WO2018036571A1 - Orthèses robotiques pour réhabilitation de la main et du poignet - Google Patents

Orthèses robotiques pour réhabilitation de la main et du poignet Download PDF

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Publication number
WO2018036571A1
WO2018036571A1 PCT/CO2017/000006 CO2017000006W WO2018036571A1 WO 2018036571 A1 WO2018036571 A1 WO 2018036571A1 CO 2017000006 W CO2017000006 W CO 2017000006W WO 2018036571 A1 WO2018036571 A1 WO 2018036571A1
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WO
WIPO (PCT)
Prior art keywords
acrylic
piece
rivet
levers
articulated
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Application number
PCT/CO2017/000006
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English (en)
Spanish (es)
Inventor
Juan David MORENO ARANGO
Julian Alberto MORENO ARANGO
Original Assignee
Moreno Arango Juan David
Moreno Arango Julian Alberto
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Application filed by Moreno Arango Juan David, Moreno Arango Julian Alberto filed Critical Moreno Arango Juan David
Publication of WO2018036571A1 publication Critical patent/WO2018036571A1/fr

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices; Anti-rape devices
    • 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
    • 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
    • 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
    • A63B23/12—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles
    • A63B23/16—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles for hands or fingers
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances

Definitions

  • the present invention relates to technological innovation in the area of health, consists of robotic orthoses to complement conventional physical therapy in patients with motor hand and wrist disabilities of any etiology, facilitating early passive mobilization in case of traumatic injuries and assisting active mobilization in case of chronic diseases.
  • Exoskeletons can act independently for the rehabilitation of a specific area, and they can also act together for the comprehensive rehabilitation of the hand and wrist. They differ from existing hand and wrist exoskeletons in terms of the skin orthosis interface, passive orthosis interface, active orthosis interface, and the electronic control module.
  • the robotic orthoses that the invention proposes have been specifically designed to allow passive and active rehabilitation of the hand and wrist, are composed of:
  • Orthosis-skin interface consists of leather and neoprene protectors designed exclusively to adapt orthosis to the skin and adjust the exoskeleton to the patient's hand and wrist;
  • Passive orthosis interface is made of a 19-gauge stainless steel metal part that is flexible to adapt the exoskeleton to the patient's wrist, with 3mm fixed acrylic pieces that serve as the basis of the servomotors, and with 3mm acrylic moving parts that they adapt to the anatomy of the hand and wrist, all the pieces are articulated by means of metal rivet-type shafts;
  • Active orthosis interface involves the actuators (servomotors) assembled in such a way that the angular displacement of the servo motor lever is transmitted to the acrylic parts and the fingers and hand fingers generate an angular displacement.
  • an Electronic Control Module is required that allows the operator to adjust the movement of the fingers of the hand in flexion - extension and grip, as well as the movements of the wrist in flexion - extension and rotation; In addition, it allows you to adjust the movement torque and bending times - extension from 2 to 10 seconds.
  • the control module has several components: 1) Switching Power Supply with inputs from 110 to 220 volts AC and with 5 volt DC outputs, are certified with international standards of electrical safety and electromagnetic compatibility. 2) Electronic Card programmed by flexible software to configure the movement of O at 90 degrees of both the phalanges of the fingers and the wrist. 3) Programming software in the language of the programming card to configure the movement of the servomotors.
  • Electronic Interface Card allows the interface between the digital and analog electronic elements of the system. 4) High brightness LED indicators to detect when the power supply is on, and when the exoskeletons are right or left hand. 5) Interconnection Nodes: very small electronic cards located at the level of the patient's forearm, to connect the cables leaving the power supply with the electronic components of the actuators.
  • PRO-Wix II Exoskeleton with 3 GDL for the wrist in flexion, extension, adduction, abduction and rotation.
  • PRO-Wix III Exoskeleton of 1 GDL for the wrist in flexion and extension.
  • PRO-DWix consists of the union of the PRO-Dix exoskeletons and the PRO-Wix exoskeleton, it has 7 GDL that allows to reproduce the complete movement of the hand and wrist.
  • - Orthotic Interface - leather It consists of neoprene pieces in the contact area between the acrylic pieces with the skin, from which leather straps are detached to be fixed to the surface of the hand and the forearm, adjusting by sailboat fabric at its ends;
  • the neoprene pieces protect the skin from the heat generated by the servomotors and from the friction of the skin with the acrylic pieces.
  • the protectors are made of materials used in the textile and orthopedic industry, such as leather, neoprene, sailboat and nylon thread.
  • the M1 part (wrist piece 1) is shown in fig. 7, is a C-shaped stainless steel metal structure (4), is located on the inside of the wrist, and is the support for attaching the exoskeleton of the first finger to the wrist.
  • the M2 part (wrist piece 2) is shown in fig. 8, is an acrylic structure in a square shape (5), is located on the inside of the wrist on the piece M1, and is the fixed base of the exoskeleton of the first finger.
  • Part M3 (piece on wrist 3) is represented in fig. 9, is a C-shaped acrylic structure (6), is located on the inside of the wrist on the piece M2, contains the servomotor D1 (351) that will be responsible for the rotation of the first finger.
  • the pieces MC1, MC2, MC3 are represented in figures 10,14,18 respectively, they are irregularly shaped acrylic structures (7, 11, 15), it is located on the dorsal side of I, II - III, and IV - V metacarpals respectively, are fixed with nylon wire to neoprene protectors on the metacarpals, contain the servomotors D2 (353), D3 (361) and D4 (369), which will be responsible for flexion and extension of the fingers
  • Parts FP1, FP2, FP3 are represented in Figures 11, 15, 19 respectively, are L-shaped acrylic structures (8, 12,
  • Parts PD1, PD2, PD3 are represented in figures 13, 17, 21 respectively, are linear acrylic scrubs (10, 14, 1.8), are located on the side faces of the other pieces. They are articulated by means of metal rivet-type axes at the level of the proximal end with the parts MC1, MC2, MC3; they are articulated by means of metal rivet type axes at the medial level with the parts FP1, FP2, FP3; and it is articulated by means of metal rivet-type axes at the level of the distal end with the pieces FD1, FD2, FD3. They are the acrylic levers that move the pieces FD1, FD2 and FD3.
  • the articular axes are represented in figures 42 and 43, are double-headed metal rivets, have a central cylindrical bar and two heads.
  • the forearm protector on the contact surfaces between the metal and acrylic pieces with the forearm skin corresponds to a neoprene fabric from which leather straps are detached that They secure the exoskeleton to the forearm and adjust using sailboat fabric at its ends.
  • the support of the hand on the palmar and dorsal side of the hand corresponds to a semi-hard foam rolled up to form a cylinder covered by textile leather fabric, which contains leather straps that form pods where the fingers of the hand and the exoskeleton leather straps.
  • the PA piece (forearm protector) is represented in figures 22, is shaped like a bracelet (19), is formed by a semi-tubular piece of neoprene (179) that is located on the dorsal face of the forearm, and two leather straps textile, a distal (177) and a proximal (178) that are joined by sewing with nylon thread to the outer side face of the semi-tubular piece (179) and fit with sailboat fabric to the inner side face of the semi-tubular piece ( 179).
