TWI832791B - Finger continuous passive joint motion device - Google Patents

Abstract

A finger continuous passive joint motion device is provided to perform bending or straightening movements on the user’s fingers. The finger continuous passive joint motion device includes a body, a first stretching assembly, a second stretching assembly, and a control module. The top surface of the body has a first base, a first pivot seat, a second base, and a second pivot seat. The first stretching assembly has a first action cylinder fixed to the first base, wherein the free end of an action rod of the first action cylinder drives a finger sleeve movement via a pull plate. The second stretching assembly has a second action cylinder fixed to the second base, wherein the free end of an action rod of the first action cylinder drives a finger sleeve movement via two seating plates. The control module controls the operation or stopping of the first action cylinder and the second action cylinder to allow the user’s fingers inserted into the finger sleeves to undergo passive bending or straightening movements.

Description

Continuous passive finger joint motion device

The present invention relates to a medical assistive device, in particular to a continuous passive finger joint movement device that assists stroke patients to perform finger flexion and extension movements.

Upper limb hand spasm is a very common sequelae of patients after a stroke. Common symptoms include palms and fingers that continue to look like a fist and cannot be opened normally, and even the wrist is deformed and twisted, making it impossible to reach for objects. Many effective methods have been developed for upper limb movement rehabilitation equipment for stroke patients, among which wearable exoskeleton rehabilitation manipulators have become the most popular interventional method in recent years. However, the price of exoskeleton rehabilitation robots currently promoted on the market is too high, which is too burdensome for ordinary people. They may not be able to pay and therefore miss the golden rehabilitation period.

Patent case No. M544311 of the Republic of China discloses a "hand rehabilitation device", which includes a base plate part, a plurality of fixed seat parts, a plurality of tightness adjustment parts, a plurality of stretching parts and a plurality of finger cot parts. The base plate is provided on the hand. One end of each stretching part is connected to each tightness adjusting part, and the other end is connected to the finger cuff part after passing through the fixed seat part. The finger cuff part is fixed on the finger; when the finger changes from straight to bent, it is necessary to pull the stretching part to achieve rehabilitation.

In addition, the patent case No. M586120 of the Republic of China discloses a "tension adjustment structure of a hand rehabilitation training device", which includes a palm orthosis body, which is movable with a plurality of finger support rods and a thumb support rod; a forearm orthosis The main body is combined with the main body of the palm orthosis, and the main body of the forearm orthosis is provided with a fixed seat; a tension adjustment unit is provided with a plurality of elastic members, and the elastic members are One end is respectively combined with the finger support rod and the thumb support rod, and the other end of the elastic member is respectively fixed on the fixed base, and the other end of the elastic member is adjusted on the fixed base respectively. The different fixed lengths of the elastic members can be adjusted to produce different stretching forces.

The devices disclosed in the above two patent cases for rehabilitation of stroke patients are mechanical medical assistive devices in a wearable form, and the main technology of the mechanical medical assistive devices is to achieve finger bending and straightening. However, the structure of human fingers has a certain degree of complexity, and the degree of freedom of finger movement is closely related to the number of finger joints. In order to simulate the movements of human finger joints, the medical assistive device uses a multi-joint actuating mechanism to simulate the metacarpal joint (MCP joint), proximal interphalangeal joint (PIP joint) and distal finger joints. The action of joint (Distal phalange joint, DIP joint). However, as the number of movable joints increases, the complexity of the device also increases, and it becomes difficult to operate and put on, which creates obstacles for patients to put it on themselves.

Furthermore, the two patents both use guide wires to drive the user's fingers to bend or straighten, and the motor devices (actuators) involved use the motor axis to move forward or backward. Related sources of motivation. However, in actual operation, the position of the guide wire must be accurately aligned with the position of each finger joint of the user, and the guide wire will be entangled with each other due to the movement of retracting or releasing the wire, resulting in obstruction of movement. In addition, the guide wire It is easy to cause insufficient pulling force due to the limitation of material strength, resulting in the patient being unable to provide strength to open the fingers.

