KR102330315B1 - Apparatus for joint mobilization - Google Patents

Abstract

The present invention relates to a joint movable device. Specifically, according to an embodiment of the present invention, a support capable of supporting a part of the patient's body; a base plate having an opening in the center and having a first shaft in the opening; a guide plate movably coupled to the first shaft and slidably moving along the first shaft inside the opening; And one side is connected to the guide plate, the other side is connected to the support, by rotating by the movement of the guide plate, including a rod that can move the support, joint movable device can be provided.

Description

Joint movable equipment {APPARATUS FOR JOINT MOBILIZATION}

The present invention relates to a joint movable device, and relates to a joint movable device in which an arthrokinematic approach is applied to an existing continuous passive motion (CPM).

In general, a continuous passive exercise machine (CPM) is used to improve functional recovery of the elderly, disabled, or fracture patients with weakened muscle strength. People with reduced walking ability due to muscle weakness or surgery are unable to move for a long period of time and become stiff because they do not use the joints necessary for walking due to pain. In particular, in the case of a fractured patient, it is important to use a continuous manual exercise device for joint rehabilitation after the cast or fixation device is released because a cast or a fixation device is used for a long period of time for bone fusion.

However, in the case of a conventional continuous manual exercise device, the rehabilitation is performed in a one-dimensional linear reciprocating motion by simply folding the joint. Therefore, when applied to a human joint having multi-axis complex movements in joint mechanics, there are problems in that the bone ends collide with each other in the joint capsule, causing very severe pain during rehabilitation, swelling of the joint, and inflammation.

Therefore, there is a need for research on a new joint movable device capable of resolving pain and various problems occurring during such movement and performing joint rehabilitation exercise more effectively.

Korean Patent Laid-Open Patent No. 10-2006-0034986 (published on April 26, 2006)

Embodiments of the present invention were invented in view of the above background, and an object of the present invention is to provide a joint movable device capable of minimizing joint pain during continuous passive exercise treatment.

In addition, by applying joint kinematic principles such as traction and glide to the joint and applying the orthopedic manual therapy principle to the device to reduce pain and increase the range of motion of the joint to perform multi-axis driving motion, the pain felt by the patient during joint operation is reduced. We aim to provide a joint movable device that can be minimized and speed up recovery.

According to one aspect of the present invention, a support capable of supporting a part of the patient's body; a base plate having an opening in the center and having a first shaft in the opening; a guide plate movably coupled to the first shaft and slidably moving along the first shaft inside the opening; And one side is connected to the guide plate, the other side is connected to the support, by rotating by the movement of the guide plate, including a rod that can move the support, joint movable device can be provided.

In addition, further comprising a connector, the rod portion, the first rod slidably coupled to the base plate; a second rod having one end rotatably connected to the first rod and extending in the longitudinal direction of the base plate; a third rod rotatably connected to the extended end of the second rod; a fourth rod having one end connected to the third rod by the connector and the other end being rotatably connected to the support body; and a fifth rod connected to the guide plate and the fourth rod and configured to rotate the fourth rod when the guide plate slides along the first axis, wherein the third rod and the fourth rod include: A distance between the rods may be provided with an adjustable articulation actuation device.

In addition, the rod part further includes a rotation connector for rotatably connecting the first rod and the second rod, the second rod and the third rod, and the fourth rod and the fifth rod with respect to each other. A joint actuation device may be provided.

In addition, the support, supporting the upper knee of the patient, the first support disposed between the second rod; a second support part supporting the lower part of the knee of the patient and disposed between the fourth rods; And comprising a third support that can support the foot of the patient, the joint movable device may be provided.

In addition, the second support part has an inner wall and an outer wall, a ball bearing is provided between the inner wall and the outer wall of the second support part, and the ball bearing rotates the lower part of the knee supported by the second support part. To reduce the friction between the inner wall and the outer wall so as to be able to rotate, a joint movable device may be provided.

