WO2013157965A1 - Prothèse tibiale active - Google Patents

Prothèse tibiale active Download PDF

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Publication number
WO2013157965A1
WO2013157965A1 PCT/PL2013/000045 PL2013000045W WO2013157965A1 WO 2013157965 A1 WO2013157965 A1 WO 2013157965A1 PL 2013000045 W PL2013000045 W PL 2013000045W WO 2013157965 A1 WO2013157965 A1 WO 2013157965A1
Authority
WO
WIPO (PCT)
Prior art keywords
knee
prosthesis
foot
axis
electric motor
Prior art date
Application number
PCT/PL2013/000045
Other languages
English (en)
Inventor
Paweł WESOŁOWSKI
Piotr TRZCIŃSKI
Grzegorz WIĘCKOWSKI
Original Assignee
CONTUR 2000 s. c.
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
Priority claimed from PL398878A external-priority patent/PL219837B1/pl
Priority claimed from PL401609A external-priority patent/PL401609A1/pl
Application filed by CONTUR 2000 s. c. filed Critical CONTUR 2000 s. c.
Publication of WO2013157965A1 publication Critical patent/WO2013157965A1/fr

Links

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
    • 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
    • A61F2/68—Operating or control means
    • A61F2/70—Operating or control means electrical
    • 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
    • A61F2/60—Artificial legs or feet 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
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/60—Artificial legs or feet or parts thereof
    • A61F2/64—Knee joints
    • 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
    • A61F2/68—Operating or control means
    • A61F2/74—Operating or control means fluid, i.e. hydraulic or pneumatic
    • 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
    • A61F2/60—Artificial legs or feet or parts thereof
    • A61F2/66—Feet; Ankle joints
    • 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
    • A61F2002/5003—Prostheses not implantable in the body having damping means, e.g. shock absorbers
    • A61F2002/5006—Dampers, e.g. hydraulic damper
    • 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
    • A61F2/60—Artificial legs or feet or parts thereof
    • A61F2002/607—Lower legs
    • 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
    • A61F2/60—Artificial legs or feet or parts thereof
    • A61F2/66—Feet; Ankle joints
    • A61F2002/6614—Feet
    • A61F2002/6621—Toes
    • 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
    • A61F2/68—Operating or control means
    • A61F2002/6836—Gears specially adapted therefor, e.g. reduction gears
    • 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
    • A61F2/68—Operating or control means
    • A61F2002/6845—Clutches
    • 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
    • A61F2/68—Operating or control means
    • A61F2/70—Operating or control means electrical
    • A61F2002/701—Operating or control means electrical operated by electrically controlled means, e.g. solenoids or torque motors
    • 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
    • A61F2/76—Means for assembling, fitting or testing prostheses, e.g. for measuring or balancing, e.g. alignment means
    • A61F2002/7615—Measuring means
    • A61F2002/7625—Measuring means for measuring angular position

