WO2018146103A1 - Dispositif de rééducation - Google Patents

Dispositif de rééducation Download PDF

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Publication number
WO2018146103A1
WO2018146103A1 PCT/EP2018/052972 EP2018052972W WO2018146103A1 WO 2018146103 A1 WO2018146103 A1 WO 2018146103A1 EP 2018052972 W EP2018052972 W EP 2018052972W WO 2018146103 A1 WO2018146103 A1 WO 2018146103A1
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WO
WIPO (PCT)
Prior art keywords
rotation axis
grabbing
worm
rehabilitation device
intrusive
Prior art date
Application number
PCT/EP2018/052972
Other languages
English (en)
Inventor
Miloš KOSTIC
Julius Klein
Borja BONAIL ACUÑA
Goran Bijelic
Original Assignee
Fundación Tecnalia Research & Innovation
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Fundación Tecnalia Research & Innovation filed Critical Fundación Tecnalia Research & Innovation
Publication of WO2018146103A1 publication Critical patent/WO2018146103A1/fr

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Classifications

    • 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
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • 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
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
    • 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • A61H2201/1215—Rotary drive
    • 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • A61H2201/123—Linear drive
    • 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
    • A61H2201/1418—Cam
    • 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
    • A61H2201/1463—Special speed variation means, i.e. speed reducer
    • 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
    • A61H2201/1481—Special movement conversion means
    • A61H2201/149—Special movement conversion means rotation-linear or vice versa
    • 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/1635—Hand or arm, e.g. handle
    • A61H2201/1638—Holding means therefor
    • 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/164—Feet or leg, e.g. pedal
    • A61H2201/1642—Holding means therefor
    • 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1657—Movement of interface, i.e. force application means
    • A61H2201/1664—Movement of interface, i.e. force application means linear
    • 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1657—Movement of interface, i.e. force application means
    • A61H2201/1676—Pivoting
    • 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5061—Force sensors
    • 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5064—Position sensors
    • 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5069—Angle sensors

