WO2011123951A1 - Mécanisme d'articulation frontale pour orthèses - Google Patents

Mécanisme d'articulation frontale pour orthèses Download PDF

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Publication number
WO2011123951A1
WO2011123951A1 PCT/CA2011/000397 CA2011000397W WO2011123951A1 WO 2011123951 A1 WO2011123951 A1 WO 2011123951A1 CA 2011000397 W CA2011000397 W CA 2011000397W WO 2011123951 A1 WO2011123951 A1 WO 2011123951A1
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WO
WIPO (PCT)
Prior art keywords
displacement
frontal
joint mechanism
accordance
joint
Prior art date
Application number
PCT/CA2011/000397
Other languages
English (en)
Inventor
Dany Lachance
Stéphane BÉDARD
Original Assignee
B-Temia Inc.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by B-Temia Inc. filed Critical B-Temia Inc.
Publication of WO2011123951A1 publication Critical patent/WO2011123951A1/fr

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices; Anti-rape devices
    • A61F5/01—Orthopaedic devices, e.g. splints, casts or braces
    • A61F5/0102—Orthopaedic devices, e.g. splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations
    • A61F5/0123—Orthopaedic devices, e.g. splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations for the knees
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices; Anti-rape devices
    • A61F5/01—Orthopaedic devices, e.g. splints, casts or braces
    • A61F5/0102—Orthopaedic devices, e.g. splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations
    • A61F2005/0132—Additional features of the articulation
    • A61F2005/0134—Additional features of the articulation with two orthogonal pivots