  • the metal parts are assembled on the PA piece (19) the metal parts are assembled.
  • the SM Piece (hand support) is represented in Figures 29 and 30, has a cylindrical shape (26), is located on the ventral side of the hand, is composed of a semi-hard foam rolled forming a cylinder (244) that It is covered by textile leather; on the bases of the cylinder (242) there are some textile leather straps (241, 245); on the outer upper face of the cylinder there is a piece of arc-shaped neoprene (248) that contains two areas of sailboat fabric (239, 247) on the outer side, through this arc the fingers II, III, IV will pass and V of the hand; In the medial outer face of the cylinder there is also an arc-shaped textile leather strap (243) through which the I finger will pass of the hand.
  • the conical flanges (240, 246) will give the structure a more aesthetic appearance.
  • - Passive Orthosis Interface Made up of three pieces: 1) A metal piece in the form of a bracelet to stabilize the structure of the patient's forearm. 2) A fixed piece of acrylic to support the exoskeleton. 3) A movable acrylic part that contains the servomotors and moves over the fixed part back and forth. The acrylic pieces are assembled together using metal rivet axles.
  • Parts SM1 and SM2 are represented in Figures 23 and 37, are 19-gauge stainless steel metal structures in the form of a bracelet (20, 33) that are located on the dorsal surface of the forearm, and are the support for wrist exoskeletons. They are formed by a flat surface (188, 279) in rectangular form with rounded vertices; It contains lateral metal extensions in the form of anterior and posterior clamps, which have 3 mm holes to be assembled to the fixed acrylic pieces. They are covered by textile leather and are fixed by sewing nylon thread to the neoprene protector of the forearm.
  • the parts SFA1, SFA2 and SFA3 (fixed acrylic supports) are represented in figures 24, 38 and 41, are 3 mm acrylic structures in an arched shape (21, 34, 36) that are located on the dorsal face of the forearm on the metal supports; they consist of a rectangular flat surface (192, 284, 331) containing rectangular holes to be assembled to the acrylic moving parts by means of rivet-type shafts; They also contain curved lateral extensions to be assembled to the clamps of the metal parts by means of rivet-type shafts through the 3 mm holes at their ends.
  • the pieces SMA1, SMA2, SMA3 are represented in figures 25, 39, 40 and 42, are 3 mm acrylic structures in the shape of a ship (22, 35, 37), are formed by a base which is assembled by means of metal rivet-type shafts through 3 mm round holes to the rectangular holes of the acrylic fixed pieces, to allow the moving parts to move back and forth over the fixed parts; In addition, they have side boxes that contain 2 to 4 servomotors depending on the application, which are assembled on the internal faces by means of transparent double-sided mounting tape.
  • the metal shafts are represented in figures 35 and 36, are double-headed metal rivets, have a central cylindrical bar and two heads.
  • the Actuators are represented in Figures 31 and 43, corresponds to high power servomotors (27), with a torque of 36 to 44 kg / cm and with dimensions are 43.7 mm length, 22.4 mm width and 1.57 mm high. It presents the basal (254), lateral (253) faces, a surface with channel-like relief 1 mm high by 1 mm wide (252), a drive shaft (250), a space for the product label (251) .
  • the levers of the servomotors are represented in figures 32, 33 and 34, correspond to the levers of the servo motor, of different sizes according to the applications, are made up of a flattened body that contains 3 mm holes to join the levers Acrylic (23, 24, 25), also contains the 3 mm hole (255) to engage the drive shaft (250) of the servomotor (27).
  • the PAI part (internal acrylic lever) is shown in fig. 26, is a 3 mm arc-shaped acrylic structure (23), is formed by an arched part (220) of radius 9 in the lower arch and 11 mm radius in the upper arch, is 15 mm high, contains the 3 mm holes (225, 226) for the 3 mm holes (256, 258) of the lever (28) of the servomotor (27), using rivet-type shafts (43), also contains the 3 mm hole ( 221) to be assembled to the 3 mm hole (233) of the PAE part (24) by means of large rivet axles (42), in addition the distal end of the PAI part (23) has a curvature (224) with a radius of 5 mm extending to the horizontal part (223) with dimensions 35 mm long x 15 mm wide, where the 1.5 mm holes (222) are located to fix the textile leather strap (392) to the structure, the PAI piece ends (23) have a roundness with radius of 7.5 mm.
  • the PAE part (external acrylic lever) is shown in fig. 27, is a 3 mm arc-shaped acrylic structure (24), is formed by an arched part (227) of radius 9 in the lower arch and 11 mm radius in the upper arch, is 15 mm high, contains the 3 mm holes (228, 229) to be assembled to the 3 mm holes (256, 258) of the lever (28) of the servomotor (27), also contains the 3 mm hole (233) to be assembled to the hole of 3 mm (221) of the PAI piece (23) by means of a large metal rivet type shaft (42), in addition the distal end of the PAI piece (24) has a curvature with a radius of 5 mm (232) that extends towards the horizontal part (230) with dimensions 35 mm long x 15 mm wide, where the 1.5 mm holes (231) are located to fix the textile leather strap (393) to the structure, the ends of the PAI piece (24) have a roundness with radius of 7.5 mm.
  • the piece PAA (auxiliary acrylic lever) is represented in figure 28, it is a 3 mm arc-shaped acrylic structure (25), it is formed by an arched part (238) of radius 9 to 11 mm and with 15 mm high, contains the 3 mm holes (237, 236) at the proximal end to join the levers (408, 409) of the servo motors (404, 405) respectively, also contains the 3 mm hole (234) for assemble to the 3 mm holes (221, 228, 234) of the Internal, external or auxiliary acrylic levers (23, 24, 25) using a metal rivet type shaft.
  • Neoprene protectors and textile leather straps are designed to protect the patient's skin without restricting the arcs of joint movement, are easily applied to the patient, and allows the manufacture of small, medium, large and extralarge sizes.
  • the acrylic pieces are designed to support the servomotors, so that by exceeding the anatomical joint limits during the flexion or extension of the fingers of the hand or wrist, these pieces are broken to avoid dislocations.
  • the mechanism of multiple articulated pieces allows the angular movement of the proximal metacarpophalangeal and interphalangeal joints, ensuring that the movement of each finger in flexion and extension is achieved with a single servo motor.
  • Exoskeletons are inexpensive to guarantee patients' access to rehabilitation programs.
  • the device is simple, practical and safe, it has been implemented in an experimental way in post-surgical hand fracture patients and in patients with hand disability after cerebrovascular disease.
  • the device is safe for use as an institutional biomedical device and in the domestic environment.
  • Fig. 1 shows the dorsal face of the left hand with the trapezoidal neoprene protector (1), with dimensions of 50 mm in the oblique lines and 80 mm in the vertical lines, is located on the metacarpals II and III of the hand.
  • Textile leather straps (38 and 39) are drawn rectangular, with dimensions of 15 mm wide and 150 mm long, located on the proximal and middle phalanges of II and III fingers.
