WO2012086202A1 - Attelle pour articulation et dispositif de rééducation - Google Patents

Attelle pour articulation et dispositif de rééducation Download PDF

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Publication number
WO2012086202A1
WO2012086202A1 PCT/JP2011/007172 JP2011007172W WO2012086202A1 WO 2012086202 A1 WO2012086202 A1 WO 2012086202A1 JP 2011007172 W JP2011007172 W JP 2011007172W WO 2012086202 A1 WO2012086202 A1 WO 2012086202A1
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WIPO (PCT)
Prior art keywords
pressure
support device
joint
data
joint support
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PCT/JP2011/007172
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English (en)
Japanese (ja)
Inventor
保 佐喜眞
淳司 神成
Original Assignee
株式会社ｕＤｅｓｉｇｎ
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Application filed by 株式会社ｕＤｅｓｉｇｎ filed Critical 株式会社ｕＤｅｓｉｇｎ
Priority to JP2012549643A priority Critical patent/JPWO2012086202A1/ja
Publication of WO2012086202A1 publication Critical patent/WO2012086202A1/fr

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    • 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
    • A61B5/1113—Local tracking of patients, e.g. in a hospital or private home
    • A61B5/1114—Tracking parts of the body
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    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
    • A61B5/112—Gait analysis
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    • A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
    • A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
    • A61B5/6802—Sensor mounted on worn items
    • A61B5/6811—External prosthesis
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    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
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    • 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
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    • A61F5/013—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 arms, hands or fingers
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    • A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
    • A61B5/6843—Monitoring or controlling sensor contact pressure
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    • A61B5/6887—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient mounted on external non-worn devices, e.g. non-medical devices
    • A61B5/6891—Furniture
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    • A61B5/70—Means for positioning the patient in relation to the detecting, measuring or recording means
    • A61B5/702—Posture restraints
    • 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
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/54—Artificial arms or hands or parts thereof
    • 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
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
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    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/76—Means for assembling, fitting or testing prostheses, e.g. for measuring or balancing, e.g. alignment means
    • A61F2002/7615—Measuring means
    • A61F2002/764—Measuring means for measuring acceleration
    • A—HUMAN NECESSITIES
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    • 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
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
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    • A—HUMAN NECESSITIES
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    • 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
    • A61F2005/0137—Additional features of the articulation with two parallel pivots
    • 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
    • A61F2005/0172—Additional features of the articulation with cushions
    • A61F2005/0174—Additional features of the articulation with cushions laterally placed
    • A—HUMAN NECESSITIES
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    • 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
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    • A61F2005/0188—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 having pressure sensors
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/40—Acceleration
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    • A63B2220/50—Force related parameters
    • A63B2220/51—Force
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B23/00—Exercising apparatus specially adapted for particular parts of the body
    • A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
    • A63B23/04—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs
    • A63B23/0494—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs primarily by articulating the knee joints