Definitions

  • a subject of this invention is an active prosthetic shin, intended for people after amputation of lower limb, facilitating the functioning of disabled persons in the society.
  • a prosthetic joint with a brake-action device is composed of an upper portion of the joint a lower portion of the joint and an axis of the joint being an axis of the brake-action device, which links the both portions of the joint in a swinging manner and is connected in a torsionally rigid fashion with a clamping element, on which the upper portion of the joint is pivotally mounted through the self-aligning axis in such way that the upper portion of the joint, being under a load, pushes the clamping element, and through it the braking sleeve, transferring the braking action on the joint axis.
  • a polycentric prosthetic knee known from the Polish patent application No 322417, is distinguished by that one arm of the lower frame is seated rotationally in the lever frame on slide bearings, constituting the first rotational axis of the lower frame on which extension there is a sleeve comprising a push spring of the lever with a moveably connected push rod, whereas the opposite second arm of the lower frame is connected, in the second rotational axis, with one arm of a three-arm lever, whose second arm is linked rotationally along the fourth rotational axis with the upper frame seated in the lever frame, axially aligned with the lower frame, in a self-lubricating sleeve in the third rotational axis.
  • the third arm through a rotating roller, is configured with the push rod of the lever, supported with the push spring of the lever in the sleeve; furthermore, in the anterior portion of the upper frame there is a shield in a form of a portion of spherical bowl, advantageously from plastics, fastened provisionally, while in the second arm of the three-arm lever there is a push spring configured with a spring fender fixed in the upper frame, wherein the third rotational axis of the upper frame is shifted relative to the first rotational axis of the lower frame of 1/8 diameter of the spherical bowl of the upper frame, while the first rotational axis of the lower frame is shifted relative to the axis of the spherical bowl of 3/8 diameter of the bowl of the lower frame.
  • the supporting element of provisional lower limb prostheses is distinguished by that the lower frame of the provisional prosthetic shin is made in a form of a hollow sleeve which comprises a ring with a spherical inner surface linking it through the inner surface of a clamping ring, transversely cut on its both sides, with a positioning bridge.
  • the upper frame is made in a form of a hollow flat-walled structure with a spherical outer surface linked through the inner surface of a clamping ring, transversely cut on its both sides, with a positioning bridge fixed on the frame with the first band clip.
  • the upper frame is pivotally linked to the cylindrical lower frame through an arm, rotationally mounted in the axis of the upper frame, which is shifted in relation to the symmetry axis of the supporting element, making a knee joint, while in the bore of the upper frame there is a latch guide, mounted axially, in which the latch pin, supported with a spiral spring, is seated moveably.
  • the latch pin is moved with a lever comprising a pulling device whereas, in the lower frame there is an axially seated cone sleeve in whose bore the latch pin is locked, and in the cylindrical support of the upper frame, the shin pipe unit is seated in such way that the shin pipe fixed with the second band clip, with a foot plug mounted at its end, is connected to the prosthetic foot unit.
  • An expandable knee implant known from the Polish patent application No 392227, consists of a knee module composed of two pivotally linked segments, the first of which is equipped with an expanding module consisting of a telescopic segment linked to a screw gear driven by rotation of toothed gear as a result of deflection of the knee module in the pivotal joint.
  • an expanding module consisting of a telescopic segment linked to a screw gear driven by rotation of toothed gear as a result of deflection of the knee module in the pivotal joint.
  • the knee module there is a driving system of the toothed gear consisting of a drive shaft, fixed to the second segment in the axis of pivotal joint of the knee module, and an axially aligned pinion linked to the toothed gear with a screw system.
  • the electromagnetic clutch On the drive shaft there is a one-way electromagnetic clutch, advantageously the claw one, linking the drive shaft with the pinion, while the pinion is equipped with a socket for an emergency drive, whereby the electromagnetic clutch has an embedded receiving coil, remote controlled by a transmitting coil.
  • the essence of the invention consists in that the prosthesis has two driven axes wherein the axis of knee joint is driven by an electric motor for knee and the axis of ankle joint is driven by an electric motor for ankle, whereby rotations of both the motors are reduced by gears.
  • the knee joint which has the clutch with an actuator, transferring the torque from the electric motor of the knee drive onto the inferior portion of the prosthesis, is linked to the ankle joint with a connecting rod.
  • the clutch is controlled by a signal from a sensor, through a device controlling the sensor operation, and the angle of flexion of the knee joint is measured with a sensor of angular position of knee joint axis.
  • Drive from the electric motor driving a foot unit is transferred through the motor gear and the spherical screw onto the foot, whereby the angle of the foot position is measured with a sensor of angular position of ankle joint axis.
  • the foot is provided with a compliant damping mechanism, absorbing strokes of the foot on the ground surface, whereby the toes are linked to the midfoot with a flexible connecting rod.
  • the knee joint is equipped with a hydraulic brake actuated with a hydraulic pump and is connected to a pressure sensor.
  • the pressure sensor is linked to a system controlling the prosthesis operation, which is coupled with the sensor of angular position of knee joint axis and at least one element cumulating energy of the rod, connecting the knee and the foot unit.
  • the active prosthetic shin improves the smoothness of motion and facilitates locomotion of a person after limb amputation.
  • the energy supplied and converted in the prosthesis relieves a bone and muscle system, reducing the efforts of a user.
  • the subject of the invention is embodied in the figures, where the particular figures represent: fig. 1 - active prosthetic shin, fig. 2 - kinematic system of the active prosthetic shin, fig. 3 - knee joint, fig. 4 - ankle joint, fig. 5 the active prosthetic shin with a hydraulic brake in an axonometric view, revealing the component parts.
  • the active prosthetic shin is fixed to the prosthesis funnel with a fixturing element 1.
  • the active prosthetic shin has two driven axes: the axis of knee joint, driven by an electric motor for knee drive 2, and the axis of ankle joint, driven by an electric motor for ankle drive 8. Rotations of the motors, driving the two axes are reduced by the gears No 9.
  • the knee joint has a clutch with an actuating mechanism No 5, which is designed for turning on and off the rotational moment, transferred from the motor 2 to the inferior portion of the prosthesis.
  • the clutch is controlled by a signal from the sensor 4 and configured with the mechanism which controls the clutch operation 7.
  • the angle of flexion of the knee joint is estimated on the basis of the sensor of angular position of knee joint axis 6.
  • the knee joint and the ankle joint are linked with a connecting rod 11.
  • Drive of the ankle joint is transferred from the motor- gear unit, through a spherical screw 10, onto the foot unit.
  • the measurement of the angle of foot position is performed by the sensor of angular position of ankle joint axis 12.
  • the foot is equipped with a compliant mechanism 13 absorbing strokes of the foot on the ground surface.
  • the toes are linked to the midfoot with a flexible connecting rod 14.
  • the active prosthetic shin is fixed to the prosthesis funnel with a fixturing element 1.
  • the fixturing element 1 is linked through the knee joint with the axis driven by an electric motor of knee drive 2. Rotations of the electric motor driving the knee axis are reduced, by linked to it, gear 3.
  • the knee joint is equipped with a hydraulic brake 15, actuated by a hydraulic pump 19.
  • the hydraulic brake 15 consists of two pistons, which interact through the indirect elements with the racing surface and prevents it from rotation or slow it down up to its stopping.
  • the hydraulic pump of the braking system 19 is a mechanical pump actuated by a pressure exerted on the prosthesis, it means that it is actuated by a user of the prosthesis just when the prosthesis touches the ground surface and then a force is exerted on the piston of the pump 19, which results in a pressure increase in the hydraulic system and the hydraulic brake 15 is actuated. This causes locking of the knee in the current angular position and makes any change impossible.
  • the braking force increases.
  • the pump 19 is under the knee joint. Actuation takes place due to the load the user exerts on the prosthesis during its contact with the ground surface. As the load increases, the force blocking the change of angular position of the knee joint also increases.
  • Every actuation of the brake is monitored by the pressure sensor 16, made as a mechanotronic element which measures a pressure in the hydraulic system and sends a signal to the control system monitoring prosthesis operation 18.
  • the value of the angle of knee flexion is controlled by the sensor of angular position of knee joint axis 6.
  • devices cumulating energy 17 are applied.
  • the devices mimic tendons, which are tightened at the end positions of the knee joint, i.e. in the bending and full straightening. They are tightened by the moments of inertia occurring in a prosthesis at the end positions during braking.
  • the energy cumulated in the devices for energy cumulation 17 is recovered at the moment of changing direction of the electric motor of knee drive 2, i.e.
  • the knee joint is linked to the ankle joint with a connecting rod.
  • the ankle joint is provided with a compliant damping mechanism 13, absorbing strokes of foot on the ground surface.
  • the foot consists of a midfoot linked to the toes with a flexible connecting rod 14.
  • the sensor of angular position of ankle joint axis 12 is responsible for the measurement of inclination angle of foot.
  • the movable element 21 is connected with a clamping ring 20, moveably connected with the connecting rod 11 of the knee and the foot, which ensures matching the foot to the ground surface.
  • the movable element for shock absorption during foot operation keeps the foot in a specific range of angular deflection with a neutral position corresponding to the angular value of about 90 degrees between the axis of the rod connecting the knee and the foot and the foot, which corresponds to an erected posture standing to attention. Thanks to the moveable element for shock absorption during foot operation 21, the foot is able to match the ground surface and contact it on the whole surface, both in a first and a final stage of a gait cycle. However, during a swing phase of a gait cycle, the foot is self-positioned in the neutral position. The neutral position can be changed by shifting the clamping ring superior or inferior, which enables accurate fitting of the prosthesis to a user.
  • the system 18 analyses output signals from the pressure sensor 16, the sensor of angular position of knee joint axis 6, the sensor of angular position of ankle joint axis 12, controls the operation of the motor, and adjusts the operation of prosthesis to a user on the basis of measured signals.
  • the system is also responsible for appropriate choice of parameters controlling prosthesis operation. List of designations in the drawings:

Landscapes

  • Health & Medical Sciences (AREA)
  • Transplantation (AREA)
  • Biomedical Technology (AREA)
  • Cardiology (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Engineering & Computer Science (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)
  • Orthopedic Medicine & Surgery (AREA)
  • Prostheses (AREA)

Abstract

L'invention concerne une prothèse tibiale active destinée aux personnes ayant subi une amputation d'un membre inférieur, laquelle prothèse facilite les déplacements de personnes handicapées dans la société. La prothèse a deux axes entraînés, l'axe de l'articulation du genou est entraîné par un moteur électrique pour permettre l'entraînement du genou (2) et l'axe de l'articulation de la cheville est entraîné par un moteur électrique pour permettre l'entraînement du pied (8), tandis que les rotations des deux moteurs (2, 8) sont réduites par les engrenages (3, 9). L'articulation de la cheville est équipée d'un embrayage (5) doté d'un mécanisme d'actionnement, qui transfère le moment de rotation depuis le moteur électrique de l'entraînement du genou (2) jusqu'à la partie inférieure de la prothèse, et elle est reliée à l'articulation de la cheville avec une bielle (11).
PCT/PL2013/000045 2012-04-19 2013-04-08 Prothèse tibiale active WO2013157965A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
PL398878A PL219837B1 (pl) 2012-04-19 2012-04-19 Aktywna proteza podudzia
PLP.398878 2012-04-19
PLP.401609 2012-11-14
PL401609A PL401609A1 (pl) 2012-11-14 2012-11-14 Aktywna proteza podudzia