In addition, the connector includes a first connection member coupled to the fourth rod and a second connection member coupled to the third rod, the first connection member extending in a direction parallel to the fourth rod A second shaft is provided, and the second connecting member is slidably coupled to the second shaft, and the distance between the third rod and the fourth rod can be adjusted by reciprocating along the second shaft, A joint actuation device may be provided.

In addition, the second connecting member is provided with a third shaft extending in a direction perpendicular to the extending direction of the third rod, the third rod is slidably coupled to the third shaft, An articulating device may be provided, capable of reciprocating along three axes.

In addition, a lifting unit comprising a first lifting unit capable of elevating the first support portion with respect to the second rod by a predetermined distance and a second lifting portion capable of raising and lowering the second support portion with respect to the fourth rod by a predetermined distance. Further comprising, the joint movable device may be provided.

In addition, the first lifting part includes a first housing coupled to the first support part and having a fourth shaft therein, and a first bracket slidably coupled to the fourth shaft, and the second lifting part is the A second housing coupled to a second support and having a fifth shaft therein, and a second bracket slidably coupled to the fifth shaft, wherein the first support includes the first bracket to support the fourth shaft. By moving along, it is possible to elevate with respect to the second rod, and the second support portion can elevate with respect to the fourth rod by moving the second bracket along the fifth axis, a joint movable device is provided. can

In addition, it is provided on one side of the rotary connector, when the patient's knee is bent or straightened, a sensing unit capable of measuring a resistance value and a voltage value changed by the rotation of the rotary connector; And through the voltage value measured by the sensing unit, further comprising a control unit capable of calculating the angle at which the knee joint is bent, the joint movable device may be provided.

In addition, the control unit, using the voltage value measured by the sensing unit and the following equation to calculate the angle at which the knee joint is bent, a joint movable device may be provided.

In addition, a sensing unit provided on any one of the support and the rod, capable of measuring an EMG value produced in the muscle of the patient; And when the EMG value measured by the sensing unit increases, it is determined that the muscle of the patient is tense, and a controller for controlling the rod and the support to adjust the muscle state so that the tense muscle is relaxed. , a joint actuation device may be provided.

According to embodiments of the present invention, there is an effect of minimizing joint pain during continuous passive exercise treatment.

In addition, by performing traction motion and multi-axis driving motion on the joint, pain felt by the patient during joint rehabilitation is minimized, thereby speeding up recovery.

1 is a perspective view of a joint movable device according to an embodiment of the present invention.
FIG. 2 is an exploded perspective view of FIG. 1 ;
FIG. 3 is a plan view of FIG. 1 .
FIG. 4 is a side view of FIG. 1 ;

Hereinafter, specific embodiments for implementing the spirit of the present invention will be described in detail with reference to the drawings.

In addition, in the description of the present invention, if it is determined that a detailed description of a related known configuration or function may obscure the gist of the present invention, the detailed description thereof will be omitted.

In addition, when it is mentioned that a component is 'connected', 'supported', 'arranged', 'equipped', or 'coupled' to another component, it may be directly connected, supported, arranged, provided, or coupled to the other component. However, it should be understood that other components may exist in the middle.

The terminology used herein is only used to describe specific embodiments and is not intended to limit the present invention. The singular expression includes the plural expression unless the context clearly dictates otherwise.

Also, terms including an ordinal number such as 1st, 2nd, etc. may be used to describe various components, but the components are not limited by these terms. These terms are used only for the purpose of distinguishing one component from another.

The meaning of "comprising," as used herein, specifies a particular characteristic, region, integer, step, operation, element and/or component, and other specific characteristic, region, integer, step, operation, element, component, and/or group. It does not exclude the existence or addition of

The CPM (Continuous Passive Motion) device is used for soft tissue surgical treatment or for phase 1 rehabilitation after trauma. The goals of stage 1 rehabilitation are to eliminate postoperative pain, reduce inflammation, provide passive exercise in a specific area, and protect the healing process or tissue. The CPM device supports joint rehabilitation by moving constantly within a controlled range of motion (ROM). The joint movable device according to an embodiment of the present invention is a kind of such a CPM device, and can be used in various joint parts where the CPM device is used. Hereinafter, a configuration in which the joint movable device according to the present invention is used for knee rehabilitation will be described as an example.

