SU1342493A1 - Prosthesis for lower extremity - Google Patents

Abstract

The invention relates to medical technology. The purpose of the invention is to reduce the energy consumption of a disabled person when walking. The prosthesis contains an artificial foot 1, an ankle joint 2 and ankle tube. The cylinder 3 is connected to the receiving sleeve 5. The adjusting finger 20 is connected by means of the rocker arm to the piston 21 of the hydraulic cylinder 8. On the nose and toe, etope 1 is installed (L

Description

tactile sensors 23 and 2A, other connections to the mandrel formation unit 25. The stiffness of the spring is selected from the condition of ensuring reliable return of the prosthesis to its initial state at the end of the transfer phase and

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The invention relates to medicine, namely to prosthetics and prosthetic construction, and relates to lower limb prostheses.

The aim of the invention is to improve the functional characteristics of the prosthesis and reduce the energy consumption of the disabled person when walking.

FIG. 1 shows the kinematic diagram of the lower limb prosthesis in FIG. 2 is a kinematic diagram of a hydraulic cylinder and distribution devices; in fig. 3 and 4 is a block diagram of the formation of commands, options.

The prosthesis of the lower limb contains a series of artificial foot connected 1, ankle joint

2 and the lower leg tube, made in the form of a telescopic link containing a cylinder mounted along the lower leg axis

3 and a piston 4, the cylinder 3 being connected to the receiving sleeve 5, the mechanical accumulator 6, made in the form of a spring and connected by means of an automatic clutch-disengagement mechanism 7, a hydraulic cylinder 8, the adjacent cavities of which are connected via a pipeline 9, a check valve 10 and a spool valve 11 connected to an electromagnet 12; electromechanical lock 13, including, I tgu 14, guide sleeve 15, dog 16, connected by a lever

17 with electromati nita 18 core and with springs 19.

The prosthesis mechanism also includes an adjusting finger 20 connected by means of a rocker arm to the piston 21 of the hydraulic cylinder 8, in the cavity of which a spring 22 is mounted. On the foot and toe of the foot 1, tactile sensors 23 and 24 are connected, respectively, to the forming unit 25

significantly less than the stiffness of the spring battery 6. The presence of the finger 20 provides the ability to adjust the initial state of the battery 6, depending on the weight of the disabled. 4 il.

commands, which contains two analogs. the channel (fig-3, 3) of the series-connected delay circuits 26 and the formers 27, the outputs of which are connected to electromagnets 12 and 18, respectively. The formers 27 are made, for example, in the form of one-oscillators connected to amplifiers.

power.

The prosthesis of the lower limb works as follows.

In the initial state, which corresponds to the moment preceding

the front, push, windings of electromagnets 12 and 18 are de-energized, the telescopic link piston is maximally extended relative to cylinder 3, mechanical, for example spring, battery 6, is discharged by the initial value adjusted by the position of the finger 20, the dog 16 engages with 14, 14 The adjacent cavities of the hydraulic cylinder 8 are connected via a reversing valve 10, which allows for one-directional and direct movement of the piston 4 relative to the cylinder 3 of the telescopic link. In this case, the mechanism 7 is in the uncoupling state and does not prevent the cylinder 3 from moving together with the thrust 14 downwards.

At the beginning of the oporno period there is a roll on the artificial

feet. A forward thrust is performed. In this case, the signal (Fig. 4) from the exact tactile sensor 24 enters the first channel of the command generation unit 25, into the delay circuit 26.

At the same time, under the action of the compressive force arising from the interactions of the force of weight and the force of inertia of the mass of the disabled person with the support, the cylinder 3 begins to move downward relative to the telescopic link piston 4 through the pawl 16 rigidly connected with the cylinder 3 and pulling the spring of the mechanical accumulator 6. This ensures the damping of the front push and the partial charge of the mechanical (spring) battery 6. At the same time, the prosthesis is shortened.

Lowering the entire foot 1 onto the support corresponds to the single-support phase of movement. In this phase, under the action of the weight force of the disabled person, the cylinder 3 is further lowered relative to the piston 4 and the charge of the mechanical (spring) battery 6. By the time the heel detaches from the support, the mechanical battery 6 is in a fully charged state. In addition, the spring 22 is in the charged state. The mechanism 7 at this point enters the engagement state and makes it possible to transfer the force from the mechanical battery 6 through the pull 14 to the foot.

The delay circuit 26 is individually tuned so that it triggers after the completion of the single-support phase. The signal is transmitted through the pulse shaper 27 to the coil of the electromagnet 18.

The electromagnet 18 is triggered and through the lever 17 pulls the pawl 16 out of engagement with the pull 14. At the same time, the mechanical (spring) battery 6 starts to return to its original state and through the pull 14 and the automatic clutch 7 performs the plantar flexion of the foot 1 i.e. the potential energy of the charged spring 6 is transferred to kinetic energy, aimed at the implementation of the plantar flexion of the foot 1, which provides repulsion from the support - the rear push.