Definitions

  • the present invention relates to a joint support device used for a joint of a human body, particularly a knee joint.
  • the joint support device is widely used for treatment of joint dysfunction or for rehabilitation after treatment, or for prevention of joint dysfunction.
  • the present inventor has proposed a joint support device that is easy to wear and can sit straight even when worn (Patent Document 1).
  • appliances used for treatment and rehabilitation are supplied to patients in the following procedure. First, the patient sees a doctor.
  • the doctor selects the type of the brace based on the diagnosis result and prescribes the brace.
  • a prosthetic limb orthotic with a national qualification mold s a part requiring the orthosis, manufactures an orthosis suitable for each patient, and attaches the orthosis to the patient.
  • guidance will be given on attachment / detachment.
  • the doctor confirms the suitability of the brace, the bracelet is formally supplied to the patient. Thereafter, rehabilitation by doctors and specialists is carried out by wearing a brace.
  • the orthotic requires specialized knowledge for adjustment and wearing, appropriate guidance from a doctor or a prosthetic orthosis is necessary.
  • orthotics are manufactured, mounted, and adjusted under the guidance of experts, but it is difficult to know whether or not the orthopedic orthosis that the patient is wearing is correct and the effect cannot be expected. There are some cases of incorrect wearing.
  • the prosthetic orthotics are adjusted by the prosthetic brace initially, wear the brace as the muscles and luxuries drop over time or the thickness and type of clothing changes depending on the season. The size and shape of the part changes. Nevertheless, there is also a problem that a patient who has once obtained a brace cannot use the brace as it is without receiving any necessary guidance or adjustment, and thus cannot obtain a treatment or rehabilitation effect.
  • the orthosis requires adjustment by an expert in accordance with the degree and condition of the patient's disorder, but it is difficult to quantify what adjustment is performed. Therefore, even if the adjustment is automated using various sensors, satisfactory results are not always obtained.
  • An object of the present invention is to provide a joint support device capable of obtaining a rehabilitation effect. More specifically, using the acceleration data and pressure data that are the output of the acceleration sensor and pressure sensor provided on the joint support device, the state of walking of the wearer of the joint support device is analyzed, and based on this The purpose is to determine whether the attachment is correctly performed or whether the joint support device is correctly adjusted. Furthermore, it aims at adjusting the pressure which a joint support device applies to each site
  • the joint support device of the present invention is provided with a pair of support members respectively disposed on both sides of the joint, a pair of first arms rotatably provided on the support member, and a support member rotatably provided.
  • a joint support device comprising a pair of second arms and at least one connecting member for connecting the supporting members to each other, the first arms to each other, or the second arms to each other.
  • the acceleration sensor is provided in the joint support device, and measures acceleration according to the movement of the wearer's knee and outputs acceleration data when the patient is wearing the joint support device.
  • the support device of the present invention is provided with a pair of support members respectively disposed on both sides of the joint, a pair of first arms rotatably provided on the support member, and a support member rotatably provided on the support member.
  • a joint support device comprising a pair of second arms and at least one connection member that connects the support members, the first arms, or the second arms.
  • a pressure sensor recording means for recording pressure data output from the pressure sensor, and external output means for outputting the pressure data to the outside.
  • the pressure sensor is provided at a position where the joint support device touches the patient's human body, and the degree of the joint support device relative to the knee, thigh, lower limb, etc. of the patient wearing the joint support device. It detects whether pressure is applied.
  • the external output means outputs at least acceleration data or pressure data output from the acceleration sensor or pressure sensor, or outputs acceleration data or pressure data recorded in the recording means to an externally connected device. is there.
  • the acceleration data output from the acceleration sensor is data reflecting the state of walking of the wearer of the joint support device, and can be stored in the recording means. Using this data, it is possible to know the state of mid- and long-term walking and changes in walking, and to easily adjust the joint support equipment.
  • the acceleration data can be output to the outside by an external output means, this data is analyzed by an information processing device and displayed on a monitor etc. to observe or analyze the wearer's short- to medium- to long-term walking.
  • the pressure application means provided in the joint support device can be adjusted using the analysis result, or output to the rehabilitation device to perform rehabilitation under the optimum conditions.
  • the acceleration sensor is provided on the outer surface of the support member, it is possible to measure the change in the acceleration in the walking direction most efficiently with respect to the movement of the front and rear legs.
  • the pressure data output from the pressure sensor is data reflecting the walking state of the wearer of the joint support device and is stored in the recording means. Therefore, it is possible to know the state of walking in the medium to long term and changes in walking using this data, and to easily adjust the joint support device.
  • the pressure data can be output to the outside by an external output means, this data is analyzed by an information processing device and displayed on a monitor etc. to observe or analyze the wearer's short- to medium-long-term walking.
  • the pressure application means provided in the joint support device can be adjusted using the analysis result, or output to the rehabilitation device to perform rehabilitation under the optimum conditions.
  • the pressure applying means since the pressure applying means is provided, the pressure of the joint support device can be easily adjusted.
  • the pressure sensor is provided on the surface of the pressure applying unit that contacts the human body, it is possible to know how much pressure is actually applied to the joint as a result of the application of pressure by the pressure applying unit.
  • the O leg and the X leg when the O leg and the X leg are used for correction and treatment, the O leg and the X leg can be corrected and treated effectively by supporting the three points.
  • the pressure sensor is provided on the surface that contacts the back side of the thigh of the belt, it is possible to best detect the pressure change with respect to the movement of the front and rear legs.
  • acceleration data or pressure data can be analyzed to obtain information useful for adjusting the state of walking of the patient and the joint support equipment.
  • the pace information relating to the timing of carrying the left and right feet is generated only from the acceleration data or pressure data which is the output of the acceleration sensor or pressure sensor of the joint support device attached to one foot. Is something that can be done.
  • the pressure applied to the joint is automatically set to the optimum condition for the wearer. It can be changed.
  • the acceleration data output from the acceleration sensor is data reflecting the state of walking of the wearer of the joint support device, and can be analyzed by the analysis means. It is possible to know whether the patient is wearing the joint support brace correctly. In addition, it is possible to know the state of walking in the medium to long term and changes in walking.
  • the pressure data output from the pressure sensor is data reflecting the walking state of the wearer of the joint support device, and can be analyzed by the analysis means.
  • the pace information relating to the timing of carrying the left and right feet only from the acceleration data or pressure data that is the output of the acceleration sensor or pressure sensor of the joint support device worn on one foot. Can be generated.
  • the pressure applied to the joint is automatically set to the optimum condition for the wearer. Can be changed automatically.
  • the acceleration data or pressure data obtained by the joint support device is analyzed, and the pressure applied to the joint by the pressure applying means is set to the optimum condition for the wearer to perform rehabilitation. It is something that can be done.
  • the assist means since the assist means is provided, an optimum resistance can be added without placing a heavy burden on the joint, and safe rehabilitation can be performed.
  • the pace data relating to the timing of carrying the left and right feet is generated only from the acceleration data or pressure data which is the output of the acceleration sensor or pressure sensor of the joint support device worn on one foot. Is something that can be done.
  • FIG. 1 is an external perspective view of a joint support device according to a first embodiment of the present invention.
  • Side view of the main part of the joint support device Schematic showing how the joint support brace is worn
  • Configuration diagram of joint support device and information processing apparatus Measurement diagram showing the relationship between the output of the acceleration sensor of the joint support device and walking Measurement chart showing the relationship between the pressure sensor output of the joint support device and walking Explanatory drawing which showed operation
  • FIG. 1 is an external perspective view of a joint support device according to a first embodiment of the present invention.
  • the joint support device 101 according to the present embodiment is used for treatment or correction of osteoarthritis of the knee caused by the O-leg or the X-leg by being attached to the knee joint.
  • FIG. 1 an example in which the O-leg wearer wears on the right foot is shown. That is, FIG.
  • FIG. 1 is a view of the joint support device mounted on the right leg of the wearer with the O-leg viewed from the front right oblique direction toward the joint support device (that is, the view seen from the left oblique direction of the wearer). ).
  • the joint support device 101 includes a pair of support members 102L and 102R, a pair of first arms 103L and 103R, a pair of second arms 104L and 104R, a connecting member 105, a first belt 109, a second belt 110, It consists of a third belt 111.