Hereinafter, referring to FIGS. 1 to 4 , the joint movable device 1 according to an embodiment of the present invention may assist joint rehabilitation and may minimize joint pain. The joint movable device 1 is referred to herein as a joint movable device for assisting joint rehabilitation, but may be a concept including a joint rehabilitation device or a joint rehabilitation assistance device. For example, the joint movable device 1 may be used to help the joint recovery after joint reconstruction surgery. The joint movable device 1 is a base plate 100, a rod 200, a support 300, a connector 400, a lifting unit 500, a guide plate 600, a sensing unit 700, and a control unit ( 800) may be included.

The base plate 100 may support the rod 200 , the support 300 , the connector 400 , the lifting unit 500 , the guide plate 600 , the sensing unit 700 , and the controller 800 . In addition, the opening 110 may be formed in the center of the base plate 100 . The first shaft 120 may be provided in the opening 110 in the longitudinal direction of the base plate 100 . In addition, a guide plate 600 to be described later may be disposed in the opening 110 . Here, when the term for the direction is defined, the longitudinal direction means the x-axis direction with reference to FIG. 1 , and the width direction means the y-axis direction with respect to FIG. 1 .

The rod unit 200 includes a first rod 210 , a second rod 220 , a third rod 230 , a fourth rod 240 , and a fifth rod that are slidably coupled to the base plate 100 . 250 ) and a rotation connector 260 .

The first rod 210 may be slidably coupled to the base plate 100 . In addition, a portion of the first rod 210 may extend in the longitudinal direction, and the other portion of the first rod 210 may be bent in a direction shifting from the longitudinal direction.

One end of the second rod 220 may be rotatably connected to the first rod 210 , and for example, the second rod 220 may be rotatable at one end bent upward of the first rod 210 . can be connected The second rod 220 may be formed to extend along the longitudinal direction of the base plate 100 .

Referring to FIG. 2 , one end of the third rod 230 may be rotatably connected to the other extended end of the second rod 220 , and the other end of the third rod 230 has the aforementioned connector 400 . ) of the second member 420 may be provided.

A fifth rod 250 may be connected to the fourth rod 240 , and may rotate clockwise or counterclockwise by the fifth rod 250 . When the fourth rod 240 rotates, a sliding motion may be applied to the patient's knee. One end of the fourth rod 240 may be connected to the third rod 230 by a connector 400 . A third support 330 for supporting the user's foot may be rotatably connected to the other end of the fourth rod 240 .

One end of the fifth rod 250 may be rotatably connected to the guide plate 600 , and the other end of the fifth rod 250 may be rotatably connected to the fourth rod 240 . The fifth rod 250 is connected to the guide plate 600 and the fourth rod 240 to rotate the fourth rod 240 when the guide plate 600 slides along the first axis 120 . can

Here, a plurality of rotation connectors 260 may be provided, and the plurality of rotation connectors 260 include a first rod 210 and a second rod 220 , and a second rod 220 and a third rod 230 . ), the fourth rod 240 and the fifth rod 250 may be rotatably connected to each other. As the rotation connecting body 260, various connecting members commonly used in the art may be used as long as the first rod 210 to the fifth rod 250 can be relatively rotatably connected to each other.

The support 300 may support a part of the patient's body. For example, the support 300 may support the leg of the patient. The support 300 may include a first support 310 , a second support 320 , and a third support 330 .

The first support part 310 may support the upper part of the patient's knee, and may be disposed between the second rods 220 disposed on both sides in the width direction. The first support 310 may be provided to support the upper part of the patient's knee, that is, the femur or the femur, and may have a hollow cylindrical shape. In addition, the first support part 310 may be connected to the second rod 220 so as to be able to move up and down a predetermined distance with respect to the second rod 220 by a first lifting part 510 which will be described later.