After long-term observation and in-depth research, the hand anatomy and functions of stroke patients are normal. They only have defects in the ability to control the bending and straightening of the fingers. They only need to continue to learn to control the opening and closing of the fingers through repeated exercises. ability. Therefore, the wearable finger passive joint movement device does not need to simulate the number of all finger joints one by one, as long as the number of joints is sufficient to complete the opening and closing movements of the fingers.

In view of this, it is indeed necessary to add wearable medical assistive devices for rehabilitation of stroke patients. to improve.

In order to solve the above problems, the main purpose of the present invention is to provide a continuous passive finger joint movement device that can be conveniently worn by patients for rehabilitation training.

A secondary object of the present invention is to provide a continuous passive finger joint movement device that can be worn comfortably by patients to achieve the best rehabilitation training effect.

Directionality or similar terms are used throughout the present invention, such as "front", "back", "left", "right", "upper (top)", "lower (bottom)", "inner", "outer" , "side", etc. mainly refer to the directions of the attached drawings. Each directionality or its approximate terms are only used to assist in explaining and understanding the various embodiments of the present invention, and are not intended to limit the present invention.

The use of the quantifier "a" or "an" in the elements and components described throughout the present invention is only for convenience of use and to provide a common sense of the scope of the present invention; in the present invention, it should be interpreted as including one or at least one, and single The concept of also includes the plural unless it is obvious that something else is meant.

The continuous passive finger joint movement device of the present invention may include: a body with at least one fixing member and an arc portion on the bottom surface of the body; the top surface of the body has a first base and a first pivot joint base, a second base, and a second pivot base; a first stretching group has a first action cylinder fixed to the first base, and the first action cylinder has an action rod, and the action rod has The free end is pivotally connected to the first end of a pull plate using a pivot piece, the second end of the pull plate is pivoted to a finger cot through a pivot piece, and is connected to a first pivot plate between the two ends of the pull plate. One end of the first pivot plate is pivotally connected to the first pivot seat with a pivot piece, and the other end of the first pivot plate is pivoted to the first pivot seat with a pivot piece; a second stretching group has a second action cylinder fixed to the The second base, the second action cylinder has an action rod, the free end of the action rod is pivoted to the first end of the two seat plates with a pivot piece, and the second ends of the two seat plates are each pivoted with a pivot piece. Connect the extension board to the One end, the second end of the two seat plates are each pivoted to a finger sleeve with a pivot joint; and a control module includes a power base and a controller, the power base is fixed on the body, and the power base is electrically connected respectively. The first action cylinder and the second action cylinder are sexually connected, the controller is coupled to the power base, and the controller transmits a control signal through the power base to control the operation of the first action cylinder and the second action cylinder or stop.

Accordingly, the continuous passive finger joint motion device of the present invention only adopts the three-finger wearing method to perform passive opening and closing movements on the user's thumb, index finger, and middle finger respectively. In this way, the user can easily wear and use it by himself. , in order to carry out rehabilitation training and achieve the best rehabilitation training effect, and the continuous passive finger joint movement device of the present invention uses the action rod of the action cylinder for telescopic action, so it will not be caused by the conventional guide wire. The effect of the present invention is to eliminate the phenomenon of insufficient tension, entanglement with each other due to the take-up or pay-out movement, and obstruction of movement.

Wherein, the first base system has a seat hole, the cylinder system of the first action cylinder can pass through the seat hole, and the cylinder body is fixed to the first base by a positioning element. In this way, the first actuating cylinder is reliably fixed to the main body.

Wherein, the pivot axis of the pivot member that is pivotally connected to the finger cuff and the pivot axis of the pivot member that is pivotally connected to the first pivot plate are non-parallel and have an included angle. In this way, the user's thumb can achieve a correct angle of bending or straightening movement.

Among them, the included angle ranges from 30° to 60°. In this way, the user's thumb can achieve a correct angle of bending or straightening movement.

Wherein, the second base system has a seat hole, the cylinder system of the second action cylinder passes through the seat hole, and the cylinder body is fixed to the second base by a positioning element. In this way, the second actuating cylinder is reliably fixed to the main body.