Definitions

  • This invention belongs to the field of devices for rehabilitation of a patient's joint with restricted/reduced range of movement, caused by a traumatic injury, prolonged immobilisation or surgery. This type of devices usually forces a relative movement between two distant portions of the joint.
  • Rehabilitation devices usually comprise grabbing means for grabbing some portions of the patient's body and perform relative operations between said portions.
  • the invention provides an alternative solution for problem of joint mobilisation in the rehabilitation process, by means of a non-intrusive rehabilitation device suitable for treating a patient's joint according to claim 1 .
  • Preferred embodiments of the invention are defined in dependent claims.
  • the treated joint connects a first extremity portion to a second extremity portion, comprising a joint rotation axis.
  • This rehabilitation device comprises
  • first grabbing means adapted to grab the first extremity portion
  • second grabbing means adapted to grab the second extremity portion
  • This device advantageously allows performing both a rotational and translational movement between the first and second extremity portion. Further, this device is wearable, unlike the rest of actuatable rehabilitation devices, so it may be used in almost any circumstance.
  • the motion means are physically attached to the first and second grabbing means.
  • This physical attachment provides a more reliable operation of the rehabilitation device.
  • the non-intrusive rehabilitation device further comprises control means, adapted to control the movement of the motion means.
  • Control means provide the rehabilitation device with more flexibility and versatility, since the movements may be reproduced in a different order, depending on the patient's needs.
  • control means are adapted to allow setting of predetermined therapy parameters.
  • These predetermined therapy parameters may be, but not limited to: the number of repetitions, maximal interaction force, movement amplitude (maximal extension angle, maximal flexion angel, maximal length of traction), movement velocity, etc.
  • the movement is controlled in such manner that it maximises the therapeutic gain, while maintaining the safe operating conditions.
  • An example of control paradigm for a session would be to perform translation movement until sufficient traction is achieved, then perform a number of repetitions of joint extension/ flexion movements. Each repetition could be such that extension is performed with higher speed until 90% of the maximal extension is reached, then with a lower speed until maximal extension is reached and then maintain the position for a specific time period, after which flexion is performed until the initial position is reached.
  • control parameters can be programmed by the operator, be it a therapist, patient or an informal caregiver.
  • the non-intrusive rehabilitation device further comprises measuring means adapted to
  • the data acquired by the measuring means could be used to achieve a closed loop control of the device.
  • the non-intrusive rehabilitation device further comprises stimulation and/or motion control means, adapted to act on the first and/or second extremity portion.
  • the stimulation and/or motion control means are adapted to induce joint relaxation on the first and/or second extremity portion.
  • the stimulation could be used to stimulate the efferent nerves in order to produce the movement of the joint through contraction of the muscles in the targeted extremity portion, or it could be used to stimulate the afferent nerves in order to alleviate the pain.
  • the device comprises the control means to regulate both motion and stimulation means
  • the control means to regulate both motion and stimulation means
  • implementing different control paradigms are muscle relaxation, which can extend the range of motion for the joint in question, or muscle strengthening, which increases the muscle tone of the weakened muscles.
  • the motion means comprise
  • a worm gear having a wheel rotation axis, the worm gear being engaged to the first displacement means
  • the worm gear is adapted to rotate around the wheel rotation axis and translate in a direction which is perpendicular to the wheel rotation axis, thus making the first or second grabbing means have a rotational and/or translational relative movement with respect to the second or first grabbing means.
  • the first displacement means comprise one of a cable driven motor, a hydraulic motor, a directly coupled motor or a magnetic motor.
  • the first displacement means is a first worm screw having a first worm rotation axis, and the wheel rotation axis is perpendicular to the first worm rotation axis.
  • the motion means further comprises
  • a main cam being solidly attached to the worm gear, the main cam comprising a main cam guide;
  • each of the second and third secondary cam guides comprising a straight portion and a curved portion
  • cam follower solidly attached to the second grabbing means, the cam follower comprising a first pin, a second pin and a third pin, the first pin being arranged to follow both the main cam guide and the first secondary cam guide, the second pin being arranged to follow the second secondary cam guide and the third pin being arranged to follow the third secondary cam guide,
  • the translation and rotation of the one grabbing means in respect to the other grabbing means is achieved through a cam-follower mechanism.
  • This solution is characterised by the fact that a single actuator can achieve the required complex movement, and by the fact than the movement trajectory is predefined and set.
  • the motion means further comprises a second worm screw with a second worm rotation axis parallel to the first worm rotation axis;
  • the worm gear is solidly attached to the second grabbing means
  • the worm gear is further engaged with the second worm screw
  • a worm gear is connected to two parallel, symmetrically placed worm screws connected to independent actuators.
  • the worm gear axis is connected to the slider, parallel to the worm screws.
  • the worm gear can rotate and/or translate depending on the movements of the two worm screws.
  • the non-intrusive rehabilitation device further comprises at least one stop, arranged to limit the movement of the worm gear.
  • the non-intrusive rehabilitation device comprises the following elements:
  • a fixed base 71 comprising guide rails 72;
  • first grabbing means 1 1 attached to the fixed base 71 ;
  • a translation base 73 adapted to move along the guide rails 72 of the fixed base 71 ;
  • a first motor 74 mechanically connected to the translation base 73, being thus able to cause a translation movement of this translation base 73 with respect to the fixed base 71 ;
  • a worm gear 4 attached to the translation base 73, but free to rotate with respect to the translation base 73;
  • a second motor 81 mechanically connected to the worm gear 4, being thus able to cause a rotation movement of this worm gear 4 with respect to the translation base 73;
  • the invention provides a design method for a non-intrusive rehabilitation device according to the previous inventive aspect.
  • the method comprises the following steps:
  • this method provides the possibility that the motion means are adapted to ensure that the centre of rotation of the rotation relative movement between the first grabbing means and the second grabbing means is aligned with the physiological centre of rotation of the treated joint, throughout the entire range of the motion.
  • the adaptation of the motion means comprises programming control means in a way that the control means are capable of varying the rotation axis of the rotation relative movement between the first grabbing means and the second grabbing means, either automatically or manually.
  • the adaptation of the motion means comprises the designing of first, second and third secondary cam guides, in such a way that a centre of a circular portion of these first, second and third secondary cam guides is made part of the joint rotation axis.
  • the adaptation of the motion means comprises programming control means so that first and second worm screws move according to a predetermined pattern.
  • control of the two degrees of freedom may be independent.
  • the alignment of the relative movement rotation axis with the joint rotation axis can be ensured by dynamically controlling the position of the device's centre of rotation by closing the control loop through the measurement of interaction force and performing the movement in a way that minimises the non-tangential component.
  • Figure 1 shows a first embodiment of a rehabilitation device according to the invention.
  • Figures 2a to 2c show the operation of this first embodiment of a rehabilitation device.
  • Figure 3 shows a second embodiment of a rehabilitation device according to the invention.
  • Figures 4a to 4c show movement examples of a rehabilitation device according to the invention.