The second support part 320 may support the lower part of the patient's knee, and may be disposed between the fourth rods 240 disposed on both sides in the width direction. The second support part 320 may be provided to support the lower part of the patient's knee, that is, the shin or shinbone, and may be provided in a cylindrical shape having a hollow inner wall and an outer wall. In addition, the second support part 320 may be connected to the fourth rod 240 so as to be able to move up and down a predetermined distance with respect to the fourth rod 240 by a second lifting part 520 , which will be described later. The inner peripheral surface of the second support part 320 can rotate with respect to the outer peripheral surface based on the central axis of the cylinder, and a ball bearing 321 is provided between the inner wall and the outer wall of the second support part 320 to facilitate rotation of the shank. can be provided. The ball bearing 321 may facilitate rotation of the shank by reducing friction between the inner wall and the outer wall.

Specifically, when a patient's knee is bent, a home-screw mechanism occurs according to the structure of the knee joint. This screw-locking movement occurs because the medial epicondyle of the knee is larger than the lateral epicondyle, and the shinbone turns outward. As such, when the patient's knee is bent or straightened, the shin is rotated inward or outward by a predetermined angle with respect to the shin bone as an axis. Accordingly, the lower part of the patient's knee supported by the second support part 320 rotates when the knee is bent or straightened, and the patient's shin can easily rotate with respect to the second support part 320 by the ball bearing 321. . Also, although the second support part 320 is fixedly supported by the fourth rod 240 by the ball bearing 321 , the patient's shin may rotate with respect to the second support part 320 .

The third support 330 may support the patient's foot. The third support 330 may be rotatably connected to the other end of the fourth rod 240 .

The connector 400 may connect the third rod 230 and the fourth rod 240 to each other. In addition, the connector 400 may include a first connection member 410 coupled to the fourth rod 240 and a second connection member 420 coupled to the third rod 230 .

The first connecting member 410 may include a second shaft 411 extending in a direction parallel to the fourth rod 240 , and the second connecting member 420 has one side of the first connecting member 410 . It is slidably coupled to the second axis 411 of the , and can reciprocate along the second axis 411 . For example, a screw thread is formed on the outer circumferential surface of the second shaft 411 , and a stepping motor rotating while being meshed with the screw thread of the second shaft 411 may be provided inside the second connecting member 420 . Accordingly, when the stepping motor is operated, the second connecting member 420 may reciprocate along the second axis 411 . Accordingly, the second connecting member 320 may reciprocate along the second axis 411 to adjust the distance between the third rod 230 and the fourth rod 240 .

The third rod 230 may be connected to the second connecting member 420 . For example, one end of the third rod 230 may be rotatably connected to the second rod 220 and the other end may be connected to the second connecting member 420 . In this case, the second connecting member 420 may be provided with a third shaft 421 provided in a direction perpendicular to the extending direction of the third rod 230 and having a thread formed on the outer circumferential surface. The third rod 230 is slidably coupled to the third shaft 421 , and may reciprocate along the third shaft 421 . For example, a stepping motor engaged with the thread of the third shaft 421 may be provided at an end of the third rod 230 , and the other end of the third rod 230 may be disposed at the third end of the third rod 230 by the operation of the stepping motor. It can reciprocate along axis 421 .

Referring to FIG. 4 , the lifting unit 500 may lift the first support part 310 by a predetermined distance with respect to the second rod 220 , and move the second support part 320 with respect to the fourth rod 240 by a predetermined distance. distance can be raised. The elevating unit 500 may include a first elevating unit 510 and a second elevating unit 520 .

The first lifting unit 510 may lift the first support unit 310 by a predetermined distance with respect to the second rod 220 . The first lifting unit 510 is coupled to both sides in the width direction of the first support unit 310 and is connected to the first housing 511 and the second rod 220 having a fourth shaft 511a on the inside, and is connected to one side. A first bracket 512 coupled to the fourth shaft 511a and reciprocating along the fourth shaft 511a may be included.

