the first motor unit 180.

To this end, the ankle joint fixing part 120 is fixed to the boot support frame 150 so that the boot support frame 150 can be rotated in the dorsi-flexion direction and the plantar-flexion direction of the ankle joint.

Ankle joint fixing unit 120 may be made of a silicon material or a plastic material with good flexibility to fix the ankle joint portion of the patient.

Ankle joint fixing part 120 is fixedly connected to the boot support frame 150 and the ankle joint fixing part 120 as indicated by the arrow of FIG. Can rotate in the dorsi-flexion and plantar-flexion directions of the ankle joint.

The sole support 130 supports the sole of the patient and is connected to the lower heel support 145 of the heel support 140 through the sole support rotation axis 135.

The sole support 130 rotates in the inversion direction and the eversion direction of the ankle joint by the second motor unit 190.

As indicated by arrows in FIG. 2 (b), the sole support 130 may rotate in the inversion direction and the eversion direction of the ankle joint by the second motor unit 190.

The heel support 140 is the lower heel support portion 145 is formed in a portion in contact with the lower portion of the heel of the patient. The lower heel support part 145 includes a second motor part 190. The sole support rotation shaft 135 is rotated by the operation of the second motor part 190 to move the sole support 130 in the inversion direction and the eversion direction. Can be rotated.

Here, the second motor unit 190 rotates the heel support 140 within a maximum of 40 degrees in the inversion direction, and within a maximum of 25 degrees in the eversion direction.

Sole support 130 is connected to the lower side through the lower heel support 145, the upper support boots frame 150 and calf support 110 and ankle joint fixing 120 is fixed.

Here, the sole support 130 and the heel support 140 uses a special metal alloy material that is strong in moisture and heat and light in weight. For example, it may be configured using a titanium or aluminum composite.

Boot support frame 150 is composed of a pair serves to support the ankle joint rehabilitation providing boots from the outside of both sides of the calf support (110).

To this end, the boot support frame 150 is constructed using a special metal alloy material resistant to moisture and heat.

The first motor unit 180 provides the patient with dorsi-flexion and plantar-flexion movements of the ankle joint.

To this end, the first motor unit 180 may be located at an outer side of the ankle joint fixing unit 120. In addition, the first motor unit 180 may be included in the heel support 140. In this case, a gear part for rotating the ankle joint fixing part 120 is included in the ankle joint fixing part 141.

Here, the first motor unit 180 rotates the ankle joint fixing unit 120 within a maximum of 25 degrees in the dorsi-flexion direction, and within a maximum of 55 degrees in the plantar-flexion direction.

The second motor unit 190 provides an inversion & eversion exercise of the ankle joint to the patient.

To this end, the second motor unit 190 may be located on the sole support 130 or the heel support 140.

The three-dimensional ankle joint motion therapy apparatus of the present invention has a joint (talocrural joint) for performing the same operation as the talocrural joint of the human body by the boot support frame 150 and the heel support 140 made of a pair of alloy material It provides the movement of the dorsiflexioin and plantarflexion of the ankle joint, and the joint similar to the transverse-tarsal joint of the human body by the shaft support rotation axis 135 connected between the sole support 130 and the lower heel support 145. -tarsal joints) to provide inversion and eversion movement to the ankle joint.

Here, although not shown in the figure, the calf support 110 and the ankle joint fixing unit 120 may further include a separate device for performing the electric hot pack function.

For example, an electric wire including an insulation material may be configured to receive electricity from the body 200 to provide a thermal function to the ankle joint region of the patient while the patient performs a rehabilitation exercise.

In addition, although not shown in the drawings, the talocrural joint forming unit 160, the calf support 110 and the ankle joint fixing unit 120 may further include a device capable of performing low-frequency electrotherapy. Therefore, the patient may use the low frequency during the rehabilitation exercise to induce muscle contraction around the ankle joint, thereby improving the ankle treatment.

3 is a view showing the rotation in the dorsi-flexion direction and plantar-flexion direction of the ankle joint rehabilitation exercise providing boots according to the present invention.

As described above, the ankle joint fixing part 120 rotates in the dorsi-flexion direction as shown in FIG. 3 (a) by the first motor unit 180, and rotates in the plantar-flexion direction as shown in FIG. 3 (b). Can be. For this operation, the upper side of the heel support 140 forms a gentle curve in contact with the ankle of the patient, and when the heel support 140 rotates in the dorsi-flexion direction as shown in FIG. Do not touch the upper side of).