  • the textile leather straps (42) correspond to an upper belt of dimensions 110 mm long x 15 mm wide, and a lower belt of dimensions 200 mm long x 15 mm wide.
  • the textile leather straps (41) correspond to an upper belt of dimensions 150 mm long x 15 mm wide, and a lower belt of dimensions 250 mm long x 15 mm wide.
  • Fig. 2 shows union of the leather straps (38, 39, 41 and 42) at the level of the palm of the hand and wrist.
  • Fig. 3 shows the dorsal face of the left hand the trapezoidal neoprene protector (2), with dimensions of 50 mm in the oblique lines and 80 mm in the vertical lines, is located on the metacarpals II and III of the hand.
  • Textile leather straps (44 and 45) are drawn rectangular, with dimensions of 15 mm wide and 130 mm long, placed on the proximal and middle phalanges of the IV and V fingers.
  • the textile leather straps (47) correspond to an upper belt of dimensions 110 mm long x 15 mm wide, and a lower belt of dimensions 200 mm long x 15 mm wide.
  • the textile leather straps (46) correspond to an upper strap of dimensions 150 mm long x 15 mm wide, and to a lower belt of dimensions 250 mm long x 15 mm wide.
  • Fig. 4 shows the union of the leather straps (44, 45, 46 and 47) at the level of the palm of the hand and the wrist.
  • Fig. 5 shows the dorsal face of the left hand with the trapezoidal neoprene protector (3), with dimensions of 90 mm in the oblique lines and 70 mm in the vertical lines, located on the metacarpal I of the hand; Textile leather straps (52, 53) with dimensions 15 mm wide and 60 mm long are drawn, located on the proximal and distal phalanges of the first finger. Textile leather straps (49, 50) with dimensions 15 mm wide by 20 mm.
  • Fig. 7 shows the piece M1 in the form of "C” (4), corresponds to a stainless steel structure caliber 19 and 20 mm wide, with a vertical part (54) in rectangular shape with 5 cm height, continued by roundness at the ends (55) of radius 50 mm and by rectangular upper (57) and lower (56) parts 50 mm long.
  • Fig. 8 shows the piece M2 in square form (5), corresponds to a piece of acrylic 3 mm thick, with lateral dimensions (58) of 40 x 40 mm, has a roundness in the corners (59) with a radius of 5 mm In addition a rectangular hole in the center (60) of 4 x 10 mm, to articulate it to the piece M3 (6).
  • Fig. 9 shows the piece M3 in the form of "C" (6), corresponds to a piece of acrylic 3 mm thick, with a horizontal upper rectangular part (61) of 40x20 mm, which is continued on one of its major sides with a lateral vertical rectangular part (63) of 40x25 mm, which is continued with a lower horizontal rectangular part (65) of 40x40 mm, in whose center there is a rectangular hole (64) of 3x12 mm, all the corners of the piece have a roundness (66) of 5 mm radius.
  • This piece has an extension (62) in its upper part of 15 mm wide x 10 mm high, to prevent the movement of the servo motor D1 (351) contained inside.
  • Fig. 10 shows the irregularly shaped piece MC1 (7), corresponds to a 3 mm thick acrylic piece, whose horizontal rectangular base (79) with dimensions of 60x30 mm, continues with the oblique rectangular side part (70) with dimensions 40x30 mm, is inclined at 70 ° and contains a central hole (69) of 10 mm in diameter, where it is articulated with the axis of the servo motor D1 (351) as shown in fig. 57, and a 3 mm hole (68) to be assembled to the lever (352) by means of a rivet-type shaft.
  • the rectangular base is extended with a rounded extension of 10 x 15 mm (80).
  • the vertical rectangular side part (75) with dimensions of 60x15mm, has a hole of 4 mm (76) where it is articulated with the piece FP1 (8) by means of a small rivet type shaft
  • the rectangular base is continued with a rectangular area (36) inclined 30 degrees.
  • the lower vertical part (75) is continued at its proximal end with a semicircular part (73) with a 5 mm radius that has a 4 mm hole (74) at its outermost extension, with which the part PD1 is articulated ( 10) by means of a small rivet type shaft (358) as shown in fig. 61 to 63, in addition, the part MC1 (7) contains the servomotor D2 (353) as shown in fig. 58 to 63. All parts are continued using rounded surfaces (71, 78, 82) to give a better look to the piece.
  • Fig. 11 shows the piece FP1 in the form of "L" (8), corresponds to a piece of acrylic 3 mm thick, whose rounded horizontal rectangular base (92) with dimensions of 25x55 mm, has 1 mm holes (90) to be fixed with nylon thread to the neoprene protector (52).
  • the continuous base with an inclination (89) of 7 mm radius, up to the vertical side part (84) with a height of 15 mm and a length of 75 mm, at its proximal end has a rectangular hole (85) of 4x17 mm to articulate with the lever (354) of the servomotor D2 (353) by means of a small rivet-type shaft (355) as shown in fig.
  • Fig. 12 shows the "L" shaped piece FD1 (9), corresponds to a 3 mm thick acrylic piece, whose rounded horizontal rectangular base (93) with dimensions 15x33 mm, has 1 mm holes (94, 101) to be fixed with nylon thread to the neoprene protector (53).
  • the continuous base with an inclination (100) of 5 mm radius, to the vertical lateral part (95) with a height of 15 mm and a length of 50 mm, at its proximal end has a rectangular hole (97) of 4x12 mm to articulate with the piece PD1 (10) by means of a medium rivet type shaft (360) as shown in fig.
  • 61 to 63 it has a hole of 4 mm (98) to articulate with the piece FP1 (8) by means of a shaft type small rivet (357) as shown in fig. 60 to 61.
  • the proximal end of the piece is found with a roundness (96) of 7.5 mm radius and the distal end (99) with a roundness of 5 mm radius. This piece is responsible for forcing the movement of the distal phalanx of the I finger.
  • Fig. 13 shows the piece PD1 with linear shape (10), corresponds to an acrylic piece of 3 mm thick, whose horizontal rectancular base (102) with dimensions of 15x65 mm, has a hole (103) of 4 mm in diameter to articulate to piece MC1 (7) by means of a small rivet-type shaft (358) as shown in fig. 61 to 63. It has a hole (107) of 4 mm in diameter to be articulated to the piece FP1 (8) by means of a large rivet type shaft (359) as shown in fig. 61 to 63, it has a hole (106) of 4 mm in diameter to be articulated to the part FD1 (9) by means of a medium rivet type shaft (360) as shown in fig. 61 to 63.
  • the proximal end has a roundness (104) of 5 mm radius and the distal end with a roundness (105) of 7.5 mm radius.
  • the piece PD1 (10) is articulated with all the parts MC1, FP1 and FD1, to transmit the movement of the lever (354) of the servo motor D2 (353) and to guarantee the harmonic movement of the phalanges of the I finger as shown in fig. 49 and 50.
