RU2663941C1 - Electromechanical hand - Google Patents

Abstract

FIELD: medicine.SUBSTANCE: invention relates to medicine. Electromechanical prosthesis hand for prosthetics of the arm at the level of the forearm contains a body, a receiving sleeve, skeletons of the first, second, third, fourth fingers and the fifth finger, made in the form of an elastic link, and the mechanism of movement of the hand with microelectro drives. Frame of the first finger is fixed on the first axis of rotation, the skeleton of the third finger and the skeleton of the fourth finger are fixed on the second axis of rotation. First axis of rotation and the second axis of rotation are fixed in the housing. Frame of the second finger is fixed in the carcass of the third finger with the help of the third axis of rotation. Frame of the fourth finger and the fifth finger are made in the form of a single block, in which the lining of the carcass of the fourth finger is made integrally with the lining of the fifth finger. Mechanism of movement of the hand is made in the form of a grip mechanism, an escape mechanism and a rotation mechanism. Grip mechanism is made in the form of the first microelectrodrive equipped with a microcontroller of the gripping mechanism and the executive body of the gripper mechanism of the first, second and third finger frames. First microelectrodrive and the microcontroller of the gripper mechanism are located in the casing of the gripper mechanism, while the gripper body is rigidly fixed in the casing. Withdrawal mechanism is made in the form of a second microelectrodrive fixed to the frame of the third finger and equipped with a microcontroller of the withdrawing mechanism and an executive organ of the withdrawal mechanism of the second from the third armature of the fingers. Microcontroller of the withdrawing mechanism is located on the casing of the gripping mechanism, and the rotation mechanism is made in the form of a third microelectrodrive equipped with a microcontroller of the rotation mechanism and an executive organ of the rotation mechanism of the hand. Third microelectrodrive and the microcontroller of the rotation mechanism are fixed inside the rotary mechanism housing. Receiving sleeve is fixed to the rotary mechanism housing, the rotary mechanism housing rigidly attached to the housing. All three microelectro drives are connected to hand control system fixed to the autonomous power supply unit located on the rotary mechanism housing and equipped with a control unit for the autonomous power supply unit. Receiving sleeve has electrodes for picking up the signal of muscle activity associated with hand control system, which is connected with the microcontroller of the gripping mechanism, microcontroller of the lead mechanism and microcontroller of the rotation mechanism.EFFECT: invention provides reduction in the time for performing motor operations when using a prosthesis.3 cl, 6 dwg

Description

The invention relates to medical equipment, namely to prosthetics and prosthetics, and can be used for prosthetics of disabled people after unilateral or bilateral amputation of the arm at the level of the forearm, as well as in the prosthesis of the shoulder and in the prostheses after isolating the shoulder.

Known prosthetic hand (RU 2472469 C1, IPC: A61F 2/54 (2006.01), publ. 01/20/2013), comprising a housing, a first finger, a block of the second or third fingers, a lever transmission and the drive function of the mobility of "grasp-opening brush" the lead-down mechanism of the second finger, containing a micro-electric drive with a helical gear, which provides the possibility of reciprocating movement of the nut, while the drive is motionlessly connected to the base of the finger block, and the frame of the second finger is made in the form of a two-shouldered lever and is pivotally mounted on the base of the finger block, than one arm of the lever forms the console of the second finger, and the second arm is made in the form of a fork and is kinematically connected to a screw drive nut. The disadvantage of this device is its low functionality, as well as jamming of the gripping mechanism in extreme positions.

Known prosthetic hand adopted for the prototype (RU 2506931 B2, IPC: A61F 2/56 (2006.01), publ. 02/10/2014), comprising a housing, a receiving sleeve mounted on the housing, frames of the first, second, third, fourth fingers and fifth finger, made in the form of an elastic link, the mechanism of movement of the brush with microelectric drives.

The disadvantage of this device is low functionality and a long time to complete motor operations.

The objective of the invention is the creation of an electromechanical prosthesis for prosthetics of disabled people after unilateral or bilateral amputation of the arm at the level of the forearm, as well as in the shoulder prosthesis and after isolating the shoulder, increasing the usability of the prosthesis by expanding the functionality of the device.

The technical result is to reduce the execution time of motor operations when using the prosthesis by maintaining the natural function of rotation of the hand, reliable retention of the objects of manipulation by providing two-sided force control over the movement of the first and second fingers with the simultaneous installation of the third finger on the surface of complex objects, as well as providing a grip between second and third finger.