  • Figures 1 and 3 show some embodiments of a non-intrusive rehabilitation device according to the invention, suitable for rehabilitating a patient's joint.
  • This joint is typically a knee or an elbow, and has two extremity portions: the first extremity portion (typically the upper arm or the thigh) and the second extremity portion (typically the forearm or the calf).
  • a rehabilitation device is therefore intended to cause a relative movement between the first extremity portion and the second extremity portion.
  • it has two grabbing means 1 1 , 12, which are adapted and intended to grab the extremity portions.
  • This device further comprises motion means. These motion means are adapted to act on the first and/or second grabbing means 1 1 , 12. As the grabbing means are attached, when the device is in operation, to the extremity portions of a joint, there is no need to move both grabbing means 1 1 , 12, but only one of them. In the embodiments shown in these figures, the motion means move the second grabbing means. In different embodiments, the motion means may be arranged to move the first grabbing means instead.
  • the motion means are therefore adapted to move the second grabbing means to cause both a rotation relative movement and a translational relative movement between the first grabbing means and the second grabbing means.
  • Figure 1 shows a first embodiment of this rehabilitation device 1.
  • the motion means comprises the following elements:
  • a first worm screw 31 having a first worm rotation axis 310;
  • a worm gear 4 having a wheel rotation axis 40, the worm gear 4 being engaged to the first worm screw 31 and the wheel rotation axis 40 being perpendicular to the first worm rotation axis 310;
  • main cam 41 being solidly attached to the worm gear 4, the main cam 41 comprising a main cam guide 42;
  • first 51 , a second 52 and a third 53 secondary cam guides solidly attached to the first grabbing means 1 1 , the first 51 , second 52 and third 53 secondary cam guides comprising a straight portion and a curved portion;
  • cam follower 6 solidly attached to the second grabbing means 12, the cam follower 6 comprising a first pin 61 , a second pin 62 and a third pin 63, the first pin 61 being arranged to follow both the main cam guide 42 and the first secondary cam guide 51 , the second pin 62 being arranged to follow the second secondary cam guide 52 and the third pin 63 being arranged to follow the third secondary cam guide 53.
  • the main cam 41 which is solidly attached to the worm gear 4, also rotates with the worm gear 4.
  • the main cam 41 comprises a main cam guide 42, the main cam guide 42 also rotates.
  • the secondary cam guides 51 , 52, 53 do not rotate with the main cam guide 42, as the secondary cam guides 51 , 52, 53 are not attached to the worm gear 4, but to the first grabbing means 1 1 .
  • These secondary cam guides 51 , 52, 53, together with the main cam guide 42, will serve as guides for the cam follower 6 which is attached to the second grabbing means 12.
  • the first pin 61 of the cam follower 6 is guided by two different cam guides: the main cam guide 42, which moves, and the first secondary cam guide 51 , which is fixed. Hence, the movement of the main cam guide 42 will make this first pin 61 advance along the first secondary cam guide 51 where this first pin 61 is inserted.
  • this rehabilitation device 1 further comprises different additional aids, such as stimulation means 101 for muscle strengthening and pain management, as integral part of the rehabilitation.
  • the movement of the motion means is controlled by some control means. These control means control the movement velocity, duration and direction.
  • the controllable element of the rehabilitation device is the rotation of the first worm screw.
  • Figures 2a to 2c shows the operation of this embodiment of a rehabilitation device.
  • Figure 2a shows the rehabilitation device 1 in a rest position, with the cam follower 6 being located at the beginning of the straight portion of the secondary cam guides.
  • the cam follower 6 is forced to follow a straight trajectory and then a curved trajectory.
  • FIGS 2b and 2c This makes the second extremity portion displace in a translational movement with respect to the first extremity portion and then a rotation movement with respect to the first extremity portion.
  • the straight movement takes place before the curved movement.
  • the curved portion of the secondary cam guides may be executed forwards and backwards any time it is needed.
  • Figure 3 shows a second embodiment of a rehabilitation device 1 according to the invention.
  • the motion means comprises the following elements:
  • a first worm screw 31 having a first worm rotation axis 310 and adapted to rotate according to the right-hand rule
  • a worm gear 4 having a wheel rotation axis 40, the worm gear 4 being engaged to the first 31 and to the second 32 worm screw and the wheel rotation axis 40 being perpendicular to the first 310 and to the second 320 worm rotation axis.
  • the worm gear 4 is solidly attached to the second grabbing means 12, so in this second embodiment, the movement of the second grabbing means 12 is directly achieved by moving the worm gear 4.
  • This embodiment is able to move the worm gear 4, and then the second grabbing means 12, with more freedom than the first embodiment, as translation and rotation movements may be communicated to the worm gear 4 in any combination with no predetermined order.
  • the rehabilitation device 1 further comprises at least one stop, arranged to limit the movement of the worm gear.
  • the worm gear 4 is translated with no rotation, and the translation velocity is proportional to the sum of the rotation velocity of the first 31 and second 32 worm screws.
  • the direction of the translational velocity of the worm gear 4 depends on the direction of rotational velocities of the worm screws 31 , 32. If the direction of the rotational velocities of the worm screws 31 , 32 is clockwise then the direction of the translational velocity of the worm gear 4 is from right to the left as shown in the figure 4a. If the direction of the rotational velocities of the worm screws 31 , 32 is counter clockwise then the direction of the translational velocity of the worm gear 4 is from right to the left, opposite as what is shown in the figure 4a.
  • the worm gear 4 rotates and translates.
  • the translation velocity is proportional to the sum of the rotation velocity of the first 31 and second 32 worm screws and the rotation velocity is proportional to the difference of the rotation velocity of first 31 and second 32 worm screws.
  • the worm gear 4 rotates and translates.
  • the translation velocity is proportional to the sum of the rotation velocity of the first 31 and second 32 worm screws and the rotation velocity is proportional to the difference of the rotation velocity of first 31 and second 32 worm screws.
  • the difference between the rotation velocities of the first worm screw and the second worm screw causes the worm gear to rotate with respect to the rotation axis, and the sum of the rotation velocities of the first worm screw and the second worm screw causes the worm gear to translate in a direction parallel to the rotation axis.
  • the sign of the rotation velocity is considered, it is possible to move the worm gear with a wide range of rotation and translation movements.
  • FIG. 5 shows a third embodiment of a rehabilitation device 1 according to the invention.
  • this rehabilitation device 1 comprises the following elements:
  • a fixed base 71 comprising guide rails 72;
  • first grabbing means 1 1 attached to the fixed base 71 ;
  • a translation base 73 adapted to move along the guide rails 72 of the fixed base 71 ;
  • a first motor 74 mechanically connected to the translation base 73, being thus able to cause a translation movement of this translation base 73 with respect to the fixed base 71 ;
  • a worm gear 4 attached to the translation base 73, but free to rotate with respect to the translation base 73;
  • a second motor 81 mechanically connected to the worm gear 4, being thus able to cause a rotation movement of this worm gear 4 with respect to the translation base 73;
  • each separate first 74 and second 81 motor provide independent translation and rotation movements to the cam follower 6, and thus to the second grabbing means 12.
  • the first motor 74 provides translation movement to the translation base 73 by means of first pulleys 75 and a first belt 76 and the second motor 81 provides rotation movement to the worm gear 4 by means of a second pulley 82 and a second belt 83.
  • the worm gear 4 is moved by means of the second motor 81 and a pulley 82 and belt 83 system.
  • this coupling between the motor and the worm gear may be made by different means, either directly or by magnetic coupling, or by cable or by any other technology which is available for the person skilled in the art. The same applies to the coupling between the first motor 74 and the translation base 73.