  • Fig. 14 shows the irregularly shaped piece MC2 (11), corresponds to a 3 mm thick acrylic piece, whose horizontal rectangular base (116) with dimensions of 40x30 mm, the vertical upper rectangular side part (117) is continued with dimensions of 40x25 mm, the upper rectangular horizontal part (108) with dimensions of 40x20 mm is continued, which is continued with a part in the form of a vertical lateral flange (118) of 15x10 mm to prevent displacement of the D3 servomotor (361) .
  • Tine a vertical rectangular side part (114) with dimensions of 40x30 mm, which has a 4 mm hole (113) where it is articulated with the FP2 part (12) by means of a small rivet type shaft (364) as shown in fig .
  • the lower vertical part (114) is continued at its proximal end with a semicircular part (111) with a 5 mm radius that has a 4 mm hole (112) at its outermost extension, with which the PD2 part is articulated ( 14) by means of a small rivet type shaft (366) as shown in fig. 67 to 69, in addition, the part MC2 (11) contains the servomotor D3 (361).
  • Fig. 15 shows the piece FP2 in the form of "L" (12), corresponds to a piece of acrylic 3 mm thick, whose rounded horizontal rectangular base (127) with dimensions of 25x60 mm, has 1 mm holes (129) to be fixed with nylon thread to the neoprene protector (38).
  • the base continues with an inclination (129) of 5 mm radius, up to the part vertical side (120) with a height of 15 mm and a length of 80 mm, at its proximal end it has a rectangular hole (122) of 4x17 mm to articulate with the lever (362) of the servo motor D3 (361) by means of a type axis small rivet (363) as shown in fig.
  • Fig. 16 shows the "L" shaped piece FD2 (13), corresponds to a 3 mm thick acrylic piece, whose rounded horizontal rectangular base (130) with dimensions 15x55 mm, has 1 mm holes (138) to be fixed with nylon thread to the neoprene protector (39).
  • the continuous base with an inclination (131) of 5 mm radius, to the vertical lateral part (132) with a height of 15 mm and a length of 55 mm, at its proximal end has a rectangular hole (134) of 4x15 mm to articulate with the piece PD2 (14) by means of a medium rivet type shaft (368) as shown in fig.
  • 67 to 69 it has a 4 mm hole (135) for articulating with the FP2 part (12) by means of a small rivet type shaft (365) as shown in fig. 66 to 69.
  • the proximal end of the piece is found with a roundness (133) of 5 mm radius and the distal end with a roundness (137) of 7.5 mm radius. This piece is responsible for forcing the movement of the distal phalanges of the II and III fingers.
  • Fig. 17 shows the piece PD2 with linear shape (14), corresponds to a piece of acrylic 3 mm thick, whose horizontal rectancular base (141) with dimensions of 15x82 mm, has a hole (139) of 4 mm in diameter to articulate to part MC2 (11) by means of a small rivet type shaft (366) as shown in fig. 67 to 69, it has a hole (142) of 4 mm in diameter to be articulated to the piece FP2 (12) by means of a large rivet type shaft (367) as shown in fig. 67 to 69, and has a hole (144) of 4 mm in diameter to be articulated to the piece FD2 (13) by means of a medium rivet type shaft (368) as shown in fig.
  • the proximal end has a roundness (140) of 5 mm radius and the distal end with a roundness (143) of 5 mm radius.
  • the PD2 part (14) is articulated with all the parts MC2, FP2 and FD2, to transmit the movement of the lever (362) of the servo motor D3 (361) and guarantee the harmonic movement of the phalanges of the II and III fingers as shown in fig. fig. 52 and 53 • Fig.
  • the lower vertical part (154) is continued at its proximal end with a semicircular part (153) with a 5 mm radius that has a 4 mm hole (152) at its outermost extension, with which the PD3 part is articulated ( 18) by means of a small rivet type shaft (374) as shown in fig. 73 to 74, in addition, the part MC3 (15) contains the servomotor D4 (369).
  • Fig. 19 shows the piece FP3 in the form of "L" (16), corresponds to a piece of acrylic 3 mm thick, whose rounded rectangular horizontal base (164) with dimensions of 25x50 mm, has 1 mm holes (157) to be fixed with nylon thread to the neoprene protector (44).
  • the continuous base with an inclination (163) of 5 mm radius, up to the vertical lateral part (162) with a height of 15 mm and a length of 70 mm, at its proximal end has a rectangular hole (161) of 4x17 mm to articulate with the lever (370) of the D4 servomotor (369) by means of a small rivet-type shaft (371) as shown in fig.
  • All corners of the piece meet with a roundness of 5 mm radius, the proximal end meets a roundness of 7.5 mm radius and the distal end with a roundness of 5 mm radius.
  • This piece is responsible for forcing the movement of the proximal phalanges of the IV and V fingers.
  • Fig. 20 shows the "L" shaped piece FD3 (17), corresponds to a 3 mm thick acrylic piece, whose rounded horizontal rectangular base (166) with dimensions 15x50 mm, has 1 mm holes (165) to be fixed with nylon thread to the neoprene protector (45).
  • the base continues with an inclination (170) of 5 mm radius, up to the part vertical side (169) with a height of 15 mm and a length of 50 mm, at its proximal end it has a rectangular hole (168) of 4x15 mm to articulate with the piece PD3 (18) by means of a medium rivet type shaft (376) as shown in fig.
  • 73 to 74 it has a 4 mm hole (167) for articulating with the FP3 part (16) by means of a small rivet-type shaft (373) as shown in fig. 72 to 74.
  • the proximal and distal ends of the piece meet with a roundness of 5 mm radius. This piece is responsible for forcing the movement of the distal phalanges of the IV and V fingers.
  • Fig. 21 shows the piece PD3 with linear shape (18), corresponds to a piece of acrylic 3 mm thick, whose horizontal rectancular base (173) with dimensions of 15x70 mm, has a hole (171) of 4 mm in diameter to articulate to piece MC3 (15) by means of a small rivet-type shaft (374) as shown in fig. 73 to 74. has a hole (174) of 4 mm in diameter to be articulated to the piece FP3 (16) by means of a large rivet-type shaft (375) as shown in fig. 73 to 74, and has a hole (176) of 4 mm in diameter to be articulated to the piece FD3 (17) by means of a medium rivet type shaft (376) as shown in fig. 73 to 74.
  • the proximal end has a roundness (175) of 5 mm radius and the distal end with a roundness (172) of 7.5 mm radius.
  • the piece PD3 (18) is articulated with all the parts MC2, FP2 and FD2, to transmit the movement of the lever (370) of the servo motor D4 (369) and guarantee the harmonic movement of the phalanges of the IV and V fingers as shown in fig. fig. 55 and 56.
  • Fig. 35 shows a medium or large rivet type shaft, has a metal head (141) with 10 mm diameter x 2 mm high, a metal bar (142) made of brass with dimensions 4 mm thick x 17 mm high (medium ) or 19 mm high (large), the bar has a head at its base (143) also brass, with 10 mm diameter x 2 mm high.
  • the metal head adjusts to the central bar to allow a circular axis of movement and secure the articulated acrylic pieces.