Here, the foot support 130 is provided with foot fixing bands (131, 132) for fixing the foot of the patient.

Foot fixing bands (131, 132) is composed of a flexible band that can be adjusted according to the size of the foot of the foot can be attached to the sole support 130, when the foot support 130 is rotated in the patient's foot It is composed of a soft cloth so as not to go, the Velcro treatment can be attached to the foot support 130 so that the length of the band can be adjusted according to the size of the patient.

Here, the rotation of the ankle joint rehabilitation providing boots 100 in the dorsi-flexion direction and the plantar-flexion direction is the first motor part 180 included in the talocrural joint forming part 160 is ankle joint fixing part 120 By rotating).

Figure 4 is a top view of the ankle joint rehabilitation exercise providing boots according to the present invention.

Ankle joint rehabilitation exercise providing boots 100 of the present invention is connected to the ankle joint fixing portion 120 in contact with the calf support 110 and the calf support 110 that is the component of the calf touching the patient from the inside to the outside and , Boot support frame 150 is connected to the outside of the ankle joint fixing part 120.

The calf support 110, the ankle joint fixing part 120, the boot support frame 150, and the heel support 140 are connected to the talocrural joint forming part 160 which performs a similar operation to the talocrural joint of the human body. The ankle joint fixing part 120 is rotated in the dorsi-flexion direction as shown in FIG. 3 (a) or plantar as shown in FIG. 3 (b) by the first motor part 180 included in the talocrural joint forming part 160. Can rotate in the -flexion direction.

In addition, the boot support frame 150 is connected to the heel support 140 through the ankle joint fixing unit 141.

Here, the first motor unit 180 may be included in each of the talocrural joint forming units 160 formed on the left side and the right side, and may be configured in total, and may be included in only one of the left side and the right side.

5 is a view showing the position of the second motor unit according to the present invention.

The second motor unit 190 of the present invention is connected to the sole support rotation shaft 135 to perform an operation (inversion and eversion operation) to rotate the sole support 130 around the sole support rotation shaft 135.

Here, the second motor unit 190 may be included in the lower heel support 145 as shown in Figure 5 (a), and as shown in Figure 5 (b) to the sole support 130 May be included.

6 is a diagram for describing an operation of a control unit for controlling a first motor unit, a second motor unit, and a third motor unit according to an embodiment of the present invention.

The input unit 310 is a component in which information about a physical condition of a patient, an ankle joint state of a patient, and information about a patient's rehabilitation process and a rehabilitation schedule are input.

Since the shape of the lower limbs and the degree of injuries of the ankle joints differ from patient to patient, the intensity, range of motion, and duration of rehabilitation exercise differ.

That is, rehabilitation exercises should be performed differently according to the patient's condition.

The three-dimensional ankle joint motion therapy apparatus of the present invention can automatically provide an optimal rehabilitation exercise (rehabilitation range, rehabilitation intensity and rehabilitation period) according to the patient's physical condition and the patient's ankle joint state. To this end, the input unit 310 may input a change in the patient's ankle joint improvement state according to the patient's physical condition and the patient's ankle joint state and rehabilitation exercise.

The display unit 320 is a component that displays information on the physical condition of the patient, the rehabilitation of the patient, and information on the operation state of the 3D ankle motion therapy apparatus.

The storage unit 330 is a component that stores information about the physical condition of the patient and the rehabilitation of the patient. The storage unit 330 stores information on sex, age, and physical condition of the patients. In addition, rehabilitation information is included in the rehabilitation exercise intensity, rehabilitation exercise period, etc. according to the degree of injury of the ankle joint.

In addition, the storage unit 330 is matched with the optimal rehabilitation exercise program according to the condition of the patient (gender, age, physical condition) and the degree of injury of the ankle joint is stored.

When the condition of the patient and the state of the ankle joint of the patient is input through the input unit 310, the control unit 340 uses the information stored in the storage unit 330 to optimally rehabilitate according to the physical condition of the patient and the corresponding condition. The first motor unit 180 and the second motor unit 190 are controlled by using the information on the exercise program to provide the patient with an optimal three-dimensional ankle joint rehabilitation exercise. In addition, by controlling the third motor unit 230 to control the position and distance between the ankle joint rehabilitation providing boots 100 and the body 200 in accordance with the information on the patient's physical condition and the patient's rehabilitation during rehabilitation exercise The patient may be provided with a posture to perform an optimal rehabilitation exercise.

