WO2020130866A1 - Articulation tibio-tarsienne d'une orthèse ou d'un exosquelette - Google Patents

Articulation tibio-tarsienne d'une orthèse ou d'un exosquelette Download PDF

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Publication number
WO2020130866A1
WO2020130866A1 PCT/RU2018/000830 RU2018000830W WO2020130866A1 WO 2020130866 A1 WO2020130866 A1 WO 2020130866A1 RU 2018000830 W RU2018000830 W RU 2018000830W WO 2020130866 A1 WO2020130866 A1 WO 2020130866A1
Authority
WO
WIPO (PCT)
Prior art keywords
rack
ankle link
foot support
base element
link according
Prior art date
Application number
PCT/RU2018/000830
Other languages
English (en)
Russian (ru)
Inventor
Елена Валентиновна ПИСЬМЕННАЯ
Кирилл Михайлович ТОЛСТОВ
Original Assignee
Общество С Ограниченной Ответственностью "Экзоатлет"
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 Общество С Ограниченной Ответственностью "Экзоатлет" filed Critical Общество С Ограниченной Ответственностью "Экзоатлет"
Publication of WO2020130866A1 publication Critical patent/WO2020130866A1/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
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about

Definitions

  • the claimed invention relates to the field of meeting the vital needs of a person and can be used in medicine, in particular, in the treatment of patients with loss or violation of locomotor function of the lower extremities.
  • the main purpose of the invention is the restoration / formation of compensatory walking and / or improvement of gait in people with impaired, lost or unformed ability to control the movements of the lower extremities and, in addition, the improvement of the physical condition and quality of life of individual groups of patients.
  • the invention can be used in the rehabilitation of persons who have lost motor ability due to injuries and diseases of the spine, traumatic brain injury, stroke and other diseases leading to central paralysis, as well as due to malformations or developmental disorders of the central nervous system, including children cerebral paralysis.
  • exoskeleton tibia link is described in published international application WO 2013/049658, A61NZ / 00, 2013, comprising two legs located on both sides of the tibia of a human operator.
  • a C-shaped bracket is pivotally fixed, which in turn is pivotally connected to the foot support platform in the heel.
  • a passive-type exoskeleton tibia link is described in patent RU 2362598, A62B99 / 00, A61NZ / 00, 2007, including supporting lever, made in the form of a spatial C-shaped shell, placed with the possibility of fixation on the front of the lower leg by fastening elements.
  • Horizontal splines are made on the outer surface of the shell, which provide the ability to move a limb or foot around a common vertical axis.
  • a support arm is connected to a foot support connecting unit through a slider that provides rotation about a common vertical axis.
  • the foot connecting unit is a fork connected through a hinge, which is connected to the foot support inserted into the integrated shoe through hinges located on both sides of the foot, which in combination provides three degrees of freedom of foot movement, namely the possibility of angular movement around the XYZ axes.
  • a passive-type exoskeleton tibia unit is known, described in patent RU 2563209, A61NZ / 00, 2014, comprising a support member connected to the ankle fork with a screw through a sliding bearing.
  • the ankle fork is a rocker with parallel ends lowered.
  • the ankle fork has lateral tides, limiting the lateral amplitude (left and right) of the foot swing to avoid damage to the ligaments.
  • latches-latches At the ends of the ankle fork through sliding bearings are attached latches-latches, providing a detachable connection of the support platform.
  • the support bracket is inserted into the shoes, for example, under the insole. Outside shoes from 2 sides lateral stops of the support platform are applied, for example, in the form of a plate in the form of trapezoids, with grooves in the upper part and screwed screws to the support bracket, which interact with the latches-latches.
  • This device is adopted as a prototype.
  • a disadvantage of the known devices is the design complexity, high weight, low load capacity. In addition, they create significant shock loads on the feet of the exoskeleton operator, which are especially sensitive for patients with loss or violation of locomotor function of the lower extremities.
  • the technical result of the invention consists in expanding the arsenal of technical means of ankle links for orthoses and exoskeletons and in reducing the risk of injury by reducing shock loads on the legs of the exoskeleton operator (patient) when walking, arising from the vertical component of the support reaction when placing the exoskeleton foot on the support surface, as well as due to the correct installation (self-installation) of the foot on. supporting surface.
  • the ankle link of the orthosis or exoskeleton contains a base (supporting) element, a first rack located on one side of the lower leg of the human operator of the exoskeleton or patient, a second rack located on the other side of the lower leg, and support feet.
  • the first strut is made of two parts interconnected by an elastic element, the first part of the first strut connected to the base element and the second part connected to the first side of the foot support.
  • the second pillar is also made of two parts interconnected by an elastic element, the first part of the second pillar connected to the base element, and the second part is connected to the second side of the foot support.
  • each strut may be made in the form of at least one spring, in particular a coil spring.
  • first part of each rack is pivotally connected to the base element, and the second part of each rack is connected to the foot support using a hinge having at least two degrees of freedom.
  • each hinge connecting the second part of each rack with the foot support is made in the form of a spherical hinge.
  • the articulation of the first part of each rack with the base element is formed by an axis located on the base element in a plane parallel to the sagittal plane and a bearing located on the first part of each rack.
  • the base element may be configured to connect to the leg of a human operator.
  • the base element includes first and second connecting elements located on the sides of the tibia of the human operator and designed to connect with the knee joint of the orthosis or exoskeleton.
  • the connecting elements can be configured to adjust their position in the horizontal plane relative to the base element.
  • the first part of the first rack is connected to the first connecting element, and the first part of the second rack is connected to the second connecting element.
  • the ankle link further comprises a bracket fixed to the second parts of the first and second legs, and / or a mechanical and / or pneumatic elastic element articulated at one end with the base element and the other end with the heel of the foot support .
  • the ankle link further comprises a bracket fixed to the second parts of the first and second legs and / or a linear displacement drive articulated at one end to the base member and the other end to the heel of the foot support.