  • Fig. 36 shows a small rivet type shaft, has metal heads (269, 271) with 8 to 10 mm diameter x 1 mm high, a metal bar (270) with dimensions 3 to 4 mm thick x 7 to 8 mm height.
  • the metal head adjusts to the central bar to allow a circular axis of movement and secure the articulated acrylic pieces. .4.1.3 Active Orthosis Interface:
  • Fig. 33 shows the medium lever (29) of the servomotor (27), is made up of a flattened body (260), the base of the lever is 8 mm wide and the height is 35 mm. This lever will be used for all servomotors of hand orthoses.
  • Fig. 43 shows the assembly of the levers (29 and 30) at the level of the drive shaft (350) of the servomotor (27).
  • Fig. 44-46 show the assembly of the wrist pieces to the orthosis for the I finger: the piece M1 (4) attached to the piece M2 (5), the piece M2 (5) articulated to the piece M3 (6) by the rivet type shaft (350), the servo motor D1 (351) assembled in the M3 part (6), the lever (352) of! servomotor D1 (351) articulated to piece MC1 (7), Servomotor D2 (353) assembled in piece MC1 (7).
  • Fig. 47-49 show the assembly of the orthosis parts for the "PRO-Dix I" finger: part MC1 (7) containing the servomotor D2 (353), the lever (354) of the servomotor D2 (353) articulated a the piece FP1 (8) in the rectangular hole (85) by means of the rivet type shaft (355), the piece MC1 (7) articulated with the piece FP1 (8) by the rivet type shaft (356), the part FD1 (9 ) articulated with the FP1 part (8) by means of the small rivet type shaft (357), the PD1 part (10) assembled to the MC1 part (7) by the small rivet type axis (358), the assembled PD1 part (10) to piece FP1 (8) by means of the large rivet type shaft (359), piece PD1 (10) assembled to piece FD1 (9) by means of the medium rivet type shaft (360).
  • Fig. 50 shows in addition to that described for fig. 47-49, the articular mechanics of the different acrylic pieces, with the angular movement of the lever (354) of the D2 servo motor (353), move all the acrylic acrylic parts (8, 9, 10), with parallel axes to the metacarpophalangeal and interphalangeal joints of the first finger.
  • Fig. 51 - 52 show the assembly of the orthosis parts for the II and III fingers "PRO-Dix II”: the part MC2 (11) that contains the servo motor D3 (361), the lever (362) of the servo motor D3 (361) ), the FP2 part (12) articulated to the lever (362) at the level of the rectangular hole (122) by means of a rivet type shaft (363), the FP2 part (12) articulated to the MC2 part (11) by the type axis rivet (364), the FD2 part (13) articulated to the FP2 part (12) by means of a rivet type shaft (365), the PD2 part (14) articulated to the MC2 part (11) by the rivet type axis (366) , piece PD2 (14) articulated to piece FP2 (12) by means of the rivet type shaft (367), piece PD2 (14) articulated to piece FD2 (13) by means of the rivet type shaft (368).
  • Fig. 53 shows in addition to that described for fig. 51 and 52, the articular mechanics of the different acrylic pieces, with the angular movement of the lever (362) of the D3 servomotor (361), move all the acrylic acrylic parts (11, 12, 13), with parallel axes to the metacarpophalangeal and interphalangeal joints of the II finger.
  • Fig. 54 - 55 show the assembly of the orthosis parts for the IV and V fingers "PRO-Dix V": the MC3 part (15) that runs the D4 servo motor (369), the lever (370) of the D4 servo motor (369 ), the articulated piece FP3 (16) articulated to the lever (370) at the level of the rectangular hole (161) by means of a rivet-type shaft (371); the FP3 part (16) articulated to the MC3 part (15) by means of the rivet type shaft (372), the FD3 part (17) articulated to the FP3 part (16) by a rivet type axis (373), the PD3 part ( 18) articulated to the piece MC3 (15) by means of the rivet type shaft (374), the PD3 part (18) articulated to the FP3 part (16) by the rivet type axis (375), the PD3 part (18) articulated to the FD3 part (17) by means of the rivet type shaft (376).
  • the MC3 part that runs the D4
  • Fig. 56 shows in addition to that described for fig. 54 and 55, the articular mechanics of the different acrylic pieces, with the angular movement of the lever (370) of the D4 servo motor (369), move all the acrylic moving parts (16, 17, 18), with parallel axes to the metacarpophalangeal and interphalangeal joints of the V finger.
  • Fig. 57 shows the integration of the robotic orthoses of the fingers, forming a robotic orthosis for the hand.
  • the robotic orthosis "PRO-Dix” is made up of the “PRO-Dix I", the “PRO-Dix II” and the “PRO-Dix V” .4.2 Robotic Orthoses of the Wrist "PRO-Wix":
  • Fig. 22 shows the protector of the forearm or PA piece (19), is composed of a rectangular part (179) with dimensions of 90 x 110 mm, which is located in an arc shape over the forearm; It contains two textile leather straps (177 and 178) with dimensions of 130 x 35 mm, which are fixed by sewing with nylon thread on the outer side of the neoprene fabric (179) and adjusted by sailboat fabric to the face inner side of the same neoprene fabric (179).
  • Fig. 29 and 30 show the hand support or SM Piece (26), consisting of a semi-hard foam 100 mm wide x 200 mm long x 50 mm thick, which is rolled to form a cylinder (244), which is covered by textile leather; said cylinder has a flat surface in the bases (242) of circular shape with a diameter of 100 mm, followed by a conical area (240, 246) of 5 mm thickness; it contains a textile leather strap (241, 245) on each side, with dimensions of 110 x 10 mm; it contains on the cylindrical surface a textile leather strap (243) with dimensions of 20 x 30 mm, to form an arc through which the I finger passes, and contains on the cylindrical surface a neoprene strap (248) that extends from base to base of the cylinder, to form an arc where the I, II, III and IV fingers of the hand pass, said neoprene strap contains a proximal bib-shaped extension, to protect the patient's skin with the displacement of the
  • the f / ' g. 23 shows Part SM1 (20) in the form of a bracelet, corresponds to a 19-gauge stainless steel structure, is made up of a flat surface (188) in rectangular form from 90 to 100 mm in length and 30 to 40 mm in height, the vertices are rounded with a radius of 5 mm to avoid sharp surfaces; it has lateral metal extensions in the form of anterior clamps (181, 187) with dimensions 300 mm high by 200 mm wide and rear clamps (182, 185) with dimensions 400 mm high by 200 mm wide; It also has 3 mm holes (180, 183, 184, 187) located in the front and rear side metal clamps, by which it will be fixed to the SFA Part (21).
  • Fig. 24 shows Part SFA1 (21), it is an acrylic structure 3 mm in an arched shape (21), it is formed by a rectangular flat surface (192) with dimensions between 90 to 100 mm at the bases and 30 to 40 mm high , the edges of the rectangular surface are rounded with a radius of 5 mm; It has rectangular holes with dimensions of 35 x 4 mm (191, 195, 198), has curved lateral extensions (189, 196) that leave the base at an angle of 45 °, to join the front and rear clamps of the Part SM1 (20).