Wherein, the two seat plates are connected as a whole by a connecting rod. In this way, the two seat panels can be integrally linked and have better strength.

Wherein, the seat plate, the extension plate and the two second pivot plates of the second stretching group are one a single component of the body. In this way, when the second action cylinder pulls the seat plate, it can also move the finger cot, so that the fingers inserted into the finger cot can bend or straighten.

Wherein, the action rod of the second action cylinder telescopically moves according to a first center line, the body has a second center line, and the first center line and the second center line are non-parallel and have an included angle. In this way, it can conform to the anatomy of the finger flexion and convergence points, allowing the user to move more smoothly when opening and closing the fingers, close to the effect of real movements.

Among them, the included angle is between 10° and 20°. In this way, it can conform to the anatomy of the finger flexion and convergence points, allowing the user to move more smoothly when opening and closing the fingers, close to the effect of real movements.

Wherein, the controller controls the first action cylinder and the second action cylinder to activate or stop respectively. In this way, the first action cylinder and the second action cylinder can be activated or stopped respectively, and have the function of causing the finger cots of the first stretching group and the second stretching group to respectively bend or straighten the user's fingers. The effect of exercise.

Wherein, the controller controls the first actuating cylinder and the second actuating cylinder to activate or stop simultaneously. In this way, it has the effect of causing the finger cuffs of the first stretching group and the second stretching group to synchronously bend or straighten the user's fingers.

[Invention]

1: Ontology

11: Fixtures

12:Arc

13:First pedestal

131: Seat hole

14:First pivot seat

141: Pivot hole

15:Second pedestal

151: Seat hole

16:Second pivot seat

161: Pivot hole

2: The first stretching group

21:First action cylinder

211:Action lever

22: Pull plate

23:First pivot plate

24:Finger cots

3: Second stretching group

31: Second action cylinder

311:Action lever

32a, 32b: seat plate

33: Connecting rod

34a, 34b: extension plate

35a, 35b: finger cots

36a, 36b: second pivot plate

4:Control module

41:Power socket

42:Controller

43: switch

C1: First center line

C2: Second center line

P1, P2, P3, P4, P5, P6, P7, P8: Pivot joints

S1, S2: positioning components

θ1, θ2: included angle

[Figure 1] An exploded perspective view of a preferred embodiment of the present invention.

[Figure 2] A diagram showing the combination of a preferred embodiment of the present invention.

[Figure 3] Cross-sectional view along line A-A in Figure 2.

[Figure 4] A three-dimensional view of the wearing state of a preferred embodiment of the present invention.

[Picture 5] The action diagram is as shown in Picture 4.

In order to make the above and other objects, features and advantages of the present invention more obvious and understandable, preferred embodiments of the present invention are illustrated in detail below and described in detail with reference to the accompanying drawings.

Directionality or similar terms used in the present invention, such as "front", "back", "left", "right", "upper (top)", "lower (bottom)", "inner", "outer", "Side", etc. mainly refer to the directions of the attached drawings. Each directionality or its approximate terms are only used to assist in explaining and understanding the embodiments of the present invention, and are not intended to limit the present invention.

Please refer to Figures 1 and 2, which is a preferred embodiment of the continuous finger passive joint motion device of the present invention. It can include a body 1, a first stretching group 2, and a second stretching group 3 And a control module 4, the first stretching group 2 and the second stretching group 3 are respectively located on the body 1 and are used to bend or straighten the user's fingers.

The body 1 has at least one fixing member 11 so that the body 1 can be attached and fixed to a user's arm through an arc portion 12 on the bottom surface. The at least one fixing member 11 can be a conventional tie or adhesive. Buckle straps, adjustable straps, etc. can be used so that the main body 1 can be fixed on a user's arm, which is not limited by the present invention. The top surface of the body 1 has a first base 13 , a first pivot seat 14 , a second base 15 , and a second pivot seat 16 . The first base 13 is used for fixing the cylinder of the first stretching group 2, and the first pivot seat 14 is used for pivoting a first pivot plate 23 of the first stretching group 2; The two bases 15 are used for fixing the cylinder of an action cylinder 31 of the second stretching group 3, and the second pivot seat 16 is used for two second pivot plates 36a, 36b Pivot.