The specified technical result is achieved by the fact that in the electromechanical prosthesis of the hand prosthetics at the level of the forearm, containing the body, the receiving sleeve, the frames of the first, second, third, fourth fingers and the fifth finger, made in the form of an elastic link, the mechanism of movement of the brush with microelectric drives, frame the first finger is fixed on the first axis of rotation, the frame of the third finger and the frame of the fourth finger are fixed on the second axis of rotation, and the first axis of rotation and the second axis of rotation are fixedly mounted in the housing mustache, while the frame of the second finger is fixed in the frame of the third finger using the third axis of rotation, and the frame of the fourth finger and fifth finger are made in the form of a single unit, in which the lining of the frame of the fourth finger is made in one piece with the lining of the fifth finger, and the brush movement mechanism made in the form of a gripping mechanism, a retraction mechanism and a rotation mechanism, while the gripping mechanism is made in the form of a first microelectric drive equipped with a gripping mechanism microcontroller and an operating mechanism of the gripping mechanism the first, second and third frames of the fingers, while the first microelectric drive and the microcontroller of the gripping mechanism are located in the housing of the gripping mechanism, while the housing of the gripping mechanism is rigidly mounted in the housing, and the retraction mechanism is made in the form of a second microelectric drive mounted on the frame of the third finger and equipped with a microcontroller mechanism leads and the executive body of the mechanism for the removal of the second from the third frame of the fingers, while the microcontroller of the mechanism of removal is located on the body of the mechanism with grip, and the rotation mechanism is made in the form of a third microelectric drive equipped with a microcontroller of the rotation mechanism and an executive body of the rotation mechanism of the brush, the third microelectric drive and microcontroller of the rotation mechanism are fixed inside the body of the rotation mechanism, while the receiving sleeve is fixed to the body of the rotation mechanism, and the body of the rotation mechanism is rigidly attached to the housing, while all three microelectronic drives are connected to the brush control system, mounted on an autonomous power supply unit, nnom mechanism on the housing for rotation and fitted with an autonomous power supply control unit, wherein the receiving sleeve mounted detachably muscle activity signal electrodes connected with the brush control system which is associated with the gripper mechanism microcontroller, microcontroller, microcontroller retraction mechanism and the rotation mechanism.

In this case, a cover is made on the outer part of the housing.

In this case, the frames of the first, second, third, fourth fingers represent a t-shaped profile in cross section.

The invention is illustrated by drawings.

In FIG. 1 shows an electromechanical brush, side view.

In FIG. 2 shows an electromechanical brush, top view.

In FIG. 3 shows an electromechanical brush without a receiving sleeve, side view.

In FIG. 4 shows an electromechanical brush without a receiving sleeve, a top view.

In FIG. 5 shows the fastening of the levers of the first and fourth fingers.

In FIG. 6 shows the fastening of the lever of the fourth finger to the frame of the fourth finger.

The following notation is introduced:

1 - housing;

2 - cover;

3 - a receiving sleeve;

4 - the first axis of rotation;

5 - frame of the first finger;

6 - the second axis of rotation;

7 - the frame of the third finger;

8 - frame of the fourth finger;

9 - frame of the second finger;

10 - the third axis of rotation;

11 - the fifth finger;

12 - the first microelectric drive;

13 - microcontroller gripping mechanism;

14 - a two-stage cylindrical gear (gear);

15 - housing of the gripping mechanism;

16 - screw;

17 - crank;

18 - screw;

19 - lever;

20 - the lever of the fourth finger;

21 - screw;

22 - axis of rotation;

23 - the lever of the first finger;

24 - screw;

25 - screw;

26 - the second microelectric drive;

27 - microcontroller of the abduction mechanism;

28 - helical gear;

29 - a nut;

30 - screw;

31 - the third microelectric drive;

32 - microcontroller of the rotation mechanism;

33 - a two-stage cylindrical gear (gear);

34 - housing rotation mechanism;

35 - brush control system;

36 - autonomous power supply unit;

37 - control device for an autonomous power supply unit;

38 - electrodes for signal acquisition of muscle activity;

39 - longitudinal axis;

40 - a gear wheel.

The electromechanical brush (Fig. 1) comprises a housing 1 with a cover 2 mounted on the outer (back) side, a receiving sleeve 3 mounted on the housing of the rotation mechanism 34. In the housing 1, the frame of the first finger 5 is fastened by means of the second axis of rotation 5, by the second axis of rotation 6 (Fig. 2, 4) in the housing 1 is attached the frame of the third finger 7 and the frame of the fourth finger 8. In this case, the frame of the second finger 9 is fixed in the frame of the third finger 7 using the third axis of rotation 10, and the frame of the fourth finger 8 and the fifth finger 11 made in the form of an elastic link, made in the form of a single unit in which the lining of the frame of the fourth finger 8 is made in one piece with the lining of the fifth finger 11. Moreover, the first axis of rotation 4 and the second axis of rotation 6 are fixed motionless in the housing 1 opposite the base of the frame of the first finger 5 and in the distal part of the housing 1 respectively.