Here, a thread may be formed on the outer circumferential surface of the fourth shaft 511a, and a stepping motor engaged with the thread of the fourth shaft 511a may be provided inside one side of the first bracket 512 . Accordingly, when the stepping motor is driven, the first bracket 512 may be raised and lowered, and the first support part 310 may be raised or lowered by the first bracket 512 .

The second lifting unit 520 may lift the second support unit 320 by a predetermined distance with respect to the fourth rod 240 . The second lifting unit 520 is coupled to both sides of the second support unit 320 in the width direction and is connected to the second housing 521 and the fourth rod 240 having a fifth shaft 521a inside, and one side. A second bracket 522 coupled to the fifth shaft 521a and reciprocating along the fifth shaft 521a may be included.

Here, a thread may be formed on the outer peripheral surface of the fifth shaft 521a, and a stepping motor engaged with the thread of the fifth shaft 521a may be provided inside one side of the second bracket 522 . Accordingly, when the stepping motor is driven, the second bracket 522 may be raised and lowered, and the second support part 320 may be raised or lowered by the first bracket 512 .

The guide plate 600 may be connected to the fifth rod 250 , and may slide along the first axis 120 of the base plate 100 . The guide plate 600 may be provided slidably along the first axis 120 inside the opening 110 of the base plate 100 . For example, a screw thread is formed on the outer circumferential surface of the first shaft 120 , and a stepping motor (not shown) that rotates while meshing with the screw thread formed on the outer circumferential surface of the first shaft 120 is provided inside the guide plate 600 . can be Accordingly, when the stepping motor rotates, the guide plate 600 may reciprocate along the first axis 120 .

In addition, the fifth rod 250 may be connected to both ends of the guide plate 600 . One end of the fifth rod 250 may be rotatably connected to the guide plate 600 , and the other end of the fifth rod 250 may be rotatably connected to the fourth rod 240 . Accordingly, when the guide plate 600 moves along the first axis 120 , the fifth rod 250 may rotate the fourth rod 240 .

The sensing unit 700 may measure a resistance value for calculating the bending angle of the knee joint when the patient's knee is bent or straightened. For example, the sensing unit 700 may be a variable resistance sensor or a potentiometer. The resistance value of the sensing unit 700 may change when the rotation connector 260 rotates by the movement of the rod 200 , and the sensing unit 700 may measure the changed resistance value. Also, the sensing unit 700 may measure the voltage applied to the sensing unit 700 through the changed resistance value. The resistance value and voltage value measured by the sensing unit 700 may be transmitted to the controller 800 . In addition, a plurality of detection units 700 may be provided, and the plurality of detection units 700 may be provided on one side of the plurality of rotation connectors 260 .

The analog resistance value measured by the sensing unit 700 is proportional to the change in the bending angle of the knee. For example, the resistance value measured by the sensing unit 700 is proportional to the change in angle between the first support part 310 and the second support part 320 . In addition, for ease of calculation in the voltage value and knee joint angle formula to be described later, this angle change was approximated as an angle change in knee flexion/extension exercise. In addition, noise of the analog feedback value (resistance value) of the sensing unit 700 was removed by using an Inverse Chebyshev filter.

Meanwhile, the sensing unit 700 may measure an electrical signal produced in the patient's muscle, that is, the action potential of the muscle. For example, the sensing unit 700 may be an EMS sensor. The sensing unit 700 made of the EMS sensor may measure the digitized EMG value by amplifying electricity from the muscle. As such, the EMG value measured by the sensing unit 700 may be transmitted to the controller 800 . In addition, the plurality of sensing units 700 may be provided on any one of the rotation connector 260 , the first support part 310 , and the second support part 320 .

The control unit 800 may control each component of the rod unit 200 to rotate at a predetermined angle. In other words, the control unit 800 includes the first rod 210 , the second rod 220 , the third rod 230 , the fourth rod 240 , the fifth rod 250 , and the rotation connector 260 . Rotation can be controlled. In addition, by controlling the lifting unit 500, the position of the support 300 can be adjusted. The control unit 800 may calculate the bending angle of the knee joint through the voltage value measured by the sensing unit 700 . In other words, the controller 800 may calculate the angle at which the knee joint is bent through the measured voltage value and the following equation.