  • Fig. 25 shows the piece S A1 (22), which consists of a 3 mm acrylic structure in the shape of a ship (4), is formed by a flat surface (208), with dimensions between 110 to 120 mm in the bases and 45 mm high, on its distal side it has an anterior medial extension of 30 mm wide by 15 mm high, with edges that have a round radius of 5 mm; it has 3 mm holes (199, 209, 219) to fit SFA part (21); It has some "C" shaped side boxes, whose horizontal top face (201, 216) with dimensions 350 x 450 mm, the side face (203, 214) with dimensions 250 x 450 mm is continued, using a radius curvature 5 mm (202, 215), and joins the base (208 through a 5 mm radius curvature (204, 213); it also has lateral extensions (200, 206, 211, 217) with dimensions of 20 mm base x 15 mm high, which serve as clamps to the servomotors (381
  • Fig. 37 shows the SM2 part (33), which is a posterior extension of the SM1 part (20), contains lateral metal extensions in the form of anterior and posterior clamps which adjust this structure to the forearm; we observe the 3 mm holes (273, 275, 280, 281) with which it is assembled to the fixed piece of acrylic (34). • Fig.
  • part SFA2 which corresponds to a later extension of the part SFA1 (21), is an arc-shaped acrylic structure, has the rectangular distal (283) and proximal holes (288) that allow it to engage to the SMA2 part (35), it has curved side extensions (286, 290) and 3 mm holes (285, 287, 289, 282) to attach it to the SM2 part (33).
  • Fig. 39 and 40 show the SMA2 part (35) having the rectangular hole (300) and the 3 mm round hole (306) to be assembled to the SFA2 part (34); we observe the spaces (305 and 317) where a double-sided transparent tape is glued to adhere the piece to the servomotors (381, 382); and we also observe the rear space for the servomotor 396.
  • Fig. 41 shows the fixed acrylic support or SFA3 part (36) that has the rectangular holes (322, 328, 330) with dimensions of 35 x 4 mm, which allow the SFA3 part (36) to fit the SMA3 part (37 ) by means of rivet-type metal shafts, and it has 3 mm holes (140, 142, 143, 146) with which it will be assembled to the SM2 metal part (33).
  • Fig. 42 shows the mobile support of acrylic or piece SMA3 (37) which is a posterior extension of the piece SMA1 (22), has the holes of 3 mm (333, 340, 346), to be coupled to the piece SFA3 (36), It has the spaces (348, 337, 341, 345) where a double-sided transparent tape is glued to adhere the piece to the servomotors. .4.2.3 Active Orthosis Interface:
  • Fig. 32 shows the large lever (28) used in the servomotors of the wrist orthoses.
  • Fig. 34 shows the small lever (12) used only in the servomotor (186).
  • Fig. 26 shows the PAI Piece (23), which is an arc-shaped 3 mm acrylic piece (23), is formed by an arcuate part (220) of radius 9 to 11 mm with 15 mm height; it contains the 3 mm holes (225, 226) and the 3 mm holes (221); the distal end of the PAI Piece (23) has a curvature (224) with a radius of 5 mm that extends towards the horizontal part (223) with dimensions 35 mm long x 15 mm wide, in said extension (223) Find the 1.5 mm holes (222), the proximal and distal ends of the PAI Piece (23) have a roundness with a radius of 7.5 mm. There is a distance of 25 mm between the hole (225) and the hole (226); in addition, the hole (221) is 25 mm from the vertex (224).
  • Fig. 27 shows the PAE Piece (24), which is an arc-shaped 3 mm acrylic structure, is formed by an arched part (227) of radius 9 to 11 mm and 15 mm high, contains the holes 3 mm (228, 229) and the 3 mm hole (233); the distal end of the PAE Part (24) has a curvature with a radius of 5 mm (232) that is extends towards the horizontal part (230) with dimensions 35 mm long x 15 mm wide, in this extension (230) are the holes of 1.5 mm (231), the proximal and distal ends have a roundness with radius of 7.5 mm There is a distance of 25 mm between the hole (228) and the hole (229); and in addition, the hole (233) is 25 mm from the vertex (232).
  • Fig. 28 shows the auxiliary lever of acrylic or PAA part (25) that has 3 mm holes (236, 237) at the proximal end to assemble to the levers of the servomotors, and has the 3 mm hole (234) to assemble to the 3 mm hole (234) of another PAA Part (25).
  • Fig. 58 - 63 show the steps for the assembly of the Rhombic Orthosis Model I "PRO-Wix I”: the metal support piece SM1 (20) assembled to the fixed piece of acrylic piece SFA1 (21), through rivet-type metal shafts that go through the side holes (180, 183, 184, 187) of the metal part and the side holes (190, 193, 194, 197) of the fixed acrylic piece, leaving a 5 mm gap between the two two pieces; the part SFA1 (21) assembled to the mobile part of acrylic piece SMA1 (22), by means of rivet-type metal shafts (378, 379, 380) that cross the 3 mm holes (209, 218, 199) of the moving part of acrylic (22) and rectangular holes (195, 198, 191) of the fixed piece of acrylic; the servomotors (381 and 382) assembled in the acrylic moving part (22); the internal acrylic lever piece PAI (23) assembled to the lever (385) of the servomotor (381), by means of the metal rivet type shafts (388, 389
  • Fig. 64-66 show, in addition to what has been described above, the neoprene protector (19) coupled to the patient's forearm and assembled the rhombic orthosis of the Model I "PRO-Wix" wrist in different positions, representing the dynamics of wrist movement 45 ° in flexion, 45 ° in extension and position of 0 or degrees or neutral.