  • Figure 1 shows the ankle link of the right leg, left side view, axonometry (fastening elements on the lower legs and shoes of the human operator are not shown conditionally).
  • Figure 2 shows the ankle link of the right leg, a right view, a perspective view (fastening elements on the lower legs and shoes of the human operator are not shown conditionally).
  • Figure 3 shows the ankle link of the right leg, rear view, axonometric view.
  • Figure 4 shows the ankle link of the right leg, front view.
  • FIG. 5 is a view A of FIG. 4.
  • Figure 6 shows the ankle link of the right leg with an elastic element and a retaining bracket, rear view, axonometry.
  • the main purpose of the claimed ankle link is its use in orthoses and exoskeletons of the lower extremities, both active and passive, for restoration or improvement of gait in persons with impaired, lost or unformed ability to control the movements of the lower extremities due to various diseases and injuries.
  • the ankle link for an orthosis of the lower extremities or exoskeleton contains a base element 10, which in this particular example is designed to connect with the leg of the human operator.
  • the connection of the ankle link with the lower leg is optional. So in some designs of passive exoskeletons, fastening on the thigh and foot is enough.
  • the base element 10 consists of a support element 11 and connecting elements 12 and 13 mounted on it, located on different sides of the lower leg of a human operator. On the supporting element 11 of the base element 10 there are holes 14 to which fixing belts or other similar means are attached (not shown in FIG.), Designed to fix the ankle link to the legs of a human operator.
  • the connecting elements 12 and 13 are designed to connect with the femoral link of the orthosis or exoskeleton.
  • the connecting element 12 there are seats 15 for installing the mating part of the drive of the ankle link of the active exoskeleton, and on the connecting element 13 there is an ear 16 with a bearing 17.
  • the ear 16 is designed to be placed in the corresponding eyelet of the femoral link and together with the bearing 17 forms a knee joint of the exoskeleton.
  • the connecting elements 12 and 13 are mounted on the supporting element 11 with the ability to adjust their position in the horizontal plane.
  • the connecting elements 12 and 13 have the ability to move relative to the supporting element 11 at an angle to the sagittal plane with subsequent fixation.
  • the movement of the connecting elements 12 and 13 (Fig.Z) is carried out using the screw 21 along the guides 18 and 19, respectively.
  • the fixing of the connecting elements 12 and 13 is carried out by nuts 22 and 23, respectively.
  • An axis 24 is disposed on the connecting member 12 for mounting the first strut 30, and an axis 25 is located on the connecting member 13 for mounting the second strut 50.
  • the first strut 30 comprises a first 31 and a second 32 parts interconnected by an elastic element 33.
  • the elastic element 33 is made in the form of two coil springs.
  • any types and types of springs known from the prior art with the necessary stiffness characteristic determined from a particular exoskeleton or orthosis construction can be used as an elastic element.
  • the first part 31 of the first strut 30 is configured to change its length and includes a housing 34 and a lever 35, mounted rotatably on axis 24. Changing the length of the first part 31 of the rack 30 for an individual fit for a human operator occurs by moving the housing 34 relative to the lever 35.
  • the fixing in this embodiment is carried out by the teeth 37 made on the housing 34 and the lever 35, and also lock screw 38 and nut 39.
  • the lever 35 has an emphasis 36 for initially adjusting the position of the first strut 30.
  • the adjustment is performed by a flywheel 26 with a screw 27 installed in the connecting element 12 and passing through the emphasis 36 of the lever 35.
  • the screw 27 has a groove 28, designed to accommodate the spring-loaded shank of the standard latch 41 mounted on the stop 36.
  • the interaction of the stop 36 with the screw 27 is carried out through elastic elements (washers) 29.
  • a buffer 43 is mounted at the end of the guide 42.
  • the second portion 32 of the first strut 30 includes a housing 44 and a hinge with three degrees of freedom located in its lower part, made in standard spherical bearing 45.
  • Holes 46 are formed in the housing 44, in which the slide bearings 47 are mounted.
  • the holes 46 are closed by plugs 48.
  • the bearings 47 cooperate with the guides 42, which allows the housing 44 of the second part 32 of the first rack 30 to move along the guides 42 relative to the housing 34. Buffers 43 limit this movement to one side, and plugs 48 limit movement to the other side.
  • the reaction of the support through the bearing 45 is transmitted to the housing 44, which, moving along the guides 42, compresses the springs of the elastic element 33, thereby reducing the force on the legs of the human operator of the exoskeleton. This excludes the possibility of injury to the calcaneus and talus, as well as damage to the subtalar joint.
  • the second strut 50 comprises a first 51 and a second 52 parts interconnected by an elastic element 53 in the form of two coil springs.
  • the first part 51 of the second strut 50 is configured to change its length and includes a housing 54 and a lever 55 mounted for rotation on the axis 25.
  • the second part 52 of the second strut 50 includes a housing 61 and a hinge with three degrees of freedom located in its lower part, made in the form of a standard spherical bearing 62.
  • the structures of the housing 54 of the first part 51 and the housing 61 of the second part 52 of the second rack 50 are similar to the structures of the housing 34 of the first part and the housing 44 of the second part of the first rack 30, respectively.
  • the foot support 70 includes a base 71 with brackets 72 and 73 located respectively on the first and second lateral side of the foot support 70.
  • An arm 74 is located in the heel of the foot support 70.
  • a quick-release axle 75 is mounted on the bracket 72 to accommodate the spherical bearing 45 of the first strut 30, and a quick-fit axle 76 is mounted on the bracket 73 to fit the spherical bearing 62 of the second strut 50.
  • Standard latches 77 and 78 allow quick connection separation of the foot support 70 with the uprights 30 and 50.
  • a four-link mechanism including a base element 10, a first post 30, a second post 50 and a foot support 70.
  • Such a mechanism provides the mobility of the human ankle joint, determined by the elasticity of the elements 29, and, also provides increased load capacity due to a more even distribution of forces on the racks.
  • the air spring flexion-extension angle of the foot support 70 is limited by the air spring 80 pivotally mounted by the housing 81 to the support member 11 and the rod 82 on the heel bracket 74 of the foot support 70 (FIG. 6).
  • pneumatic springs 80 instead of pneumatic springs 80, compression springs — tension springs or linear displacement actuators of various types — electromechanical, hydraulic, pneumatic — can be used.
  • the pronation / supination of the foot support 70 may be required.
  • a bracket 91 can be used that is rigidly fixed to the uprights 30 and 50.