The above-mentioned formula is as follows. In the following formula, the knee joint angle 0° means the knee joint angle when the knee is fully bent, and the knee joint angle 180° refers to the knee joint angle when the knee is fully unfolded. In addition, since the change in voltage with respect to the change in the joint angle in the following equation is proportional, the voltage value measured at any joint angle and any joint angle instead of the knee joint angle 0°, 180° and the corresponding voltage value Even if , the following formula is satisfied.

[formula]

Also, the controller 800 may remove noise by normalizing the action potential of the muscle, that is, the EMG value measured by the sensing unit 700 . When the EMG value increases, the control unit 800 determines that the muscle is tense, and may adjust the rotation of the rod unit 200 so that the tense muscle is relaxed. In other words, when the EMG value increases, the controller 800 may control the angle and muscle state of the knee joint of the patient by controlling the rod 200 , the support 300 , and the lifting unit 500 .

The control unit 800 may be implemented by an arithmetic device including a microprocessor, a measuring device such as a sensor, and a memory, and the implementation method is obvious to those skilled in the art, so a further detailed description will be omitted. Also, the controller 800 may include a communication module (not shown) for communicating with an external device (eg, a server, a computer, a smart phone, etc.). Such a communication module may receive the patient's integrated data from a storage unit (not shown) in which the patient's integrated data is stored, and transmit it to an external device. Here, the patient's integrated data may be data such as a range of motion of the patient's joint, motion information of the patient, torque and impedance of the stepping motor, and the like.

Hereinafter, the operation and effect of the joint movable device 1 having the configuration as described above will be described.

First, the patient's upper knee may be fixed to the first support 310 , and the lower knee may be fixed to the second support 320 . When the patient's leg is fixed, the stepping motor provided in the second connection member 411 of the connector 400 may be operated. The stepping motor provided in the second connection member 411 may be driven so that the third rod 230 and the fourth rod 240 move away from each other, and accordingly, a traction operation for the knee joint is performed, and thus the As the distance between adjacent bones is increased, the pressure in the intracapsular space can be reduced.

After the traction operation is performed in this way, the slide operation for the knee joint may be performed. In other words, after the space between the joint capsules is expanded by the connector 400 , the guide plate 600 may slide along the first axis 120 . When the guide plate 600 slides along the first axis 120 , the fourth rod 240 rotates by the fifth rod 250 connected to the guide plate 600 and the fourth rod 240 . Accordingly, the lower knee bone fixed to the second support 320 of the fourth rod 240 may slide.

As described above, by performing a traction operation during the rehabilitation exercise process, the joint movable device according to an embodiment of the present invention can reduce inflammation and pain caused by friction between bones and bones disposed adjacently in the knee joint capsule, as a result. It has the effect of effectively performing rehabilitation exercises.

Although the embodiments of the present invention have been described as specific embodiments, these are merely examples, and the present invention is not limited thereto, and should be construed as having the widest scope according to the basic idea disclosed herein. A person skilled in the art may implement a pattern of a shape not indicated by combining/substituting the disclosed embodiments, but this also does not depart from the scope of the present invention. In addition, those skilled in the art can easily change or modify the disclosed embodiments based on the present specification, and it is clear that such changes or modifications also fall within the scope of the present invention.