  • Fig. 67 - 70 show the steps for assembling the Model II "PRO-Wix II” Róbotic Orthosis: the SM2 piece metal support (33) assembled to the SFA2 part acrylic fixed support (34), using rivet-type metal shafts that go through the 3 mm holes (273, 275, 280, 281) of the metal part and the holes (282, 285, 287, 289) of the fixed acrylic piece, leaving a 5 mm gap between the two pieces; the fixed piece of acrylic SFA2 (34) assembled to the moving piece of acrylic piece SMA2 (35) by means of rivet-type shafts (394, 395) that cross the rectangular holes (383, 388) of the piece SFA2 and the rectangular hole (300 ) and round (306) of the SMA2 part (35); the servomotors (381, 382, 396) assembled to the acrylic boxes of the mobile support of acrylic piece SMA2 (35); the levers (385, 386) of the servomotors (381, 382) assembled to the internal and external acrylic levers (23, 24); the
  • Figures 71 - 74 show the steps for assembling the Model III "PRO-Wix III” Rhombic Orthosis: the metal support or SM2 part (33) assembled to the fixed acrylic or piezo SFA3 support (36), by means of rivet-type metal shafts that they pass through the 3 mm holes (273, 275, 280, 281) of the metal support and the 3 mm holes (323, 325, 326, 329) of the fixed acrylic support; the SFA3 part (36) assembled to the SMA3 part (37), by means of rivet-type metal shafts (400, 401, 402) that pass through the rectangular holes (322, 328, 330) of the acrylic fixed part and the round holes ( 333, 340, 346) of the acrylic moving part; the servomotors (403, 404, 405, 406) assembled to the mobile acrylic support piece SMA3 (37), the levers (407, 408, 409, 410) assembled to the servomotors; the internal (23) and external (24) acrylic levers assembled to the levers (4
  • Fig. 75 shows the assembly of the Model I Wrist Robotic Orthosis with the "PRO-Dix” robotic orthosis: the metal support (20) assembled to the fixed acrylic support (21), the mobile acrylic support (22) assembled to the support Fixed acrylic (21), the servomotors (381, 382) contained in the mobile acrylic holder (22), the levers (385, 386) of the servomotors assembled to the acrylic auxiliary levers (411, 412); the distal ends of the acrylic auxiliary levers (411, 412) assembled to the acrylic bases containing the "PRO-Dix” servomotors, parts MC2 (11) and MC3 (15), by means of a rivet-type metal shaft that crosses the 3 mm hole (235) of the acrylic auxiliary levers (411, 412) and the side faces (117, 156) of Parts MC2 (11) and MC3 (15) containing the servomotors (361, 369); We also observe the parts of the hand orthoses found on the proximal and medial phalanges of the
  • Fig. 76 shows the assembly of the Robotic Orthosis of the Model II "" PRO-Wix II “Wrist with the Robotic Orthosis” PRO-Dix “: the metallic support piece SM1 (33) assembled to the fixed acrylic support part SFA1 (34), the mobile acrylic support piece SMA1 (35) on the fixed acrylic support (34), the servomotors (381, 382, 389) contained in the mobile acrylic support (35), the large levers (385, 386) of the servomotors (381, 382) assembled to the acrylic auxiliary levers (411, 412); the servomotor (389) contained in the back box of the acrylic moving part (35); the distal ends of the acrylic auxiliary levers (411 , 412) assembled to the acrylic boxes containing the "PRO-Dix” servomotors, which correspond to part MC2 (11) and part MC3 (15), assembled by means of a rivet-type shaft (43) that crosses the hole 3 mm (235) of the acrylic auxiliary levers (411, 412) and the side faces (
  • Fig. 77 show in addition to that described for fig. 76, the robotic orthosis for the first finger to be assembled through the acrylic pieces (5, 7) to neoprene protectors located at the level of the patient's inner wrist.
  • Size Design They will be made in sizes S, M and L.
  • mm millimeters
  • the neoprene protector for the robotic orthosis of the II and III fingers is trapezoidal with dimensions of 50 mm in the oblique lines and 70 mm in the vertical lines, it has standard dimensions for all sizes.
  • the neoprene protectors for fingers II and III are rectangular with dimensions 15 mm wide x 25 mm long for S sizes, 15 mm wide x 35 mm long for M sizes, and 20 mm wide x 45 mm long for sizes L.
  • the neoprene protector for the robotic orthosis of the IV and V fingers with dimensions of 50 mm in the oblique lines and 70 mm in the vertical lines, has standard dimensions for all sizes.
  • Neoprene protectors for fingers IV and V are rectangular with dimensions 15 mm wide x 20 mm long for S sizes, 15 mm wide x 30 mm long for M sizes, and 20 mm wide x 40 mm long for sizes L.
  • the neoprene pieces for the I finger are rectangular with dimensions of 12 mm wide x 25 mm long for S sizes, 15 mm wide x 30 mm long for M sizes, and 17 mm wide x 35 mm long for sizes L.
  • the leather straps for the I finger are 15 mm wide x 50 mm long for S sizes, 17 mm wide x 70 mm long for M sizes, and 20 mm wide x 90 mm wide. length for sizes L.
  • the leather strap for the IV and V fingers are 15 mm wide x 90 mm long for S sizes, 15 mm wide x 100 mm long for M sizes, and 20 mm wide x 120 mm long for sizes L.
  • First phase Draw the molds of acrylic pieces in two dimensions (X, Y), it is recommended to draw them in Autocad software so that it can be read by the processors of the acrylic cutting machines.
  • the dimensions of the pieces correspond exactly to those previously described, they should be grouped in a single file so that all the pieces occupy the smallest possible space in a given area, without touching their edges.
  • Second phase (Acrylic sheet): Obtain the 3 mm acrylic pieces in the necessary dimensions so that all the drawn parts can be cut from the same sheet and in the same process, this will avoid wasting time and save on costs.
  • Acrylic offers the following benefits: it can be deformed to adapt the piece to the anatomy of the patient's hand, the pieces are fractured at the dubbing points when the servomotors exceed the anatomical joint limits of the fingers, an artistic appearance is achieved by design.
  • the PRO-Dix I robotic orthosis corresponds to the mechatronic structure that will give movement to the I finger, for this we will assemble the pieces M1 (4), M2 (5), M3
  • the servomotors adhere to the internal surfaces of the parts where they are contained, by means of transparent insulating tape with adhesive on both sides.
  • the PRO-Dix II robotic orthosis corresponds to the mechatronic structure that will give movement to the II and III finger, for this we will assemble the pieces MC2 (11), FP2 (12), FD1 (13) and PD1 (14), as described in fig. 64 to 69.
  • the servomotors adhere to the internal surfaces of the parts where they are contained, by means of transparent insulating tape with adhesive on both sides.
  • the PRO-Dix III robotic orthosis corresponds to the mechatronic structure that will give movement to the IV and V finger, for this we will assemble the pieces MC3 (15), FP3 (16), FD3 (17) and PD3 (18), as seen in fig. 70 to 74, according to the description of the drawings previously made.
  • the servomotors adhere to the internal surfaces of the pieces where they are contained, by means of transparent insulating tape with adhesive on both sides.
  • the PRO-Dix robotic orthosis corresponds to the mechatronic structure that will give movement to all the fingers of the hand or to the combination of two of the previous orthoses. It is necessary in case of rehabilitation for different fingers of the hand, as in the case of hand polytraumas, central or peripheral neurological lesions and musculotendinous lesions in the upper limb. In fig. 75 and 76 it is observed how is the link and the location of the orthoses separately, together forming a complete orthosis for the whole hand.
  • the robotic orthosis has servomotors, LED indicators, interconnection nodes, ribbon cables, copper cables with 19 gauge plastic cover, mega arduino electronic card, 10 K resistors, switching power supply, 12V small fan for the source, and power cables for hospital use.
  • the cables that leave the interconnection node towards the electronic controller are ribbon cables to carry the signal that controls the servomotor and 19 gauge cable for energy conduction.
  • the electronic control module corresponds to an chicken Mega 2560 card for the PRO-Dix orthosis (complete robotic orthosis of the hand), since for the PRO-Dix I - II - III an electrician UNO R3 card is required.
  • Regulated Power Supply Switching Power Supply, which are certified regulated power supplies for medical use, must meet international safety standards. To prevent overheating of the sources, a 12V fan must be placed on the central part of the power supply.