  • FIG. 2 is a side view of the support member 102L of the joint support device of FIG. 1 as viewed from the left side, and is used to describe the joint support device side control device provided on the support member 102L.
  • FIGS. 1 and 2 the entire configuration of the joint support device of the present invention will be described with reference to FIGS. 1 and 2.
  • the support members 102L and 102R are composed of a pair of members disposed on the left and right sides of the knee joint.
  • the support member 102L is configured to be larger than the support member 102R as shown in FIG. 2 in order to mount various electronic components described later.
  • the first arms 103L and 103R are a pair of plate-like or rod-like members extending from the support members 102L and 102R above the knee joint.
  • the support members 102L and 102R and the first arms 103L and 103R are fixed rotatably at a fulcrum 106 formed of, for example, a rivet.
  • the second arms 104L and 104R are a pair of plate-like or rod-like members extending from the support members 102L and 102R below the knee joint.
  • the support members 102L and 102R and the second arms 104L and 104R are fixed to be rotatable at a fulcrum 107 formed of, for example, a rivet.
  • the first arms 103L and 103R and the second arms 104L and 104R are configured not to be opened more than a certain angle relatively.
  • the first arm 103L, 103R and the second arm 104L, 104R interfere with each other when the opening angle exceeds a certain angle
  • the first arm 103L, 103R and the second arm 104L, 104R are not shown.
  • the rotation is restricted by interference with a stopper.
  • the fixed angle is preferably about 110 ° to 130 °.
  • the connecting member 105 is a plate-like or rod-like member that connects the pair of support members 102L and 102R.
  • the connecting member 105 is fixed to the supporting members 102L and 102R at a fulcrum 108. Since the connecting member 105 is configured with a curve passing through the back side of the knee, it does not get in the way when walking, sitting on a chair, or sitting down.
  • the connecting member 105 holds the left and right support members 102L and 102R, the first arms 103L and 103R, and the second arms 104L and 104R together. In the present embodiment, the connecting member 105 connects the support members 102L and 102R to each other.
  • the connecting member 105 may connect the first arms 103L and 103R or the second arms 104L and 104R. . Or you may provide two or more so that two thru
  • the support members 102L and 102R, the first arms 103L and 103R, the second arms 104L and 104R, and the connecting member 105 may be formed by combining any combination. This case is also included in the “pair” concept. “A pair” does not mean physically separate members, but only a pair is functionally sufficient.
  • the support members 102L and 102R and the connecting member 105 may be integrally formed, and the first arms 103L and 103R and the second arms 104L and 104R may be rotatably fixed thereto.
  • the first arms 103L and 103R and the second arms 104L and 104R may be directly fixed so as to be freely rotatable. In this case, portions corresponding to the support members 102L and 102R are not necessary, but even in this case, members that support them, such as screws, correspond to the support members 102L and 102R.
  • the support members 102L and 102R are made of iron or aluminum alloy.
  • the first arms 103L and 103R and the second arms 104L and 104R are also made of iron or aluminum alloy, but a material made of reinforcing fibers such as carbon or glass fiber may be used.
  • a material that is easily plastically deformed and has some elasticity it is preferable to use a material that is easily plastically deformed and has some elasticity.
  • the first belt 109 is a member for fixing the joint support device 101 to the thigh.
  • the first belt 109 uses a stretchable material such as cloth or rubber, and is fixed to the other ends of the first arms 103L and 103R with pins or the like.
  • a hook-and-loop fastener is provided at the end, and can be detachably fastened to the thigh.
  • the joint support device 101 can be fixed to the thigh, and stress is applied in the direction of correcting the O leg to the thigh by the pressure applying means 113 described later for correcting the O leg. be able to. In the present embodiment, specifically, stress is applied from the first arm 103R side toward the thigh.
  • the second belt 110 is a member for fixing the joint support device 101 to the crus. Similar to the first belt 109, the second belt 110 uses a stretchable material such as cloth or rubber, and is fixed to the other ends of the second arms 104L and 104R with pins or the like. Moreover, a hook-and-loop fastener is provided at the end, and can be detachably fastened to the lower leg. As a result, the joint support device 101 can be fixed to the crus and stress is applied in the direction of correcting the O leg to the crus by the pressure applying means 113 described later for correcting the O leg. be able to. In the present embodiment, specifically, stress is applied from the second arm 104R side toward the crus.
  • the third belt 111 is a member for fixing the joint support device 101 to the thigh.
  • the third belt 111 uses a stretchable material such as cloth or rubber, and a middle portion of the first arms 103L and 103R via a leaf spring or directly with a pin or the like. It is fixed.
  • a hook-and-loop fastener is provided at the end, and can be detachably fastened to the thigh.
  • the third belt 111 is wound around the thigh closer to the knee joint than the first belt 109, and thus has an effect of preventing the displacement of the joint support device 101 being worn. It is.
  • the force that feeds the foot forward from the back of the thigh can be applied to the thigh, and the effect of facilitating getting the foot forward is also exhibited.
  • the acceleration sensor 112 measures acceleration according to the movement of the knee of the wearer of the joint support device 101 and outputs acceleration data.
  • the acceleration sensor 112 has two-channel outputs and can measure accelerations in the front-rear direction (x direction) and the left-right direction (y direction) as shown in FIGS. Respective outputs are ax and ay.
  • the acceleration sensor 112 is provided on the outer surface of the support member 102L. Since this position is the position closest to the knee, the movement of the knee in the x and y directions can be reliably detected.
  • the acceleration sensor 112 may be provided on the support member 102R at a symmetrical position, or may be provided on the first arms 103L and 103R and the second arms 104L and 104R.
  • the pressure applying means 113 applies pressure from the side to the thigh, the vicinity of the knee joint, and the lower limb in order to correct the O leg and the X leg.
  • the pressure applying means 113 is provided at three points on the inner surface side of the support member 102L, the first arm 103R, and the second arm 104R for correcting the O-leg. That is, in FIG. 1, the pressure applying means 113 includes a pad and a screw for fixing the pad to the support member 102L, the first arm 103R, and the second arm 104R.
  • the relative distance between the support member 102L, the first arm 103R, the second arm 104R, and each pad is changed.
  • the pressure on the thigh, knee and lower limbs can be adjusted.
  • the pressure applying means 113 provided on the support member 102L directly applies pressure to the knee joint, but the same effect can be obtained by applying pressure to the upper thigh of the knee. In this sense, it can be said that the pressure applying means 113 provided on the support member 102L applies pressure from the side to the vicinity of the knee.
  • FIG. 3 is a schematic diagram showing a state of the bone of the right leg of the patient with the O-leg viewed from the front and the state where the joint support device 101 of the present embodiment is mounted.
  • the joint of the right leg of the O-leg patient is inflamed by the cartilage of bones inside the right leg interfering with each other.
  • the three pressure applying means 113 respectively apply pressure toward the inside. That is, specifically, the pressure applying means 113 provided on the first arm 103R and the second arm 104R is used as a fulcrum with the pressure applying means 113 provided on the support member 102L as a fulcrum.
  • the joint By applying pressure to the joint, the joint is deformed in a direction that excludes interference between the femur and the tibia. As a result, pain during walking of the patient can be reduced, and further, by prompting walking in this state, muscles can be applied without any interference between the bones, and the bones of the knee joint do not interfere with each other. It is possible to protect the knee joint in a good state.
  • the support member 102R, the first arm 103L, and the second arm 104L do not contribute to applying pressure directly to the thigh and the lower limbs, and can be omitted.
  • the support member 102R, the first arm 103L, and the second arm 104L are not “a pair”, but if any member having a different shape exists at a corresponding position, the concept of “a pair” is used. included. Further, even when no member is present at the corresponding position, it is included in the joint support device 101 and is included in the present invention if the sensor technology of the present invention is applied. Further, as shown in FIG. 3, it is needless to say that a device with three-point support in principle is included in the joint support device 101 of the present invention.
  • the pressure applying means 113 it is not necessary for the pressure applying means 113 to be composed entirely of screws and pads.
  • the pad may be fixed to the support member 102L, and the screw and the pad may be provided only on the first arm 103R and the second arm 104R. This is because the pressure applying means 113 provided on the support member 102L functions as a fulcrum.
  • only the pad is fixed to the support member 102L, and only the pad is provided also to the first arm 103R and the second arm 104R, and pressure adjustment is performed by plasticizing the first arm 103R and the second arm 104R. You may carry out by making it deform
  • the pressure applying means 113 includes a pad provided on the support member 102L, a pad provided on the first arm 103R, the first arm 103R itself, a pad provided on the second arm 104R, and a second It becomes the arm 104R itself. Furthermore, the first arm 103R and the second arm 104R may not be provided with pads, and the pressure adjustment may be performed by plastically deforming the first arm 103R and the second arm 104R. In this case, the pressure applying means 113 is a pad provided on the support member 102L, the first arm 103R itself, and the second arm 104R itself. The other pressure applying means 113 is driven by an air bag device or a motor in addition to adjusting the pressure by manually tightening a screw or manually plastically deforming the first arm 103R and the second arm 104R. Thus, the pressure may be adjusted.