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  • Health & Medical Sciences (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Rehabilitation Tools (AREA)

Abstract

L'invention concerne un dispositif de rééducation non intrusive (1) approprié pour rééduquer une articulation d'un patient, l'articulation reliant une première partie d'extrémité à une seconde partie d'extrémité. Le dispositif de rééducation (1) comprend des premiers moyens de préhension (11), conçus pour saisir la première partie d'extrémité; des seconds moyens de préhension (12), conçus pour saisir la seconde partie d'extrémité; et des moyens de mouvement. Les moyens de mouvement sont conçus pour déplacer les premier (11) et/ou second (12) moyens de préhension pour provoquer à la fois une rotation et un mouvement relatif de translation entre les premiers moyens de préhension (11) et les seconds moyens de préhension (12), réalisant ainsi une extension ou une flexion et une traction d'articulation.
PCT/EP2018/052972 2017-02-07 2018-02-06 Dispositif de rééducation WO2018146103A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
EP17382053.1A EP3357474A1 (fr) 2017-02-07 2017-02-07 Dispositif de rééducation
EP17382053.1 2017-02-07

Publications (1)

Publication Number Publication Date
WO2018146103A1 true WO2018146103A1 (fr) 2018-08-16

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EP (1) EP3357474A1 (fr)
WO (1) WO2018146103A1 (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109620648B (zh) * 2019-02-01 2021-05-14 苏州好博医疗器械有限公司 一种用于绳索驱动上肢康复训练器的左右手互换机构
CN111419652B (zh) * 2020-06-12 2020-09-29 上海傅利叶智能科技有限公司 一种无动力源膝关节机构

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WO2015087427A1 (fr) * 2013-12-12 2015-06-18 株式会社安川電機 Actionneur pour dispositif d'aide au mouvement, et dispositif d'aide au mouvement
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