The gripping mechanism consists of the first microelectric drive 12 (Fig. 4) (for example, a 0.3 Nm 1226A electric motor with a 12/4 ratio 256: 1 gearbox), electrically connected to the microcontroller of the gripping mechanism 13 (for example, SC1801S) and the actuator of the gripping mechanism of the first 5, second 9 and third 7 of the finger frames, made in the form of a gear 14. In this case, the first microelectric actuator 12 and the microcontroller of the gripping mechanism 13 are rigidly fixed in the housing of the gripping mechanism 15, which is rigidly attached to the housing 1. The gear 14 is rigidly mounted on the shaft of the first microelectric drive 12 and is located in the housing of the gripping mechanism 15. On the driven shaft (not shown in the figure) of the gear 14, a crank 17 is fixed by means of a screw 16, to which one end of the lever 19 and one end of the lever 20 are attached with the screw 18 (Fig. 5). The second end of the lever 19 is screwed 21 to the frame of the first finger 5. In the frame of the first finger 5 through the axis of rotation 22 the lever of the first finger 23 is attached (Fig. 3, 6), the second end of the lever of the first finger 23 is screwed to the frame of the third finger 7 The second end of the lever of the fourth finger 20 repitsya screw 25 to the frame of the fourth finger 8.

The lead mechanism is equipped with a second micro electric drive 26 (Fig. 2, 4) (for example, an electric motor of 0.1 Nm 1016A with a 10 / 1K ratio 16: 1 gearbox), rigidly fixed to the frame of the third finger 7 and equipped with a microcontroller of the lead mechanism 27 (Fig. 2 , 4) (for example, SC1801S) and the executive body of the mechanism of abduction of the second 9 from the third 7 frame of the fingers. In this case, the microcontroller of the lead mechanism 27 is rigidly fixed to the housing of the gripping mechanism 15 and is electrically connected to the second micro electric drive 26. The executive body of the lead mechanism is made in the form of a helical gear 28 with a nut 29 installed on it. The helical gear 28 is mounted on the shaft of the second micro electric drive 26 with a screw 30 and is its continuation.

The rotation mechanism is made in the form of a third microelectric drive 31 (Fig. 1) (for example, a 0.3 Nm 1226A electric motor with a 12/4 ratio 256: 1 gearbox) electrically connected to the microcontroller of the rotation mechanism 32 (for example, SC1801S) and the rotary actuator a brush made in the form of a gear 33 and a mechanically connected gear wheel 40 associated with it. In this case, the gear 33 is rigidly fixed to the shaft (not shown) of the third microelectric drive 31. In this case, the third microelectric drive 31, the microcontroller of the rotation mechanism 32 and the tooth This wheel 40 is rigidly fixed inside the housing of the rotation mechanism 34 rigidly attached to the housing 1 in its proximal part.

Moreover, all three microelectric drives are electrically connected to the brush control system 35 (for example, Dynamic Mode Control Plus® (DMC Plus®) control system).

The control system of the brush 35 is rigidly fixed to an autonomous power supply unit 36 and is electrically connected to it. The autonomous power supply unit 36 is fixedly mounted on the housing of the rotation mechanism 34. The control unit of the autonomous power supply unit 37 (for example, the control unit 9E385), which is electrically connected to it, is rigidly attached to the autonomous power supply unit 36. On the receiving sleeve 3, electrodes are installed for picking up the muscle activity signal 38 (for example, two groups of four electrodes - EPSM-02) that pick up the muscle activity signal and transmit it to the brush control system 35, which is electrically connected to the gripper mechanism microcontroller 13, the mechanism microcontroller Leads 27 and the microcontroller of the rotation mechanism 32. The control takes place in a dynamic mode. The control system of the brush 35 allows the patient to control the speed and grip force in proportion to the strength of his muscle signal, taken from the electrodes to pick up the muscle activity signal 38, and to adjust the magnitude of the opening of the brush, fingers (fingers) and the angle of rotation of the brush around the longitudinal axis 39, and the sequence of the brush mechanism.

All structural elements are interconnected by fasteners - screws.

The frames of the first 5, second 9, third 7, fourth 8 fingers represent a t-shaped profile in cross section.

The frames of the first 5, second 9, third 7, fourth 8 fingers and fifth finger 11 are made with a lining, for example, of microcellular polyurethane foam.

The device operates as follows.

Using the control unit of the autonomous power supply unit 37, the autonomous power supply unit 36 is turned on. The electrodes for picking up the muscle activity signal 38 take out the muscular activity signal and transmit it to the control system of the brush 35, which converts the captured signals to command signals.