  • the pressure sensor 114 detects pressure applied to the knee, thigh, lower limb, and the like by the joint support device 101.
  • the pressure applying means 113 is provided on the support member 102L, the first arm 103R, and the second arm 104R.
  • the upper surface of each pressure applying means 113 that is, the pressure applying means 113 is a human. It is provided on the surface in contact with the thigh and the like. By providing in such a place, it is possible to know how much pressure is applied to the knee joint, thigh, and lower limb by the pressure applying means 113.
  • the pressure applied by the pressure applying means 113 is provided at a position where it can be directly and indirectly measured, without being provided directly on the surface in contact with the human body.
  • the third belt 111 is also provided on the surface that contacts the back side of the thigh. Therefore, in this embodiment, the pressure sensors 114 are provided at four locations.
  • the pressure application means 113 on the support member 102L, the pressure application means 113 on the first arm 103R, the pressure application means 113 on the second arm 104R, and the output of the pressure sensor 114 provided on the third belt 111 are respectively shown. Let P1, P2, P3, and P4.
  • a pressure sensor 114 may be provided on the surface of the first belt 109 that contacts the back side of the thigh. Further, when there are no screws and pads, the support member 102L, the first arm 103R, and the second arm 104R themselves serve as the pressure applying means 113, and therefore the pressure sensor 114 may be provided directly on the inner side surfaces thereof.
  • the joint support device 101 includes both the acceleration sensor 112 and the pressure sensor 114, but only one of them may be used depending on the required analysis result. That is, in the present invention, the term “acceleration sensor 112 or pressure sensor 114” is a concept that includes both the case of providing either one and the case of providing both.
  • the recording means 115 records acceleration data and pressure data output from the acceleration sensor 112 and the pressure sensor 114.
  • the recording unit 115 includes a semiconductor memory or the like.
  • a semiconductor memory or the like For example, a normal DRAM can be used. Desirably, an SRAM or the like can be used so that data can be retained without power supply.
  • Various removable memories such as an SD card can also be used. If a removable memory is used, it becomes easy to move acceleration data and pressure data, which are outputs of the acceleration sensor 112 and the pressure sensor 114, to other devices, and such a memory itself is an external output means 116 described later. Will function as well.
  • the external output means 116 outputs acceleration data and pressure data output from the acceleration sensor 112 and the pressure sensor 114 directly or outputs the acceleration data and pressure data recorded in the recording means 115 to an externally connected device. It is.
  • the external output means 116 can be a normal wired communication means or wireless communication means.
  • wired communication means those using Ethernet or USB standards can be mentioned. Since the USB standard has a power line, a battery 118 described later can be charged simultaneously with communication.
  • Examples of wireless communication means include those using various cellular phone standards and IEEE 802.11a / b / g / n standards. With various cellular phone standards, it is also possible to send data directly to distant prosthetics and doctors.
  • the communication standards listed here are bidirectional communication means, when these standards are used, they function not only as outputs but also as transmission / reception means.
  • the external output means 116 may be a contact type and may be a support member 102L having a shape that allows the mobile phone to be fitted or mounted.
  • CPU 117 controls acceleration sensor 112, pressure sensor 114, recording means 115, and external output means 116. Further, when the pressure applying means 113 is constituted by means such as an air bag or a motor, this can also be controlled. These are connected by a bus (not shown) so that control signals and data can be freely transmitted.
  • the CPU 117 does not need to be a general-purpose central processing unit in terms of computing power, and the output of the acceleration sensor 112 and the pressure sensor 114 is recorded in the recording unit 115 or output to the external output unit 116. As long as it has a minimum function.
  • the second embodiment is different from the second embodiment in that the CPU 117 is required to have a calculation capability for performing various analyses.
  • the battery 118 supplies power to operate the acceleration sensor 112, the pressure sensor 114, the recording unit 115, the external output unit 116, and the CPU 117.
  • the battery 118 is configured to be removable for replacement.
  • an interface having a power line such as USB for the external output means 116 charging can be performed via the external output means 116 without removing the battery 118 from the joint support device 101 main body.
  • FIG. 4 is a configuration diagram of the joint support device side control device provided in the joint support device 101 described in FIGS. 1 and 2 and the information processing device 201 connected thereto.
  • the acceleration sensor 112, the pressure sensor 114, the recording means 115, the external output means 116, and the CPU 117 are connected by a bus.
  • the pressure applying means 113 is constituted by means such as an air bag or a motor and can be controlled by the CPU 117, it is also connected to the bus.
  • the information processing apparatus 201 processes acceleration data and pressure data output from the acceleration sensor 112 and the pressure sensor 114 of the joint support device 101, and outputs useful information for adjusting the pressure applying unit 113. Is.
  • the information processing apparatus 201 includes a receiving unit 202, a recording unit 203, a CPU 204, and an information output unit 205, which are connected by a bus.
  • the information processing apparatus 201 may be a specially designed dedicated apparatus, but it is also possible to use a normal notebook personal computer, desktop personal computer, mobile phone, mobile terminal having a mobile phone function, a game device, an electronic dictionary, or the like. .
  • the receiving unit 202 receives acceleration data and pressure data output from the external output unit 116, and various wired communication units and wireless communication units can be used in accordance with the external output unit 116.
  • various wired communication units and wireless communication units can be used in accordance with the external output unit 116.
  • bidirectional communication for transmission and reception is possible instead of one-way only for reception. In this case, it functions as a transmission / reception means.
  • the SD card is a recording means 203 (to be described later) as long as the information processing apparatus 201 has a similar slot.
  • the slot functions as receiving means 202.
  • the recording unit 203 holds acceleration data and pressure data received by the receiving unit 202.
  • the recording means 203 can be configured by an auxiliary storage device such as an HDD or SDD in addition to a normal main storage device such as a DRAM. Further, as described above, removable recording means such as an SD card can be used.
  • the CPU 204 is an analysis unit that analyzes acceleration data and pressure data received by the reception unit 202.
  • the pressure data and the acceleration data include various information related to the motion of the patient's foot.
  • the CPU 204 obtains useful information for adjusting the pressure to be applied to the thigh, knee joint, and lower limb using the joint support device 101 by analyzing the data through a program prepared in advance. Can do. The specific information to be obtained will be described later in section B.
  • the information output means 205 outputs the analysis result of the CPU 204.
  • the information output means 205 corresponds to a display device such as a liquid crystal display, various light emitting devices such as LEDs, and an audio output device such as a speaker.
  • the CPU 204 obtains pace information, body shaking information, and correction effect information based on acceleration data and pressure data that are outputs of the acceleration sensor 112 and the pressure sensor 114. Details will be described below.
  • Step information The inventors of the present invention have found that the patient with pain in the foot due to knee osteoarthritis covers the painful foot, so that the intervals between the left and right feet are not uniform. Moreover, even if both feet are painful, the same tendency is observed because the feet on the more painful side are covered. Therefore, by detecting the pace of the left and right feet, it is possible to know whether or not the joint support device is correctly worn and the patient's knee pain is removed. Further, it is possible to know whether or not the adjustment of the brace is necessary by detecting a change in the pace of the left and right legs over the medium to long term. However, in the past, it was thought that some sensor would need to be placed on each of the left and right feet in order to detect the pace of the left and right feet.
  • the present inventors have found that the pace of the left and right feet can be obtained from the acceleration sensor provided on one foot or the output of the pressure sensor provided on one foot. This is because even if a patient has a joint support device only on one foot, the sensor on the left and right foot can be adjusted only with the sensor provided on the joint support device without providing any special sensor on the other foot. You can know the pace.
  • FIG. 5 is a measurement diagram showing the relationship between acceleration data ax in the X direction and walking.
  • 301 is acceleration data ax in the front-rear direction (x direction)
  • 302 is a differential value of ax
  • 303 is an output of a shock sensor provided on the back of the left foot
  • 304 is an output of a shock sensor provided on the back of the right foot.
  • the shock sensor provided on the left and right soles is for clarifying the relationship between the actual walking state and the acceleration data ax, and is not provided in the joint support device 101 of the first embodiment. . That is, it is not necessary to provide the joint support device 101 when actually used.
  • the values 301 and 302 are actually values obtained by passing the output ax of the acceleration sensor 112 through a low-pass filter, and differential values thereof.
  • a low-pass filter By passing the low-pass filter, noise that is not related to the movement of the patient's foot can be cut off, which is useful for extracting data consisting only of the characteristics of the patient's foot movement. It is suitable to see the amount of displacement of the object as the feature of human movement.