Publications (1)

Publication Number Publication Date
WO2013157965A1 true WO2013157965A1 (fr) 2013-10-24

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ID=48607336

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/PL2013/000045 WO2013157965A1 (fr) 2012-04-19 2013-04-08 Prothèse tibiale active

Country Status (1)

Country Link
WO (1) WO2013157965A1 (fr)

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104490498A (zh) * 2014-12-16 2015-04-08 郑州大学 膝踝关节联动式下肢义肢装置
WO2018178811A1 (fr) * 2017-03-31 2018-10-04 Universidad De Guadalajara Prothèse automatique du genou
CN114145890A (zh) * 2021-12-02 2022-03-08 中国科学技术大学 具有地形识别功能的假肢装置
CN115192277A (zh) * 2022-06-30 2022-10-18 吉林大学 一种具有膝踝联动功能的仿生假肢
CN115192276A (zh) * 2022-06-30 2022-10-18 吉林大学 一种膝踝一体化仿生下肢假肢
CN115192278A (zh) * 2022-06-30 2022-10-18 吉林大学 一种穿戴式无外动力膝下假肢
EP4049631A4 (fr) * 2020-12-30 2023-03-01 Korea Labor Welfare Corporation Co., Ltd. Prothèse de genou hybride ayant un cylindre hydraulique rotatif multifonctionnel

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
PL322417A1 (en) 1997-10-03 1999-04-12 Ct Rehabilitacji Polycentric knee prosthesis
US5913902A (en) * 1996-09-30 1999-06-22 Geible; Harry F. Artificial foot that enables Limp-free walking
PL181100B1 (pl) 1995-03-31 2001-05-31 Bock Orthopaed Ind Przegub protezy z urządzeniem hamującym
PL358959A1 (en) 2003-03-03 2004-09-06 Zakłady Ortopedyczne, Samodzielny Publiczny Zakład Opieki Zdrowotnej Carrying element for lower limb temporary prostheses
US20070162152A1 (en) * 2005-03-31 2007-07-12 Massachusetts Institute Of Technology Artificial joints using agonist-antagonist actuators
WO2009067240A1 (fr) * 2007-11-23 2009-05-28 Orthocare Innovations Llc Joint passif amorti électromagnétiquement
PL392227A1 (pl) 2010-08-25 2012-02-27 Piotr Borkowski Endoproteza kolanowa wydłużalna

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
PL181100B1 (pl) 1995-03-31 2001-05-31 Bock Orthopaed Ind Przegub protezy z urządzeniem hamującym
US5913902A (en) * 1996-09-30 1999-06-22 Geible; Harry F. Artificial foot that enables Limp-free walking
PL322417A1 (en) 1997-10-03 1999-04-12 Ct Rehabilitacji Polycentric knee prosthesis
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CN104490498A (zh) * 2014-12-16 2015-04-08 郑州大学 膝踝关节联动式下肢义肢装置
WO2018178811A1 (fr) * 2017-03-31 2018-10-04 Universidad De Guadalajara Prothèse automatique du genou
EP4049631A4 (fr) * 2020-12-30 2023-03-01 Korea Labor Welfare Corporation Co., Ltd. Prothèse de genou hybride ayant un cylindre hydraulique rotatif multifonctionnel
CN114145890A (zh) * 2021-12-02 2022-03-08 中国科学技术大学 具有地形识别功能的假肢装置
CN114145890B (zh) * 2021-12-02 2023-03-10 中国科学技术大学 具有地形识别功能的假肢装置
CN115192277A (zh) * 2022-06-30 2022-10-18 吉林大学 一种具有膝踝联动功能的仿生假肢
CN115192276A (zh) * 2022-06-30 2022-10-18 吉林大学 一种膝踝一体化仿生下肢假肢
CN115192278A (zh) * 2022-06-30 2022-10-18 吉林大学 一种穿戴式无外动力膝下假肢
CN115192276B (zh) * 2022-06-30 2024-05-17 吉林大学 一种膝踝一体化仿生下肢假肢
CN115192278B (zh) * 2022-06-30 2024-05-17 吉林大学 一种穿戴式无外动力膝下假肢
CN115192277B (zh) * 2022-06-30 2024-05-17 吉林大学 一种具有膝踝联动功能的仿生假肢

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