The first stretching group 2 has a first action cylinder 21. The first action cylinder 21 can be a servo motor, a linear motor or an actuator, etc., which is not limited by the present invention. The first actuating cylinder 21 can be fixed to the first base 13 by its cylinder body. In this embodiment, the first base 13 has a seat hole 131 through which the cylinder system of the first actuating cylinder 21 can pass. placed in the seat hole 131, and by a bolt Positioning elements S1 and other positioning elements fix the cylinder to the first base 13. The first operating cylinder 21 has a telescopically movable operating rod 211. The free end of the operating rod 211 and the first end of a pulling plate 22 are connected to the first base 13. The pivot member P1 is pivoted, and the second end of the pull plate 22 is pivoted to a finger cot 24 through a pivot member P2. The finger cot 24 can be inserted by one finger of the user. The pull plate 22 is between the two ends. One end of the first pivot plate 23 is pivoted with a pivot piece P3, and the other end of the first pivot plate 23 is pivoted with a pivot piece P4 with a pivot piece of the first pivot seat 14. hole 141, in this way, by the telescopic movement of the operating rod 211 of the first operating cylinder 21, the fingers inserted into the finger cot 24 can move to bend or straighten.

Please refer to Figures 2 and 3. In this embodiment, the finger cot 24 is for the user's thumb to insert. In order to match the movement direction of the thumb, preferably, the finger cot 24 is pivoted. The pivot axis of the pivot member P2 and the pivot axis of the pivot member P3 that is pivoted to the first pivot plate 23 are turned to be non-parallel and have an included angle θ1. The included angle θ1 is preferably between 30° and 60°. °, in this way, when the action lever 211 moves telescopically, the user's thumb can move in a bending or straightening manner.

Please refer to Figures 1 and 2. The second stretching group 3 has a second action cylinder 31. The second action cylinder 31 can be a servo motor, a linear motor or an actuator. The present invention does not limit. The second actuating cylinder 31 can be fixed to the second base 15 by its cylinder body. In this embodiment, the second base 15 has a seat hole 151, and the cylinder system of the second actuating cylinder 31 can pass through it. It is placed in the seat hole 151, and the cylinder is fixed to the second base 15 by a positioning element S2 such as a bolt. The second action cylinder 31 has a telescopically movable action rod 311, and the action rod 311 is free to move. The first ends of the two seat plates 32a and 32b are pivotally connected with the pivot member P5. Preferably, the two seat plates 32a and 32b are connected as one by a connecting rod 33. The second ends of the two seat plates 32a and 32b are Each of the first ends of the extension plates 34a and 34b is pivotally connected with a pivot member P6, and the second ends of the two extension plates 34a and 34b are each pivotally connected with a finger sleeve 35a, 35b with a pivot member P7. The sleeves 35a and 35b can respectively be inserted into by the user's two fingers. Preferably, the two pivot members P6 that pivotally connect the two seat plates 32a and 32b and the two extension plates 34a and 34b are each pivotally connected to a second One end of the pivot plates 36a and 36b, and the other ends of the two second pivot plates 36a and 36b respectively have a A pivot member P8 is pivotally connected to a pivot hole 161 of the second pivot seat 16. In this way, through the telescopic movement of the action rod 311 of the second action cylinder 31, the two fingers can be inserted into the second pivot seat 16. The fingers of the sleeves 35a and 35b are bent or straightened.