1: joint movable device 100: base plate
110: opening 120: first axis
200: rod 210: first rod
220: second rod 230: third rod
240: fourth rod 250: fifth rod
260: rotation connector 300: support
310: first support 320: second support
321: ball bearing 330: third support
400: connector 410: first connecting member
411: first shaft 420: second connecting member
421: third axis 500: elevating unit
510: first lifting unit 511: first housing
511a: fourth axis 512: first bracket
520: second lifting unit 521: second housing
521a: fifth axis 522: second bracket
600: guide plate 700: sensing unit
800: control unit

Claims (12)

a support capable of supporting a part of the patient's body;
a base plate having an opening in the center and having a first shaft in the opening;
a guide plate movably coupled to the first shaft and slidably moving along the first shaft inside the opening;
a rod part having one side connected to the guide plate, the other side connected to the support body, and including a plurality of rods capable of moving the support body by rotating by the movement of the guide plate; and
A connector for connecting at least some of the plurality of rods,
At least some of the plurality of rods are configured so that the distance between them can be adjusted through the connector,
joint movable device. The method of claim 1,
The load part,
a first rod slidably coupled to the base plate;
a second rod having one end rotatably connected to the first rod and extending in the longitudinal direction of the base plate;
a third rod rotatably connected to the extended end of the second rod;
a fourth rod having one end connected to the third rod by the connector and the other end being rotatably connected to the support body; and
a fifth rod connected to the guide plate and the fourth rod and capable of rotating the fourth rod when the guide plate slides along the first axis;
The distance between the third rod and the fourth rod is adjustable,
joint movable device. 3. The method of claim 2,
The load part,
The first rod and the second rod, the second rod and the third rod, and the fourth rod and the fifth rod further comprising a rotation connector for rotatably connecting with respect to each other,
joint movable device. 3. The method of claim 2,
The support is
a first support part that supports the upper part of the knee of the patient and is disposed between the second rods;
a second support part supporting the lower part of the knee of the patient and disposed between the fourth rods; and
comprising a third support capable of supporting the foot of the patient;
joint movable device. 5. The method of claim 4,
The second support portion has an inner wall and an outer wall,
A ball bearing is provided between the inner wall and the outer wall of the second support part,
The ball bearing reduces friction between the inner wall and the outer wall so that the lower knee supported by the second support portion rotates so that the lower knee can easily rotate,
joint movable device. 3. The method of claim 2,
The connector is
A first connection member coupled to the fourth rod and a second connection member coupled to the third rod,
The first connecting member is provided with a second shaft extending in a direction parallel to the fourth rod,
The second connecting member is slidably coupled to the second shaft, and can adjust the distance between the third rod and the fourth rod by reciprocating along the second shaft,
joint movable device. 7. The method of claim 6,
The second connecting member is provided with a third shaft extending in a direction perpendicular to the extending direction of the third rod,
The third rod is slidably coupled to the third axis and is reciprocally movable along the third axis,
joint movable device. 5. The method of claim 4,
Further comprising a lifting unit including a first elevating unit capable of elevating the first support portion with respect to the second rod by a predetermined distance and a second elevating portion capable of elevating the second support portion with respect to the fourth rod by a predetermined distance. doing,
joint movable device. 9. The method of claim 8,
The first lifting unit includes a first housing coupled to the first support and having a fourth shaft therein, and a first bracket slidably coupled to the fourth shaft,
The second lifting unit includes a second housing coupled to the second support unit and having a fifth shaft therein, and a second bracket slidably coupled to the fifth shaft,
The first support part can be raised and lowered with respect to the second rod by the first bracket moving along the fourth axis,
The second support portion can be lifted with respect to the fourth rod by moving the second bracket along the fifth axis,
joint movable device. 4. The method of claim 3,
a sensing unit provided on one side of the rotary connector and capable of measuring a resistance value and a voltage value changed by the rotation of the rotary connector when the patient's knee is bent or straightened; and
Further comprising a control unit capable of calculating the angle at which the knee joint is bent through the voltage value measured by the sensing unit,
joint movable device. 11. The method of claim 10,
The control unit is
It is possible to calculate the angle at which the knee joint is bent by using the voltage value measured by the sensing unit and the following equation,
joint movable device.
[formula]

The method of claim 1,
a sensing unit provided on any one of the support and the rod and capable of measuring an EMG value produced in the muscle of the patient; and
When the EMG value measured by the sensing unit increases, it is determined that the muscle of the patient is tense, and further comprising a controller for controlling the rod and the support to adjust the muscle state so that the tense muscle is relaxed.
joint movable device.

Images