When forming a control command to open the brush, coming from the electrodes of the muscle activity signal 38 and the transformed control system of the brush 35, a command is sent to the microcontroller of the gripping mechanism 13, the first microelectric drive 12 is turned on, which drives the gear 14 with the crank 17 fixed to it The crank 17 begins to rotate counterclockwise, driving the lever 19 and the lever of the fourth finger 20. The lever 19 by means of a screw 21 transmits the movement to the frame of the first finger 5. Accordingly Actually, the lever of the first finger 23, fixed at one end in the frame of the first finger 5, the second end drives the frame of the third finger 7, and the lever of the fourth finger 20 with the second end drives the frame of the fourth finger 8, the brush opens.

When forming the control command for closing the brush, coming from the electrodes of the signal collection of muscle activity 38 and the transformed control system of the brush 35, a command is sent to the microcontroller of the gripping mechanism 13. The closing mechanism of the brush is carried out in the reverse order. The brush closes and a grip in the "pinch" or capture and hold of the subject.

When forming the control command for the removal of the frame of the second finger 9 from the frame of the third finger 7, coming from the electrodes of the signal collection of muscle activity 38 and the transformed control system of the brush 35, a command is sent to the microcontroller of the mechanism of the lead 27, the second microelectric drive 26 is turned on, the helical gear 28, along which the nut 29 moves, moving the frame of the second finger 9. The nut 29 makes a reciprocating motion. When the nut 29 approaches the microelectric drive 26, the frame of the second finger 9 is diverted from the frame of the third finger 7. When the nut 29 is moved from the microelectric drive 26, the frame of the second finger 9, on the contrary, is pressed against the frame of the third finger 7, which ensures that an object is clamped between the lined frames of the second and third finger.

When forming a control command for the rotation of the brush around the longitudinal axis 39, coming from the electrodes of the muscle signal 38 and the transformed control system of the brush 35, a command is sent to the microcontroller of the rotation mechanism 32, the third microelectric actuator 31 is turned on, installed in the housing of the rotation mechanism 34, and rotates the gear 33, which transmits rotational motion to gear 40, which in turn drives the rotation mechanism housing 34. Depending on the patient's coma In addition, the brush can rotate clockwise or counterclockwise around the longitudinal axis 39.

Claims (3)

1. Electromechanical prosthesis for prosthetics of a hand at the level of the forearm, comprising a body, a receiving sleeve, frames of the first, second, third, fourth fingers and a fifth finger, made in the form of an elastic link, a brush movement mechanism with microelectrical drives, characterized in that the frame of the first finger fixed on the first axis of rotation, the frame of the third finger and the frame of the fourth finger are fixed on the second axis of rotation, and the first axis of rotation and the second axis of rotation are fixed motionless in the housing, while the frame of the second finger and fixed in the frame of the third finger using the third axis of rotation, and the frame of the fourth finger and fifth finger are made in the form of a single unit, in which the lining of the frame of the fourth finger is made in one piece with the lining of the fifth finger, and the brush movement mechanism is made in the form of a gripping mechanism, the abduction mechanism and the rotation mechanism, while the gripping mechanism is made in the form of a first microelectric drive equipped with a gripping mechanism microcontroller and an executive body of the gripping mechanism of the first, second and third frame fingers, and the first microelectric drive and the microcontroller of the gripping mechanism are located in the housing of the gripping mechanism, while the housing of the gripping mechanism is rigidly mounted in the housing, and the retraction mechanism is made in the form of a second microelectric drive mounted on the frame of the third finger and equipped with a microcontroller of the retraction mechanism and an executive body of the retraction mechanism the second from the third frame of the fingers, while the microcontroller of the abduction mechanism is located on the housing of the gripping mechanism, and the rotation mechanism is made in the form of a third microelectric drive equipped with a microcontroller of the rotation mechanism and an executive body of the rotation mechanism of the brush, the third microelectric drive and microcontroller of the rotation mechanism are fixed inside the housing of the rotation mechanism, while the receiving sleeve is fixed to the housing of the rotation mechanism, the housing of the rotation mechanism is rigidly attached to the housing, all three micro-electric drives are connected to the brush control system mounted on an autonomous power supply unit located on the body of the rotation mechanism and equipped with a control unit for an autonomous power supply unit, while the receiving sleeve has electrodes for collecting muscle activity signal associated with a brush control system that is connected to a gripper mechanism microcontroller, a lead mechanism microcontroller, and a rotation mechanism microcontroller. 2. Electromechanical prosthesis of a brush according to claim 1, characterized in that a cover is made on the outer part of the body. 3. Electromechanical prosthesis of a brush according to claim 1, characterized in that the frames of the first, second, third, fourth fingers are a t-shaped profile in cross section.

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