  • measuring acceleration is easier than measuring speed and displacement itself, and is a parameter that includes displacement, so acceleration measurement is particularly suitable for observing moving objects. .
  • the shock sensor Since the shock sensor reacts when pressure is applied, the output rises rapidly when the left and right feet begin to touch each other, and reaches its maximum value when fully grounded. Therefore, the time when the output of the shock sensor rises from 303 and 304 is defined as the time when the left and right feet are put out, and the relationship between the waveforms of 303 and 304 and the waveform of 302 is observed. Then, the upper and lower peaks of the differential value of acceleration coincide with when the left and right feet are put out. This is presumably because the direction of the displacement vector suddenly changes when the foot wearing the joint support device 101 starts to contact the ground, and the acceleration changes most greatly.
  • the CPU 204 reads the acceleration data ax from the recording unit 203, performs low-pass filter processing, differentiates it, detects a peak, obtains a peak interval, and records this in the recording unit 203. If the left and right paces do not fall within a certain range, the right and left paces are not uniform, and a result indicating that the pace is abnormal is output.
  • acceleration data is primarily recorded in the recording means 115 of the joint support device 101.
  • Long-term acceleration data can be accumulated by increasing the capacity of the recording means 115 or periodically transferring acceleration data to the recording means 203 of the information processing apparatus 201 via the receiving means 202 and the external output means 116. Therefore, it is possible to know not only the pace at the time of wearing but also the change of the daily pace, the change of the pace of several days to several months, and in addition to whether the joint support device 101 is correctly attached, the joint support device 101 It is possible to know whether or not adjustment is necessary.
  • the left and right foot paces can be obtained from the pressure data which is the output of the pressure sensor 114.
  • a total of four pressure sensors 114 are provided. While any pressure sensor 114 can be used to detect the pace, as shown in FIG. 1, P1, P2, and P3 are pressures applied in the y direction, whereas P4 is a pressure applied in the x direction. P4 is the best way to pick up the foot features. Therefore, it is desirable to obtain the pace information from the pressure data P4 provided so as to be located behind the thigh on the inner surface of the third belt 111.
  • FIG. 6 is a measurement diagram showing the relationship between the pressure data P4 and walking.
  • 401 is an output P4 of pressure data provided on the third belt 111
  • 402 is a differential value of P4
  • 403 is an output of a shock sensor provided on the back of the left foot
  • 404 is an output of a shock sensor provided on the back of the right foot.
  • the values 401 and 402 are actually values obtained by passing the pressure data P4 through a low-pass filter and differential values thereof. By passing the low-pass filter, noise that is not related to the movement of the patient's foot can be cut off, which is useful for extracting data consisting only of the characteristics of the patient's foot movement.
  • the CPU 204 reads out the pressure data from the recording unit 203, performs low-pass filter processing, differentiates it, detects a peak, obtains a peak interval, and records this in the recording unit 203. If the left and right paces do not fall within a certain range, the right and left paces are not uniform, and a result indicating that the pace is abnormal is output.
  • Acceleration data ay is used to detect left and right shaking of the body.
  • this ay is compared with a standard value measured in advance and stored in the recording means 203, if a shake of a certain level or more is detected, the joint support device is not properly mounted or adjusted. It can be judged that there is not.
  • the pressure data P1, P2, and P3 detect the pressure applied in the y direction, the change in the values of P1, P2, and P3 during walking increases when the left / right shaking of the body increases. Therefore, P1, P2, and P3 are compared with standard values measured in advance and stored in the recording means 203, and when a pressure change of a certain level or more is detected, the joint support device is not correctly mounted. It can be determined that the adjustment is not correct. In addition, it is possible to know whether or not adjustment of the brace is necessary by looking at changes in P1, P2, and P3 over the medium to long term.
  • FIG. 7 is a flowchart showing the operation of the joint support device of the present embodiment.
  • the patient fixes the joint support device 101 to the leg using the first belt 109, the second belt 110, and the third belt 111, and turns on the power (S11).
  • the power sensor is automatically turned on by linking the pressure sensor 114 and the power switch, or by linking the sensor that detects wearing on the person and the power switch. You can also. Once worn, the patient begins walking.
  • the acceleration sensor 112 and the pressure sensor 114 start outputting acceleration data ax, ay and pressure data P1, P2, P3, P4 (S12).
  • Such data is recorded in the recording means 115 under the control of the CPU 117 (S13).
  • the data recorded in the recording unit 115 is transferred to the information processing apparatus 201 via the external output unit 116 according to the patient's instruction (S14).
  • Such an instruction can be given when, for example, a transfer button (not shown) is pressed or a cable is inserted into a USB connection terminal which is an example of the external output unit 116.
  • the information processing apparatus 201 receives the detection value via the receiving unit 202 (S15).
  • the joint support device 101 and the information processing apparatus 201 of the present embodiment can be used as follows.
  • the patient himself can adjust the joint support device 101.
  • the usage method at the time of daily wearing will be described.
  • the patient wears the joint support device 101 and walks around the room several times.
  • the user stops walking and sits down on a chair or the like, and connects the joint support device 101 and the information processing apparatus 201 with, for example, a USB connection cable.
  • acceleration data and pressure data are transferred to the information processing apparatus 201.
  • the information processing apparatus 201 obtains pace information, body shake information, correction effect information, and the like from these detection values, and determines whether or not the joint support device 101 is correctly worn.
  • the position of the joint support device may be misaligned”, “the pressure on the thigh is insufficient”, “the pressure on the lower limb is insufficient”
  • a message such as “The pressure on the thigh is too high and the pressure on the lower limb is insufficient” is displayed on the monitor of the arithmetic processing unit 201. Furthermore, a message is output by voice. According to this instruction, for example, when the mounting position is shifted, the patient remounts the joint support device 101 according to the mounting method displayed on the monitor.
  • the appropriate pressure is applied to the knee, thigh, and lower limbs by tightening or loosening the screws of the pressure applying means 113 made of, for example, a pad and screws, of the joint support device 101.
  • adjustment is performed so that the joint support device 101 functions correctly.
  • the patient can surely correctly mount the joint support device 101 every day. It is also possible to make adjustments that reflect the state of leg muscles and clothing on the day.
  • wireless is used for connection with the information processing apparatus 201, calculation is automatically started when a sufficient detection value is obtained, and a message can be displayed and output.
  • the patient uses the joint support device 101 of the present embodiment for one day.
  • acceleration data and pressure data detected throughout the day are recorded in the recording means 115.
  • the patient connects the joint support device 101 to the information processing apparatus 201 with a USB cable.
  • acceleration data and pressure data are transferred to the information processing apparatus 201.
  • the USB connection terminal has a power line, the battery 118 of the joint support device 101 is charged through the adapter of the information processing apparatus 201 in preparation for use the next day.
  • the information processing apparatus 201 obtains pace information, body shake information, correction effect information, and the like from these data, and checks whether the joint support device 101 has functioned properly throughout the day's use. If the left / right pace is shifted or the left / right body shake increases after a while, it can be determined that the adjustment has been loosened with use. The appropriate value is updated, and the adjustment is performed based on the appropriate value at the next day's adjustment. In this way, according to this use example, the appropriate value of pressure can be updated at any time using data throughout the day, and the pressure adjustment according to seasonal changes and individual symptoms and physical characteristics can be made every day. Is possible.
  • the patient connects the joint support device 101 to the information processing device 201 when the daily use ends for charging.
  • the data recorded in the recording unit 115 is transferred to the recording unit 203 of the information processing apparatus 201 every time. Therefore, if the joint support device 101 is continuously used, the information processing apparatus 201 accumulates data over a long period of time.
  • the information processing apparatus 201 changes the pressure applied by the pressure applying means 113, changes in pace, and the left and right bodies based on the long-term data. Graph the change of the shaking and the change of walking speed. Thereby, the patient can know a change in walking due to the wearing of the joint support device 101.
  • the joint support device 101 can be readjusted according to the degree of recovery, and the rehabilitation effect using the joint support device 101 can be grasped.
  • adjustments can be made from various viewpoints by using detection values for short-term (immediately after wearing), medium-term (use period of one day), and long-term (trial period of several weeks to several months) and rehabilitation. It is possible to grasp the effect and the degree of recovery of the medical condition. The case where the patient himself / herself makes the adjustment has been described above. Next, adjustment by an expert such as a prosthetic orthosis or a doctor will be described.