Please note that in other embodiments, the seat plates 32a and 32b, the extension plates 34a and 34b and the second pivot plates 36a and 36b can also be integrated into a single component, that is, each of the two seat plates 32a and 32b can be a single component. The two extension plates 34a and 34b can be integrally extended to a greater length to include each of the extension plates 34a and 34b, or each of the two extension plates 34a and 34b can be integrally extended to a greater length to include each of the seat plates 32a and 32b. The two second pivot plates One ends of 36a and 36b are respectively connected between the two ends of the two integrally extended seat plates 32a and 32b or the two extension plates 34a and 34b. The other ends of the two second pivot plates 36a and 36b are each connected with a pivot. The connector P8 is pivotally connected to a pivot hole 161 of the second pivot seat 16. In this way, through the telescopic movement of the action rod 311 of the second action cylinder 31, the two finger sleeves can also be inserted into the second finger cuff. The bending or straightening movement of the fingers 35a and 35b can be understood by those with ordinary knowledge in the technical field to which the present invention belongs.

Please refer to Figure 2. In this embodiment, the two finger cots 35a and 35b can be inserted by the user's middle finger and index finger respectively. In order to match the human anatomy of the middle finger and index finger, it is better to Ground, the operating rod 311 of the second operating cylinder 31 telescopically moves according to a first center line C1, and the body 1 has a second center line C2, and the first center line C1 and the second center line C2 are non-parallel. It has an included angle θ2, and the included angle θ2 is preferably between 10° and 20°. In this way, it can conform to the anatomical phenomenon of the finger flexion convergence point, allowing the user to move more smoothly when opening and closing the fingers, and is close to the real action.

The control module 4 includes a power base 41 and a controller 42. The power base 41 can be fixed on the body 1. The power base 41 accommodates a battery or a power receiving component, and the power source can be switched by a switch 43. The base 41 is for starting or shutting down. The power base 41 is electrically connected to the first actuating cylinder 21 and the second actuating cylinder 31 respectively. The power base 41 can supply actuation to the first actuating cylinder 21 and the second actuating cylinder 31. The required electrical energy; and, the controller 42 is coupled to the power base 41, The controller 42 transmits control signals through the power base 41 to control the first action cylinder 21 and the second action cylinder 31 to start or stop respectively, or to cause the first action cylinder 21 and the second action cylinder 31 to operate. They can be activated and stopped simultaneously or independently, and the controller 42 can be wired or wirelessly controlled, which is not limited by the present invention.

Please refer to Figure 4, which is a usage situation of the present invention. The user can easily attach the body 1 to the arm through the arc portion 12, insert the thumb into the finger cot 24, and put the The middle finger and the index finger are inserted into the two finger sleeves 35a and 35b, and the body 1 is fixed on the user's arm with the at least one fixing member 11. At this time, the thumb, the middle finger and the index finger are in a bent state.

Referring to Figure 5, the user can activate the power base 41 through the switch 43, and the controller 42 transmits a control signal through the power base 41 to cause the first actuating cylinder 21 to operate. And the second operating cylinder 31 is activated. When the operating rods 211 and 311 of the first operating cylinder 21 and the second operating cylinder 31 are retracted, the operating rods 211 and 311 pull the pulling plate 22 and the two extension plates. The plates 34a and 34b respectively pivot according to the first pivot seat 14 and the second pivot seat 16 to spread the thumb and straighten the middle finger and index finger and stay there for a predetermined time. The user performs passive finger movements, and through continuous passive finger bending or straightening movements, then learns how to control finger movements, reversing the "learned disuse phenomenon" of stroke patients.

Please pay special attention to the fact that the present invention adopts a three-finger wearing method. Since the opening and closing movements of the thumb, index finger, and middle finger are almost the main grasping movements of the hand, mastering these three-finger joint movements is sufficient to meet most of the user's needs. Similar functions, but can reduce the difficulty of wearing.

To sum up, the continuous passive finger joint motion device of the present invention only uses a three-finger wearing method to passively open and close the thumb, index finger, and middle finger of the user respectively. In this way, the user can easily move the finger joint by himself. Wearable and used to carry out rehabilitation training and achieve the best rehabilitation training effect. Moreover, the continuous passive finger joint motion device of the present invention uses the action rod of the action cylinder for telescopic action, so it does not behave like the conventional guide wire. Insufficient tension caused by the phenomenon, and due to the take-up or The effect of the present invention is that the unwinding movement causes entanglement with each other and obstruction of movement.