Definitions

  • the present disclosure relates to a frontal joint mechanism for orthotic devices.
  • All joint-segments structures of the human body comprise complex joint rotational mobility with multiple degrees-of-freedom (DOFs) in order to execute a set of infinite movements that are essential for the mobility of body limbs.
  • DOFs degrees-of-freedom
  • this multiple DOFs mobility is critical for the performing of basic daily-life movements.
  • each joint-segments body structure DOF of the three biomechanical planes stirtal, coronal and transversal
  • ROM range-of-motion
  • the rotational mobility into the two other biomechanical planes, the coronal plane and the transversal plane is essential to perform a natural and low energy-cost locomotion.
  • the lateral DOFs in the sagittal plane and the frontal DOFs in the coronal plane are part of a natural walking path.
  • the present disclosure provides a frontal joint mechanism for orthotic devices allowing biomechanically compatible mobility in the coronal plane, providing additional degree-of-freedom movement for the upper extremities as well as a more natural walking path during locomotion.
  • the frontal joint mechanism for orthotic devices is designed to provide additional mobility in the coronal plane for any orthotic device aimed at stabilizing, maintaining, restoring or enhancing the biomechanical capability of a given joint-segments body structure.
  • the frontal joint mechanism provides improved synchronization of the motion of the
  • the frontal joint mechanism is designed to be part of the main pivot component of the orthotic device responsible for the rotational mobility at the transversal axis in the sagittal plane.
  • the frontal joint mechanism is positioned between the main pivot and a distal support element of the orthotic device.
  • the frontal joint mechanism works in mechanical connection with the supporting device's main pivot by adding one or more DOF along the antero-posterior axis in the coronal plane.
  • the frontal joint mechanism includes two DOFs that work independently: a rotation motion and a transversal motion. This allows linear and angular displacements of the distal support element with respect to the proximal support element in the coronal plane.
  • a frontal joint mechanism to be coupled to an orthotic device having a distal and a proximal support elements linked together by a joint component, comprising:
  • a second displacement element connected to the distal or the proximal support element
  • a frontal joint mechanism to be coupled to an orthotic device having a distal and a proximal support elements linked together by a joint component comprising:
  • a displacement element connected to the joint component and to the distal or to the proximal support element; wherein the displacement element provides rotational and/or translational displacement in the coronal plane of the distal support element with respect to the proximal support element of the orthotic device.
  • a frontal joint mechanism as any of the above wherein the displacement elements are rotational elements allowing rotational displacement in the coronal plane, compliant elements allowing rotational and/or translational displacements in the coronal plane or a combination thereof, allowing rotational and/or translational displacements in the coronal plane; wherein the rotational displacement is parallel to the antero-posterior axis of the orthotic device.
  • Figure 1 is a perspective view of an example of an orthotic device including a frontal joint mechanism in accordance with an illustrative embodiment of the present disclosure
  • Figure 2 is a perspective view of the frontal joint mechanism including two degrees-of-freedom in the coronal plane in accordance with an illustrative embodiment of the present disclosure
  • Figures 3A and 3B are perspective front views of a lower portion of the orthotic device of Figure 1 illustrating the first main degree-of-freedom;
  • Figures 4A and 4B are perspective front views of a lower portion of the orthotic device of Figure 1 illustrating the second main degree-of-freedom.
  • Distal situated away from the center of the body (i.e. the heart); and
  • Proximal situated towards the center of the body (i.e. the heart).
  • the non-limitative illustrative embodiment of the present disclosure provides a frontal joint mechanism for orthotic devices that allows mobility in the coronal plane during locomotion.
  • An orthotic device's goal is to assist a user maintain, restore or enhance the kinematic and the kinetic properties of a targeted joint-segments body structure by assisting it in one or more degrees-of-freedom (DOFs) while keeping the other DOFs unconstrained.
  • the main DOFs generally include the rotation at the transversal axis in the sagittal plane, but without applying undesired forces or torque on the segments of the joint-segments body structure. Such undesired forces or torques exert additional stress on the joint and may lead to user discomfort or even injury.
  • Each joint-segments structure of the human body has up to six DOFs; three biomechanical planes and two types of motion, namely rotation and translation.
  • DOFs three biomechanical planes and two types of motion, namely rotation and translation.
  • some DOFs must be taken into account because of their high level biomechanical
  • the lateral rotation DOF in the sagittal plane is the main DOF in overall mobility because its biomechanics is highly active for any kind of movements, as much for the upper as for the lower extremities.
  • the importance of the five remaining DOFs is strongly dependant on the application, that is to say the joint itself and what kind of environment the joint has to evolve in.
  • the main DOF for all joint- segments structures of the lower extremities is the lateral rotation DOF in the sagittal plane because the biomechanical (kinematic and kinetic) properties in the sagittal plane shows the highest level of range-of-motion and torque at the joint- segments structure during locomotion movements.
  • this constraint can cause reaction torque in the coronal plane to develop between the leg segments in the case of non-zero valgum/varum of the user's leg. This torque comes from lateral compression forces between the orthotic device and the leg tissues, and the forces involved are deemed to be considerable. This constraint should be eliminated in order to avoid undesired torque at the knee in the coronal plane.
  • the constraint can cause a reaction force along the transversal axis to develop between the leg segments in the case where the user's leg is not perfectly aligned with the proximal and distal support elements of the orthotic device (due to different muscle sizes). This force is the result of
  • reaction torque in transversal plane would cause reaction torque in transversal plane to develop between the two leg segments.