  • the joint support device 101 can be used for adjustment by an expert, or can be used for grasping a rehabilitation effect and a degree of recovery of a medical condition.
  • patients usually visit specialists such as doctors and prosthetics and orthotics regularly to receive various advice.
  • the expert connects the information processing apparatus 201 possessed by the patient to the joint support device 101 of the patient, and acquires acceleration data and pressure data accumulated in the joint support device 101 of the patient. Then, it is possible to obtain pace information, body shake information, correction effect information, and the like from this detected value and check whether the joint support device 101 has been functioning properly since the last adjustment. Furthermore, the rehabilitation effect and recovery degree can be grasped. Based on this result, the expert can adjust the joint support device 101 as necessary, advise the patient on the walking method, or make changes to the rehabilitation program.
  • data can be automatically transferred from the joint support device 101 by using wireless means for the external output device 116 of the joint support device 101, for example, by using a telephone line.
  • wireless means for the external output device 116 of the joint support device 101 for example, by using a telephone line.
  • the pressure applying means 113 shown in FIG. 4 includes a motor for driving a screw in addition to a pad and a screw, or an air bag means for forcibly sending air and applying pressure. It is necessary to become. That is, it is necessary that the pressure adjusting unit 113 can instruct pressure adjustment with an electric signal and can be driven by the electric power of the battery 118, in other words, the pressure applying unit 113 that can be controlled with the electric signal.
  • the external output unit 116 of the joint support device 101 and the reception unit 202 of the information processing apparatus 201 require functions as transmission / reception units capable of bidirectional communication instead of one direction. That is, in this usage method, the transmission / reception means 116 and the transmission / reception means 202 are provided.
  • the operation of this method of use is basically the same as in FIG. That is, the processing is the same up to the point where the CPU 204 obtains at least one of pace information, body shaking information, and correction effect information from the detected value (S16) and outputs the analysis result to the information output means 205 (S17). .
  • the CPU 204 further generates a command to change the pressure value applied by each pressure applying unit 113 from the pace information or the like (S18).
  • the patient simply applies the appropriate pressure to the knee, thigh, and lower limbs by the pressure applying means 113 simply by connecting his / her joint support device 101 to the information processing apparatus 201. And it is not necessary to adjust the pressure manually. And, not only in the short term (when wearing), but also in the middle term (use period of one day) and in the long term (use period of several weeks to several months), the appropriate pressure is automatically applied when the joint support device 101 is adjusted. Can be generated and adjusted.
  • Embodiment 2 A. Configuration of Embodiment 2
  • the joint support device of the second embodiment realizes both functions of the joint support device and the information processing device of the first embodiment as a single unit. Therefore, since the joint support device of the second embodiment is a joint support device with an information processing device, an external information processing device is not necessary in principle.
  • the joint support device 101 of the second embodiment has substantially the same external configuration as that of the first embodiment. That is, as shown in FIG. 1, the joint support device 101 includes a pair of support members 102L and 102R, a pair of first arms 103L and 103R, a pair of second arms 104L and 104R, a connecting member 105, and a first belt 109. The second belt 110 and the third belt 111. Further, the sensor, the control circuit, and the like are the same as those in the first embodiment. That is, as shown in FIG. 9, the information processing apparatus portion of the joint support device 101 includes an acceleration sensor 112, a pressure applying unit 113, a pressure sensor 114, a recording unit 115, an external output unit 116, and a CPU 117.
  • the difference between the present embodiment and the first embodiment is the function of the CPU 117. That is, in the first embodiment, the CPU 117 is required to have at least a function of recording acceleration data and data in the recording unit 115 and outputting the data to the external output unit 116, and can analyze acceleration data and pressure data. The ability up to was not needed. This is because the CPU 204 of the information processing apparatus 201 is responsible for this function. However, the CPU 117 of this embodiment is required to have the function of the CPU 204 of the information processing apparatus 201, that is, the function as an analysis unit. That is, in the present embodiment, the information processing apparatus 201 is not necessary, and all functions of the information processing apparatus 201 are included in the information processing apparatus portion of the joint support device 101.
  • the pressure applying means 113 is not essential, but preferably has a motor for driving a screw in addition to the pad and the screw, or has an air bag means. In other words, it is desirable that the pressure application means 113 can instruct pressure adjustment from the CPU 117 by an electric signal and can be driven by the electric power of the battery 118, in other words, the pressure applying means 113 that can be controlled by the electric signal.
  • the joint support device 101 has both the acceleration sensor 112 and the pressure sensor 114 in the present embodiment, but only one of them may be used depending on the required analysis result.
  • Embodiment 2 The analysis example of this embodiment is the same as that of Embodiment 1. The difference is that, in the first embodiment, the CPU 204 of the information processing apparatus 201 is in charge of analysis as an analysis unit, but in this embodiment, the CPU 117 of the joint support device 101 is in charge of analysis as an analysis unit.
  • FIG. 10 is a flowchart showing the operation of the joint support device of the present embodiment.
  • the patient fixes the joint support device 101 to the leg using the first belt 109, the second belt 110, and the third belt 111, and turns on the power (S21).
  • the power sensor is automatically turned on by linking the pressure sensor 114 and the power switch, or by linking the sensor that detects wearing on the person and the power switch. You can also. Once worn, the patient begins walking.
  • the acceleration sensor 112 and the pressure sensor 114 start outputting acceleration data ax, ay and pressure data P1, P2, P3, P4 (S22).
  • Such data is recorded in the recording means 115 under the control of the CPU 117 (S23).
  • the CPU 117 reads out such data from the recording means 115, analyzes it as described above, and obtains at least one of pace information, body shaking information, and correction effect information (S24). Then, the analysis result is output to the information output means 205 (S25).
  • the pressure applying means 113 that can be controlled by an electric signal is used, the CPU 117 may generate a command for changing the pressure value applied by each pressure adding means 113 from the pace information or the like (S26). Then, in accordance with such a command, the pressure applying means 113 applies a necessary pressure (S27).
  • the joint support device 101 of the present embodiment can be used as follows.
  • the patient himself can adjust the joint support device 101 using the joint support device 101 of the present embodiment.
  • the information processing apparatus 201 since the information processing apparatus 201 is not passed in the present embodiment, a pressure change is instructed by the information output means 205 provided in the joint support device 101.
  • the information output means 205 is preferably a light emitting element such as an LED or a sound output device such as a speaker. The method of use and effects are basically the same as in the first embodiment.
  • the joint support device 101 can be used for adjustment by an expert, or can be used for grasping a rehabilitation effect and a degree of recovery of a medical condition. Specifically, this is the same as in the first embodiment.
  • the CPU 117 of the joint support device 101 outputs analysis results such as pace information, body shake information, and correction effect information, an expert can simply connect a monitor or the like to the external output means 116 of the joint support device 101. It is possible to see the analysis results.
  • the joint support device 101 since the joint support device 101 itself analyzes data, it is more suitable than the first embodiment for controlling the pressure applying means 113 and automatically adjusting the applied pressure. ing. The patient can wear his / her joint support device 101, walk for a while, and automatically apply appropriate pressure to the knee, thigh and lower limbs by the pressure applying means 113. There is no need for manual adjustment, and there is no need to connect to the information processing apparatus 201.
  • the joint support device of the third embodiment is the same as the joint support device of the first embodiment or the joint support device of the second embodiment.
  • a feature of the third embodiment resides in a rehabilitation device connected to the external output means 116 of the joint support device 101.
  • the configuration of the rehabilitation apparatus according to the third embodiment will be described.
  • FIG. 11 is an external view of the rehabilitation apparatus according to the third embodiment.
  • the rehabilitation device 501 includes a main body 502, a right foot support base 503, and a left foot support base 504.
  • Each of the right foot support base 503 and the left foot support base 504 includes a bottom plate that supports the calf back side of the lower limb portion and a pair of side walls 505 that support the inner side surface and the outer side surface of the lower limb portion.
  • the main body 502 is provided with a total of four side walls 506 that support both the left and right thighs when the patient sits down.
  • the side walls 505 and 506 are provided with fixing belts so that the lower limbs and thighs of the patient do not come off or shift during rehabilitation.
  • the right foot support base 503 and the left foot support base 504 are located on the back side of the knee joint when the patient sits on the main body portion 502.
  • the right foot support base 503 and the left foot support base 504 are fixed to the main body 502 so as to be rotatable in the direction of bending and extending the knee joint.