Although the present invention has been disclosed using the above-mentioned preferred embodiments, they are not intended to limit the invention. Anyone skilled in the art can make various changes and modifications to the above-described embodiments without departing from the spirit and scope of the invention. The technical scope protected by the invention, therefore, the protection scope of the invention shall include all changes within the literal and equivalent scope described in the appended patent application scope.

1: Ontology

11: Fixtures

12:Arc

13:First pedestal

131: Seat hole

14:First pivot seat

141: Pivot hole

15:Second pedestal

151: Seat hole

16:Second pivot seat

161: Pivot hole

2: The first stretching group

21:First action cylinder

211:Action lever

22: Pull plate

23:First pivot plate

24:Finger cots

3: Second stretching group

31: Second action cylinder

311:Action lever

32a, 32b: seat plate

33: Connecting rod

34a, 34b: extension plate

35a, 35b: finger cots

36a, 36b: second pivot plate

4:Control module

41:Power socket

42:Controller

43: switch

P1, P2, P3, P4, P5, P6, P7, P8: Pivot joints

S1, S2: positioning components

Claims (11)

A continuous passive finger joint movement device, including: a body with at least one fixing piece and an arc portion on the bottom surface of the body; the top surface of the body has a first base, a first pivot seat and a a second base, a second pivot seat; a first stretching group with a first action cylinder fixed to the first base, the first action cylinder having an action rod, the free end of the action rod and The first end of a pull plate is pivoted with a pivot piece, the second end of the pull plate is pivoted with a pivot piece, and a finger sleeve is pivoted with a pivot piece. Between the two ends of the pull plate and one end of the first pivot plate, A pivot member is pivoted, and the other end of the first pivot plate is pivoted to the first pivot seat with a pivot member; a second stretching group has a second action cylinder fixed to the second base. seat, the second action cylinder has an action rod, the free end of the action rod is pivoted to the first end of the two seat plates with a pivot piece, and the second ends of the two seat plates are each pivoted to an extension with a pivot piece. The first end of the board, the second ends of the two base plates are each pivoted to a finger sleeve with a pivot piece; and a control module includes a power base and a controller, the power base is fixed on the body, the The power base is electrically connected to the first action cylinder and the second action cylinder respectively. The controller is coupled to the power base. The controller transmits a control signal through the power base to control the first action cylinder and the second action cylinder. The action cylinder starts or stops. The continuous passive finger joint movement device of claim 1, wherein the first base system has a seat hole, the cylinder system of the first action cylinder can pass through the seat hole, and the cylinder body is fixed by a positioning element fixed to the first base. The continuous passive finger joint motion device of claim 1, wherein the pivot axis of the pivot member that is pivoted to the finger cuff is the same as the pivot axis of the pivot member that is pivoted to the first pivot plate. They are non-parallel and have an included angle. For example, the continuous passive finger joint movement device of claim 3, wherein the included angle is between 30° and 60°. The continuous passive finger joint movement device of claim 1, wherein the second base has a seat hole, the cylinder system of the second action cylinder penetrates the seat hole, and the cylinder is fixed by a positioning element on the second base. For example, the continuous passive finger joint movement device of claim 1, wherein the two seat plates are connected as a whole by a connecting rod. The continuous passive finger joint movement device of claim 1, wherein the seat plate, the extension plate and the two second pivot plates of the second stretching group are a single integral component. The continuous passive finger joint movement device of claim 1, wherein the action rod of the second action cylinder telescopically moves according to a first center line, the body has a second center line, and the first center line is connected to the second center line. The centerline has an included angle. For example, the continuous passive finger joint movement device of claim 8, wherein the included angle is between 10° and 20°. The continuous passive finger joint movement device of claim 1, wherein the controller controls the first action cylinder and the second action cylinder to activate or stop respectively. The continuous passive finger joint movement device of claim 1, wherein the controller controls the first action cylinder and the second action cylinder to act or stop at the same time.

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