To reduce the pull force of the electromagnet 18, the interaction plane of the pawl 16 with the pull 14 is made at a small angle, ensuring the presence of the normal (perpendicular pulling force) component force, which is balanced by the spring 19 at maximum stretching of the spring battery 6.

In the supporting phase, the hydraulic cylinder 8, together with the distribution devices (valve 10 and spool valve 11), provides one

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directional movement of the cylinder 3 relative to the piston 4, which eliminates the possibility of oscillatory motion of the telescopic link.

After the phase of the rear impulse is completed, the command signal sensor 24 mounted on the toe of the foot is activated, and the signal enters the delay circuit 26 of the second channel of the command generation unit 25. After the separation of the foot 1, the prosthesis begins to be transferred above the support.

Scheme 26 of the delay of the second channel

g. set up so that it triggers in the middle of the transfer phase. The signal through the driver 27 is supplied to the winding of the electromagnet 12, which, when activated, connects the spool valve 11, is open-. The connecting line connects the directly adjacent cavities of the hydraulic cylinder 8.

Under the action of the spring 22 and inertial forces, the piston 4 moves down

5 with respect to the cylinder 3, and the pawl 16 engages with the thrust 14, and the prosthesis returns to its original state. The process then repeats.

The prosthesis mechanism works in a similar way if control is exercised from bioelectric signals. In this case, in the final phase of the support, the invalid reduces, for example, the calf shank leg stump. The control signal through the electrodes 28, 29 according to (Fig.4)

5, the first channel of the command generation unit 25, namely, the biopotential amplifier 30, the integrator 31 and the pulse shaper 32, is applied to the electromagnet 18 winding. Next, the mechanism operates in the support phase as described.

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In the middle of the transfer phase, the invalid reduces the anterior tibial

45 muscle stump shin. The control signal is similarly transmitted through the second channel of the command generation unit 25 to the winding of the electromagnet 12. Next, the operation of the mechanism during the transfer phase 5Q is as described. In the case of biosignal control, the role of command sensors is performed by electrodes mounted on muscles.

Prosthetic limb length

gg in the initial state is chosen to be equal to or somewhat longer than the remaining limb, and the rigidity of the mechanical (spring) battery 6 together with the spring 22 you

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It is taken so as to ensure equality of the lengths of the prosthetic and preserved limbs upon standing, i.e. with a load on the prosthesis equal to half the mass of the disabled person. At the same time, the total stiffness of the prosthesis under compression is determined by the total stiffness of the battery 6 and the spring 22. The stiffness of the spring 22 is selected from the condition of ensuring reliable return of the prosthesis to its original state at the end of the transfer phase and significantly less than the spring battery 6, the ability to adjust the initial state of the mechanical (spring) battery 6 depending on the weight of the disabled.

If necessary, the block 25 formation of commands can be disabled. In such a case, the windings of electromagnets 12 and 18 are in a de-energized state, which allows the prosthesis to be shortened in the support phase, and further walking occurs as on a conventional prosthesis with a length of the prosthetic limb somewhat less (depending on the length of the prosthesis) than saving with.

rmula of invention

F o

A lower limb prosthesis containing an artificial foot connected in series, an ankle joint, a lower leg tube and a receiving sleeve, as well as a mechanical. Accumulator connected by means of an automatic locking mechanism. with a foot that is different and that in order to reduce the energy consumption of a disabled person when walking, in: there is a hydraulic cylinder connected to the telescopic tube on the tibial axis. the link, the piston of the hydraulic cylinder is hingedly connected with the adjusting finger of the mechanical battery connected to the piston of the telescopic link of the lower leg tube, the distribution element of the hydraulic cylinder is connected to the first electromagnet, and the electromechanical lock is connected with the second electromagnet, while the first and second electromagnets are connected to a command generation unit associated with command signal sensors.

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five

Editor I. Nikolaichuk

Order 4539/3 Circulation 594 Subscription

VNIIPI USSR State Committee

for inventions and discoveries 113035, Moscow, Zh-35, Raushsk nab., 4/5

Production and printing company, Uzhgorod, st. Project, 4

Compiled by V. Vaganov

Tehred L. Serdyukova, Corrector. Cherni

Claims (1)

Claim A lower limb prosthesis containing 5 artificial feet, an ankle joint, a calf tube and a receiving sleeve, as well as a mechanical accumulator connected by means of an automatic clutch-release mechanism ₁₀ . with a foot, with the exception that, in order to reduce the energy consumption of a disabled person when walking, in it: a hydro ₁₅ cylinder is installed on the lower leg axis, connected with a lower leg tube made in the form of a telescopic link, a piston 'of the hydraulic cylinder is pivotally connected to the adjusting finger mechanical battery nennym Cpd ₂₀ with the piston of the telescopic tube unit shin distribution cylinder member connected to the first electromagnet, and the electromechanical locking pawl means 25 is connected to the second electromagnet, the first and the second electromagnets are connected to the command generation unit associated with the command signal sensors. ^x 2 / Fig2 Hzgz