  • Assist means 514 made up of a motor (not shown) for assisting the rotation is provided independently on the left and right.
  • thigh pressure applying means 507L and 507R, and knee joint pressure applying means 508L and 508R are respectively the inner side surface and the outer side surface of the left and right thighs, and the inner side surface of the knee joint. And a portion corresponding to the outer side surface.
  • lower limb pressure applying means 509L and 509R are provided at portions corresponding to the inner side surface and the outer side surface of the left and right lower limb portions, respectively.
  • the series of pressure applying means 515 applies pressure to the thigh, knee joint, and lower limb from the side in order to correct the O-leg and the X-leg.
  • the thigh pressure applying means 507L and 507R, the knee joint pressure applying means 508L and 508R, and the lower limb pressure applying means 509L and 509R are configured by an air bag which can adjust the pressure by supplying air with a motor.
  • a motor and a pad may be used as long as they can be electrically controlled.
  • a connection terminal 510 for connecting the joint support device 101 via a cable is provided on the side surface of the main body 502.
  • a USB connection terminal corresponds to this.
  • the rehabilitation device 501 can read acceleration data and pressure data that are outputs of the acceleration sensor 112 and the pressure sensor 114 of the joint support device 101 via the connection terminal 510.
  • FIG. 12 is a configuration diagram illustrating an electrical system of the joint support device 101 and the rehabilitation device 501.
  • the joint support device 101 is the same as that shown in FIG.
  • the rehabilitation device 501 analyzes acceleration data and pressure data output from the acceleration sensor 112 and the pressure sensor 114 of the joint support device 101, and based on the analysis result, the thigh pressure adding means 507L and 507R, the knee joint
  • the pressure application means 508L and 508R for the lower limbs, a series of pressure application means 515 of the pressure application means 509L and 509R for the lower limbs, and the assist means 514 are controlled to rehabilitate the patient. That is, as shown in FIG.
  • the rehabilitation device 501 includes a receiving unit 511, a recording unit 512, a CPU 513, an assist unit 514, thigh pressure applying units 507L and 507R, knee joint pressure adding units 508L and 508R, and a lower limb unit. It consists of a series of pressure applying means 515 of pressure applying means 509L and 509R, which are connected by a bus. That is, electrically, the rehabilitation apparatus 501 has the same configuration as the information processing apparatus 201 of Embodiment 1 except for the assist unit 514 and the series of pressure applying units 515, and has the same function. Therefore, the description other than the CPU 513 is omitted, and only the assist means 514 and the series of pressure applying means 515 are described in detail.
  • the CPU 513 constitutes analysis means for analyzing the acceleration data and pressure data received by the reception means 511.
  • the acceleration data and pressure data output by detecting the movement of the patient's foot with the pressure sensor 114 and the acceleration sensor 112 of the joint support device 101 include various information regarding the motion of the patient's foot.
  • the CPU 513 obtains pace information, body shake information, and correction effect information as analysis results by analyzing the data through a program prepared in advance, as in the first embodiment. And using this, the pressure added to each of a series of pressure addition means 515 of the rehabilitation apparatus 501 is adjusted. Moreover, the assist means 514 is driven using this.
  • the assist means 514 drives the right foot support base 503 and the left foot support base 504 in a direction to assist the bending and stretching motion of the patient's foot based on the analysis result of the CPU 513.
  • the assist means 514 is composed of a motor (not shown). How much assistance is performed is adjusted by obtaining an appropriate pressure by the CPU 513 based on the pressure data and acceleration data.
  • the assist means 514 may be used in reverse to apply a force opposite to the bending and stretching exercise of the foot.
  • the series of pressure applying means 515 applies pressure to the sides of the thigh, knee joint, and lower limb based on the analysis result of the CPU 513.
  • the thigh pressure applying means 507R, the knee joint pressure applying means 508L, and the lower limb pressure applying means 509R are driven to apply pressure in the direction of correcting the O leg. How much pressure is applied is adjusted by obtaining an appropriate pressure by the CPU 513 based on the acceleration data and the pressure data. In this way, each pressure applying means 515 applies pressure, so that pressure can be applied in the direction of correcting the O-leg, and rehabilitation can be performed in a state in which the knee joint is not excessively applied.
  • FIG. 13 is a flowchart showing the operation of the rehabilitation device of the present embodiment.
  • the patient fixes the joint support device 101 to the leg using the first belt 109, the second belt 110, and the third belt 111, and turns on the power (S31).
  • the power sensor is automatically turned on by linking the pressure sensor 114 and the power switch, or by linking the sensor that detects wearing on the person and the power switch. You can also.
  • the patient begins walking.
  • the acceleration sensor 112 and the pressure sensor 114 start outputting acceleration data ax, ay and pressure data P1, P2, P3, P4 (S32).
  • Such output is recorded in the recording means 115 under the control of the CPU 117 (S33).
  • the detection value recorded in the recording unit 115 is transferred to the rehabilitation device 501 through the external output unit 116 according to the patient's instruction (S34).
  • the transfer is started by connecting a USB connection terminal which is an example of the external output unit 116 and the connection terminal 510 of the rehabilitation apparatus 501 with a USB cable.
  • the rehabilitation device 501 receives data via the receiving unit 511 (S35). Then, it is recorded in the recording means 512 under the control of the CPU 513.
  • the CPU 513 reads the data, analyzes it as described in the first embodiment, and obtains at least one of pace information, body shake information, and correction effect information (S36). Further, the CPU 513 selects a series of pressure applying means 515 to be driven from the pace information or the like, and transmits a drive command to the selected series of pressure applying means 515 (S37). Upon receiving the command, the series of pressure applying means 515 applies pressure to the patient's thigh, knee joint, and lower limb in accordance with the drive command (S38).
  • the CPU 513 transmits a drive command to the assist means 514 in accordance with the bending and stretching motion of the patient's lower limb (S39).
  • the assist means 514 assists the bending and stretching movement of the patient's lower limb in accordance with the drive command (S40).
  • the rehabilitation device 501 of the present embodiment can be used as follows.
  • the patient uses the joint support device 101 according to one embodiment. With this use, the daily acceleration data and pressure data are recorded in the recording means 115. When the day's use ends, the patient connects the joint support device 101 to the rehabilitation device 501 with a USB cable. Thereby, acceleration data and pressure data are transferred to the rehabilitation device 501. Further, since the USB connection terminal has a power line, the battery 118 of the joint support device 101 is charged through the power outlet of the rehabilitation device 501 in preparation for use the next day. The rehabilitation device 501 obtains pace information, body shake information, correction effect information, and the like from these data, and obtains appropriate pressures to be applied to the thigh, knee joint, and lower limb from this.
  • the rehabilitation device 501 calculates how much load is applied to the foot while wearing the joint support brace 101 from the pace information, body shake information, correction effect information, and the like.
  • the load applied during the rehabilitation using the rehabilitation device 501 is obtained from the wearing time of the joint support device 101, the walking time, the time when the pace is not constant, and the time when the body shake is generated.
  • Appropriate assistance is provided by the assisting means 514 so that it does not take too much. In this way, in the daily rehabilitation program, it is possible to adjust so that the amount of load on the foot per day is constant, and it is possible to form a reasonable rehabilitation program.
  • the patient connects the joint support device 101 to the rehabilitation device 501 when charging is finished every day for charging.
  • the data recorded in the recording unit 115 is transferred to the recording unit 512 of the rehabilitation apparatus 501 every time. Therefore, when the joint support device 101 is continuously used, the rehabilitation device 501 accumulates data over a long period of time.
  • the muscles can be applied with the joints returned to the correct positions, and the joints are fixed at the correct positions, and the symptoms of knee osteoarthritis are improved. To do.
  • the CPU 513 analyzes the effect of rehabilitation from the data, and gradually reduces the pressure applied by the series of pressure applying means 515 and gradually reduces the assist amount of the assist means 514 so that the patient himself Rehabilitate by actively moving your leg. Thereby, the further rehabilitation effect can be expected.
  • the rehabilitation function of the rehabilitation device 501 has been mainly described.
  • the rehabilitation device 501 has the same function as the information processing device 201 of the first embodiment, and is similar to the first embodiment. It is also possible to display various information and to instruct the patient to wear it.
  • the present invention is not limited to this type of joint support device.
  • the present invention can be applied to a joint support device using three-point support, and other joint support devices can also be used for suitability and adjustment of the device using the acceleration sensor 112 or the pressure sensor 114 of the present invention.
  • the present invention using pace information can be applied to any joint support device.
  • it can be used also in a prosthetic limb and the joint support device of this case is a concept including a prosthetic limb in this respect.
  • the present invention can be used not only for joint support devices used for knees, but also for joint support devices used for joints of the human body or animal body, and for artificial limbs such as artificial hands and artificial legs.