  • the forearm protector (19) it is sufficient to cut a rectangular piece of thick neoprene with dimensions 90 x 110 mm for size S, increasing to 110 x 140 mm for size M, 130 x 170 mm for size L, and 170 x 200 mm for size XL.
  • the dimensions 130 x 30 for size S are taken into account, increasing to 150 x 35 for size M, 175 x 35 for size L, and 200 x 35 for size XL.
  • the textile leather straps are sewn with nylon thread to the outer face of the neoprene fabric, at the free ends of the leather straps a rectangular area of sailboat fabric is sewn with nylon thread, so that it adheres to the inner face of the neoprene, forming a tubular space representing the forearm as shown in fig. 23 and 24.
  • the hand support (26) it is sufficient to cut a rectangular piece of semi-hard foam with dimensions of 100 mm wide x 200 mm long x 50 mm thick, then rolled up to form a cylinder (244), which will be covered with textile leather;
  • the dimensions of the foam vary according to each hand size as follows: 110 x 200 x 50 mm for size M, 120 x 220 x 50 for size L, 120 x 230 x 50 for size XL.
  • a textile leather belt (24, 245) with dimensions of 110 x 10 mm is located on the flat surface at the bases of the cylinder (242), and a textile leather belt (243) will be located on the curved surface of the cylinder.
  • the dimensions of the described components may vary from patient to patient, and it will be sufficient to take the patient's measurements and adjust the size of the pieces.
  • Robotic Wrist Orthosis Model I It corresponds to the mechatronic structure which will give movement to the wrist with a degree of freedom for small and medium hands (sizes S and M), for its manufacture we will follow the following steps:
  • Robotic orthosis of the Model II Wrist Corresponds to the mechatronic structure that will give movement to the wrist with three degrees of freedom, for its manufacture we will follow the steps described above, except that the parts corresponding to this model will be changed as follows : The metal part (20) is changed by the metal part (33), the fixed acrylic part (21) is changed by the fixed acrylic part (34) and the mobile acrylic part (22) is changed by the piece mobile acrylic (35).
  • Robotic orthosis of the Model III Wrist Corresponds to the mechatronic structure that will give movement to the wrist with a degree of freedom for large and very large hands (sizes L and XL), for its manufacture we will follow the steps described above, except that the parts corresponding to this model will be changed as follows: The metal part (20) is replaced by the metal part (33), the fixed acrylic part (21) is replaced by the fixed acrylic part (36) and the Mobile acrylic piece (22) is exchanged for mobile acrylic piece (37).
  • Interconnection node at the forearm level it is a small electronic card that receives all the cables from the servomotors and integrates them with the cables that come from the electronic control module.
  • the cables that leave the interconnection node towards the electronic controller are ribbon cables to carry the signal that controls the servomotor and 19 gauge cable for energy conduction.
  • the PRO-DWix robotic orthosis has passive rehabilitation applications of the hand and wrist of patients with some degree of disability of any etiology due to Neurological, Muscle, Tendinous, and Bone lesions.
  • the main benefit is for patients with functional sequelae of the hand due to Cerebrovascular Disease, Polyneuropathies, Spinal Traumas, Osteotendinous Traumas, and Demyelinating Diseases, among others).
  • the movement transmission mechanism can be used for all industrial processes that require robotic arms with repetitive movement in flexion, extension, grip and rotation.

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Abstract

Les orthèses robotiques pour réhabilitation de la main et du poignet constituent un ensemble d'orthèses robotiques conçues pour la réhabilitation passive et active des doigts de la main et du poignet. Lesdites orthèses se composent d'une interface orthèse-peau formée de pièces en cuir et néoprène pour protéger la peau du patient ; d'une interface d'orthèse passive formée de pièces métalliques pour accoupler l'exosquelette au poignet du patient, de pièces fixes en acrylique qui servent de base à la structure et de pièces mobiles en acrylique qui s'articulent au moyen d'axes métalliques pour transmettre un mouvement à la main et au poignet ; d'une interface d'orthèse active formée de servomoteurs qui transmettent un mouvement aux pièces mobiles en acrylique, reproduisant 7 degrés de liberté au mouvement de la main et du poignet ; et d'un module de commande électronique comprenant une source d'alimentation commutée, des cartes électroniques et des indicateurs DEL.
PCT/CO2017/000006 2016-08-25 2017-08-10 Orthèses robotiques pour réhabilitation de la main et du poignet WO2018036571A1 (fr)

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CONC2016/0001196 2016-08-25
CO16001196 2016-08-25
CO17005434 2017-05-30
CONC2017/0005434 2017-05-30

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110076804A (zh) * 2019-05-28 2019-08-02 中国石油大学(华东) 一种基于蓝牙无线通讯技术的用于控制二十一自由度机器人的控制台
IT202000012682A1 (it) 2020-05-28 2021-11-28 Marco Ceccarelli Dispositivo per l'esercizio di riabilitazione del polso

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WO2008101205A2 (fr) * 2007-02-16 2008-08-21 Rehabtek Llc Dispositif et procédé de rééducation robotique
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CA2794193A1 (fr) * 2010-03-23 2011-09-29 Idrogenet S.R.L. Dispositif de reeducation de la main
US20110282253A1 (en) * 2009-09-21 2011-11-17 Carlo Menon Wrist exoskeleton
CA2752619A1 (fr) * 2010-09-16 2012-03-16 Novokinetics, Llc Appareil de rehabilitation destine au traitement de la dystrophie sympathique reflexe
WO2014068509A2 (fr) * 2012-11-01 2014-05-08 University Of Cape Town Exosquelette de main

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CA2173749A1 (fr) * 1993-10-08 1995-04-20 Massimo Bergamasco Dispositif destine a fournir un retour de force a unite physiologique servant notamment d'interface perfectionnee a des machines et des ordinateurs
US5683351A (en) * 1994-09-27 1997-11-04 Jace Systems, Inc. Continuous passive motion device for a hand
WO2008101205A2 (fr) * 2007-02-16 2008-08-21 Rehabtek Llc Dispositif et procédé de rééducation robotique
US20100305717A1 (en) * 2009-05-26 2010-12-02 Kai Yu Tong Wearable power assistive device for helping a user to move their hand
US20110282253A1 (en) * 2009-09-21 2011-11-17 Carlo Menon Wrist exoskeleton
CA2794193A1 (fr) * 2010-03-23 2011-09-29 Idrogenet S.R.L. Dispositif de reeducation de la main
CA2752619A1 (fr) * 2010-09-16 2012-03-16 Novokinetics, Llc Appareil de rehabilitation destine au traitement de la dystrophie sympathique reflexe
WO2014068509A2 (fr) * 2012-11-01 2014-05-08 University Of Cape Town Exosquelette de main

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* Cited by examiner, † Cited by third party
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CN110076804A (zh) * 2019-05-28 2019-08-02 中国石油大学(华东) 一种基于蓝牙无线通讯技术的用于控制二十一自由度机器人的控制台
IT202000012682A1 (it) 2020-05-28 2021-11-28 Marco Ceccarelli Dispositivo per l'esercizio di riabilitazione del polso

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