In addition, the controller 340 may be configured to store information on the progress of the rehabilitation program of the same patient and to perform an automatic rehabilitation exercise program. Therefore, a specific patient can perform the rehabilitation exercise according to the rehabilitation program by themselves without the help of a doctor or a physiotherapist using the information set for the patient.

For example, if a patient inputs information about a patient's condition (gender, age, physical condition, etc.) and the degree of injury of the patient's ankle joint, the controller 340 may provide an optimal rehabilitation program for the patient. Auto can be set to provide set information to the patient. The patient can then perform a rehabilitation program according to the program set for them.

Here, the information on the degree of injury of the ankle joint of the patient can be mainly input by the doctor or physiotherapist.

In addition, the rehabilitation program provided by the controller 340 does not merely provide dorsi-flexion and plantar-flexion movements of the ankle joints, or only inversion & eversion movements of the ankle joints, but according to the range of rehabilitation exercises optimally set for the patient. It can provide a combination of dorsi-flexion and plantar-flexion and inversion & eversion movements of the ankle joint.

To this end, the control unit 340 simultaneously controls the first motor unit 180 and the second motor unit 190 to perform the rehabilitation of the ankle joint optimally to the patient dorsi-flexion and plantar-flexion and inversion & Provides a composite range of motion (angle) for eversion.

The present invention is not limited to the above-described specific preferred embodiments, and various modifications can be made by those skilled in the art without departing from the gist of the present invention as claimed in the claims. Of course, it is obvious that such changes will fall within the scope of the claims.

100: ankle joint rehabilitation exercise boots
101: cover for securing visibility
110: calf support
120: ankle joint fixing part
130: sole support
135: sole support rotation axis
140: heel support
145: lower heel support
150: boots support frame
160: talocrural joint formation
180: first motor unit
190: second motor unit
200: body
230: third motor unit
300: remote control
310: input unit
320: display unit
330: storage unit
340: control unit

Claims (6)

Ankle joint rehabilitation providing boots that can be fixed to the lower limbs below the knee of the patient, the ankle joint rehabilitation providing boots are fixed to the body to move the position of the ankle joint rehabilitation providing boots in the vertical direction And a remote control for controlling the drive unit for moving the position of the ankle joint rehabilitation providing boots,
The ankle joint rehabilitation exercise boots,
A first motor unit providing dorsi-flexion and plantar-flexion movements of the ankle joint to the patient,
A second motor unit providing an inversion & eversion exercise of the ankle joint to the patient,
Boot support frame connected to the body,
Calf support that is connected to the boot support frame to support the calf portion of the patient,
Ankle joint fixing part connected to the calf support and rotating in the dorsi-flexion direction and the plantar-flexion direction of the ankle joint by the first motor unit,
A heel support connected to the boot support frame, the calf support and the ankle joint fixing part and supporting the heel of the patient;
Sole support connected to the heel support to support the sole of the patient and rotate in the inversion direction and eversion direction of the ankle joint by the second motor portion
Containing
3D ankle movement therapy device. delete The method according to claim 1,
The first motor unit is a three-dimensional ankle joint movement therapy device, characterized in that formed in the portion of the boot support frame, the calf support and the ankle joint fixing is fixed or included in the heel support. The method according to claim 1,
The second motor unit is a three-dimensional ankle joint motion therapy device, characterized in that included in the sole support or the heel support. The method according to claim 1,
The body includes a boot connection portion connected to the ankle joint rehabilitation exercise providing boots, wherein the boot connection portion further comprises a third motor unit for moving the ankle joint rehabilitation exercise providing boots up and down Exercise therapy device. The method according to claim 5,
An input unit for inputting information on the physical condition of the patient, information on the state of the ankle joint of the patient, and information on the rehabilitation process and rehabilitation schedule of the patient;
A display unit displaying information on the physical condition of the patient, information on rehabilitation of the patient, and information on an operation state of the 3D ankle exercise therapy device;
A storage unit for storing information about the physical condition of the patient and the rehabilitation of the patient; And
The first motor unit and the second motor unit are controlled by using the information about the physical condition of the patient and the rehabilitation of the patient to provide an optimal three-dimensional ankle joint rehabilitation exercise to the patient, and to control the third motor unit. A control unit for controlling a position and distance relationship between the ankle joint rehabilitation exercise providing boot and the body according to the physical condition of the patient and the information on the rehabilitation of the patient;
3D ankle movement therapy device further comprising a.

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