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • Public Health (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Veterinary Medicine (AREA)
  • Vascular Medicine (AREA)
  • Nursing (AREA)
  • Medical Informatics (AREA)
  • Physics & Mathematics (AREA)
  • Pathology (AREA)
  • Surgery (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Molecular Biology (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Biophysics (AREA)
  • Physiology (AREA)
  • Dentistry (AREA)
  • Cardiology (AREA)
  • Transplantation (AREA)
  • Manipulator (AREA)
  • Orthopedics, Nursing, And Contraception (AREA)
  • Rehabilitation Tools (AREA)

Abstract

L'invention concerne une attelle (101) pour articulation, comprenant une paire d'éléments support (102) disposés de part et d'autre d'une articulation, une paire de premiers bras (103) montés rotatifs sur les éléments support (102), une paire de deuxièmes bras (104) montés rotatifs sur les éléments support (102), et au moins un élément de raccordement (105) qui assure le raccordement desdits éléments support, desdits premiers bras ou desdits deuxièmes bras. L'attelle comprend également un capteur d'accélération (112), un moyen d'enregistrement (115) qui enregistre les données d'accélération sorties par le capteur d' accélération (112), et un moyen de sortie externe (116) qui assure la sortie vers l'extérieur des données d'accélération. L'attelle est facile à ajuster selon les symptômes individuels et les caractéristiques d'un patient souffrant de troubles articulaires, ce qui permet ainsi une rééducation efficace.
PCT/JP2011/007172 2010-12-22 2011-12-21 Attelle pour articulation et dispositif de rééducation WO2012086202A1 (fr)

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Cited By (6)

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JP2017104439A (ja) * 2015-12-11 2017-06-15 トヨタ自動車株式会社 歩行支援装置
CN109363892A (zh) * 2018-11-23 2019-02-22 山东大学 一种绳索驱动的并联式柔性上肢康复机器人
EP3513770A4 (fr) * 2016-09-14 2020-09-23 Cyberdyne Inc. Dispositif de production d'un outil de correction de l'articulation du genou, procédé de production de l'outil de correction de l'articulation du genou, dispositif d'aide au traitement de l'articulation du genou, et procédé d'aide au traitement de l'articulation du genou
CN113576846A (zh) * 2021-08-10 2021-11-02 南京市六合区人民医院 一种基于vr能够对髋关节护理患者进行保护的vr平台
JP2023528601A (ja) * 2020-05-27 2023-07-05 ローム ロボティクス インコーポレイテッド モバイルロボットの適合及び懸垂システム及び方法
US12115663B2 (en) 2021-08-17 2024-10-15 Roam Robotics Inc. Maritime applications for a mobile robot

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KR101848643B1 (ko) * 2017-04-14 2018-04-16 송동호 다리 교정 장치

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JPH09502366A (ja) * 1993-07-09 1997-03-11 キネティクス・インコーポレーテッド 運動装置及び技術
JP2006326185A (ja) * 2005-05-30 2006-12-07 Ritsumeikan 足関節装具
JP2008029424A (ja) * 2006-07-26 2008-02-14 Matsushita Electric Works Ltd 膝痛緩和装置

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JPH09502366A (ja) * 1993-07-09 1997-03-11 キネティクス・インコーポレーテッド 運動装置及び技術
JP2006326185A (ja) * 2005-05-30 2006-12-07 Ritsumeikan 足関節装具
JP2008029424A (ja) * 2006-07-26 2008-02-14 Matsushita Electric Works Ltd 膝痛緩和装置

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2017104439A (ja) * 2015-12-11 2017-06-15 トヨタ自動車株式会社 歩行支援装置
EP3513770A4 (fr) * 2016-09-14 2020-09-23 Cyberdyne Inc. Dispositif de production d'un outil de correction de l'articulation du genou, procédé de production de l'outil de correction de l'articulation du genou, dispositif d'aide au traitement de l'articulation du genou, et procédé d'aide au traitement de l'articulation du genou
CN109363892A (zh) * 2018-11-23 2019-02-22 山东大学 一种绳索驱动的并联式柔性上肢康复机器人
CN109363892B (zh) * 2018-11-23 2024-04-05 山东大学 一种绳索驱动的并联式柔性上肢康复机器人
JP2023528601A (ja) * 2020-05-27 2023-07-05 ローム ロボティクス インコーポレイテッド モバイルロボットの適合及び懸垂システム及び方法
JP7535131B2 (ja) 2020-05-27 2024-08-15 ローム ロボティクス インコーポレイテッド モバイルロボットの適合及び懸垂システム及び方法
CN113576846A (zh) * 2021-08-10 2021-11-02 南京市六合区人民医院 一种基于vr能够对髋关节护理患者进行保护的vr平台
CN113576846B (zh) * 2021-08-10 2024-02-02 南京市六合区人民医院 一种基于vr能够对髋关节护理患者进行保护的vr平台
US12115663B2 (en) 2021-08-17 2024-10-15 Roam Robotics Inc. Maritime applications for a mobile robot

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