  • This reaction torque is based on tangential shearing forces between the leg tissues and the orthotic device. Such shearing forces are deemed to be significantly lower than compressive forces between the orthotic device and the leg tissues. Since there are no positive contact forces between the leg and the orthotic device to constrain this rotation, the magnitude of the associated reaction torque is low. The constraint is assessed as a weak constraint and is deemed acceptable.
  • the related constraint can cause a reaction force along the leg's longitudinal axis to develop between the two leg segments.
  • This reaction force is based on vertical shearing forces between the leg tissues and the orthotic device contact elements. Such shearing forces are deemed to be significantly lower than compressive forces since there is no positive contact between the leg and the orthotic device. The magnitude of the associated reaction force is low. Therefore, the constraint is assessed as being at a low level.
  • this constraint can cause a reaction force along the antero-posterior axis to develop between the two leg segments.
  • This reaction force is caused by compression forces on the leg segments along the antero-posterior axis. These forces are necessary to provide sagittal plane torque at the knee and cannot be eliminated.
  • This last constraint cannot be easily removed, since a single translation mechanism along anteroposterior axis can generate this specific reaction force.
  • 2285375.1 can be minimized by allowing proper adjustment of the orthotic device contact elements on the leg in the antero-posterior axis.
  • the present disclosure provides an adjustment mechanism designed to properly adjust the contact elements of the orthotic device to the user's leg and avoid undesired contact forces along this axis.
  • the orthotic device should be adjusted for each user. At rest, the contact elements should be in contact with the leg, but no pressure should be felt by the user at the contact elements.
  • the reactions forces developing at each of the contact elements should be equal in magnitude and in opposed directions (for each body segment), thus resulting in a net reaction force in the antero-posterior axis of zero for both body segments. This constraint is then under control as long as proper adjustment is made.
  • FIG. 1 there is shown an example of an orthotic device 100 for the knee joint that includes a proximal support element 1 10 for transferring torque from the compensating joint 130 to the upper leg segment of a user via contact elements 1 12 and a distal support element 120 for transferring torque from the compensating joint 130 to the lower leg segment of the user via the frontal joint mechanism 140, having two DOFs, and contact elements 122 in accordance with an illustrative embodiment of the present disclosure.
  • the purpose of the frontal joint mechanism 140 is to allow two DOFs free motion between the proximal 1 10 and distal 120 support elements of the orthotic device 100 without impairing its primary function, which is to provide opposite torques to both leg segments in the sagittal plane.
  • the frontal joint mechanism 140 comprises, as mentioned above, two DOFs provided via two displacement elements 141 and 142, which in the illustrative embodiment are two parallel axis revolution joints, linked by a rigid link 143.
  • the frontal joint mechanism 140 is oriented in such a way that the axes of both revolution joints 141 and 142 are
  • the frontal joint mechanism 140 is secured between the compensating joint 130 and the distal support element 120 by two end attachments 144 and 145.
  • the proximal revolution joint 141 allows free rotation of the rigid link 143 with respect to the proximal end attachment 144 which causes a lateral displacement 1 of the axis of the distal revolution joint 142.
  • This lateral displacement 1 of the axis of the distal revolution joint 142 constitutes the first main DOF exerting a frontal translation of the distal support element 120 along the transversal axis in the coronal plane.
  • the distal revolution joint 142 allows free rotation 2 of the distal support element 120 with respect to the rigid link 143.
  • This free rotation 2 of the distal support element 120 is the second main DOF.
  • the displacement elements 141 and 142 may be in the form of rotational elements such as pivots, hinges, spring mechanisms or any other such mechanisms, either passive or active (i.e. actuated,
  • the displacement elements 141 and 142 may be compliant elements, for example a semi-rigid material such as a high density polymer. In a further alternative embodiment, the displacement elements 141 and 142 may be a combination of the above.
  • the frontal joint mechanism may be provided with a single displacement element. If the provided displacement element is in the form of a rotational element, the frontal joint mechanism will only have one DOF providing rotational displacement in the coronal plane of the distal support element with respect to the proximal support element. However, if the provided displacement element is a compliant element, then the frontal joint mechanism will either have one DOF as described above, or two DOFs as per the illustrative embodiment. In order for the frontal joint mechanism to have two DOFs, the compliant element is such as to allow providing rotational and translational deformation in the coronal plane.
  • the frontal joint mechanism 140 allows the distal support element 120 to move laterally and rotate freely in the coronal plane.
  • the user can wear the orthotic device 100 while the frontal joint mechanism 140 adjusts itself to the user's leg. Therefore, the lateral reaction force and the frontal plane reaction torque are eliminated, avoiding the overstraining constraint of the knee when the user wears the orthotic device 100.
  • the illustrative embodiment of the frontal joint mechanism 140 has been described in the context of the knee joint, it may be applied to other joints as well. Furthermore, the use of the specific design of the orthotic device 100 is used for illustrative purposes only and it is to be understood that the frontal joint mechanism 140 may be used with other types of orthotic devices as well, for example a passive orthotic device wherein the compensating joint 130 is a passive joint component instead of an active one. Moreover, although the illustrative embodiment of the frontal joint mechanism 140 has been described by way of a two DOFs joint mechanism, it is to be understood that the frontal joint mechanism 140 may be provided with a different number of
  • the frontal joint mechanism 140 may be provided with a single DOF, the design of which may include joint 141 but omit joint 142. It is to be further understood that the frontal joint mechanism 140 may alternatively be provided between the compensating joint 130 and the proximal support element 110.

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  • Health & Medical Sciences (AREA)
  • Nursing (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Vascular Medicine (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Orthopedics, Nursing, And Contraception (AREA)

Abstract

La présente invention concerne un mécanisme d'articulation frontale destiné à être accouplé à une orthèse comportant des éléments de support distal et proximal reliés entre eux par un composant de type articulation, comprenant un premier élément de déplacement relié au composant de type articulation, un second élément de déplacement relié à l'élément de support distal ou proximal et un dispositif de liaison rigide reliant les premier et second éléments de déplacement. La combinaison des premier et second éléments de déplacement permet la rotation et la translation dans le plan coronal de l'élément de support distal par rapport à l'élément de support proximal de l'orthèse.
PCT/CA2011/000397 2010-04-06 2011-04-04 Mécanisme d'articulation frontale pour orthèses WO2011123951A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US28281710P 2010-04-06 2010-04-06
US61/282,817 2010-04-06

Publications (1)

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WO2011123951A1 true WO2011123951A1 (fr) 2011-10-13

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2013086096A1 (fr) * 2011-12-06 2013-06-13 Ossur Hf Dispositif orthopédique pour le traitement dynamique de l'arthrose
WO2018132192A1 (fr) * 2017-01-12 2018-07-19 Parker-Hannifin Corporation Dispositif d'exosquelette de mobilité à marcher doté de mécanismes de réglage améliorés
US10357381B2 (en) 2014-12-08 2019-07-23 Rehabilitation Instititute of Chicago Powered and passive assistive device and related methods

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5476441A (en) * 1993-09-30 1995-12-19 Massachusetts Institute Of Technology Controlled-brake orthosis
JP2005169052A (ja) * 2003-12-12 2005-06-30 Yasutaka Fujii 腰部股関節膝靭帯等下肢疾患者が支持する体重を、補助して疾患部の疼痛を緩和し、人体本来の姿勢制御機能を疎外しないで下肢の動きに追従して機能する腰部股関節膝靭帯等下肢疾患者用体重支持補助具。
EP1792597A1 (fr) * 2004-08-27 2007-06-06 HONDA MOTOR CO., Ltd. Module de commande de dispositif d'aide a la marche
US7429253B2 (en) * 2004-09-21 2008-09-30 Honda Motor Co., Ltd. Walking assistance system
US7628766B1 (en) * 2003-10-29 2009-12-08 The Regents Of The University Of California Lower extremity enhancer
US20100036302A1 (en) * 2008-08-07 2010-02-11 Honda Motor Co., Ltd. Walking assistance device

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5476441A (en) * 1993-09-30 1995-12-19 Massachusetts Institute Of Technology Controlled-brake orthosis
US7628766B1 (en) * 2003-10-29 2009-12-08 The Regents Of The University Of California Lower extremity enhancer
JP2005169052A (ja) * 2003-12-12 2005-06-30 Yasutaka Fujii 腰部股関節膝靭帯等下肢疾患者が支持する体重を、補助して疾患部の疼痛を緩和し、人体本来の姿勢制御機能を疎外しないで下肢の動きに追従して機能する腰部股関節膝靭帯等下肢疾患者用体重支持補助具。
EP1792597A1 (fr) * 2004-08-27 2007-06-06 HONDA MOTOR CO., Ltd. Module de commande de dispositif d'aide a la marche
US7429253B2 (en) * 2004-09-21 2008-09-30 Honda Motor Co., Ltd. Walking assistance system
US20100036302A1 (en) * 2008-08-07 2010-02-11 Honda Motor Co., Ltd. Walking assistance device

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2013086096A1 (fr) * 2011-12-06 2013-06-13 Ossur Hf Dispositif orthopédique pour le traitement dynamique de l'arthrose
US10357381B2 (en) 2014-12-08 2019-07-23 Rehabilitation Instititute of Chicago Powered and passive assistive device and related methods
WO2018132192A1 (fr) * 2017-01-12 2018-07-19 Parker-Hannifin Corporation Dispositif d'exosquelette de mobilité à marcher doté de mécanismes de réglage améliorés
US11123255B2 (en) 2017-01-12 2021-09-21 Parker-Hannifin Corporation Legged mobility exoskeleton device with enhanced adjustment mechanisms

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