Landscapes

  • 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)
  • Prostheses (AREA)
  • Rehabilitation Tools (AREA)
  • Orthopedics, Nursing, And Contraception (AREA)

Abstract

L'invention concerne les nécessités courantes de la vie et peut être utilisée en médecine, notamment pour traiter les patients souffrant d'une perte totale ou partielle de la fonction locomotrice des membres inférieurs. L'articulation tibio-tarsienne d'une orthèse ou d'un exosquelette comprend un élément de base et un appui du pied. Le premier support est constitué de deux parties reliées entre elles par un élément souple dont la premire partie est reliée à l'élément de base et la deuxième est reliée au premier côté latéral de l'appui du pied. Le deuxième support est constitué de deux parties reliées entre elles par un élément élastique, dont la première partie est reliée à l'élément de base, et la deuxième partie est reliée au deuxième côté latéral de l'appui du pied.
PCT/RU2018/000830 2018-12-17 2018-12-17 Articulation tibio-tarsienne d'une orthèse ou d'un exosquelette WO2020130866A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
RU2018144667A RU2018144667A (ru) 2018-12-17 2018-12-17 Голеностопное звено ортеза или экзоскелета
RU2018144667 2018-12-17

Publications (1)

Publication Number Publication Date
WO2020130866A1 true WO2020130866A1 (fr) 2020-06-25

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RU (1) RU2018144667A (fr)
WO (1) WO2020130866A1 (fr)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114260881B (zh) * 2021-12-23 2024-04-19 湖南中联重科应急装备有限公司 用于应急救援的踝关节助力外骨骼及助力外骨骼设备

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5215508A (en) * 1992-06-01 1993-06-01 Jack Bastow Ankle rehabilitation device
RU2032390C1 (ru) * 1991-06-28 1995-04-10 Центральный Научно-Исследовательский Институт Протезирования И Протезостроения Способ реабилитации больных до и после ампутации нижней конечности и ортопедический аппарат для его осуществления
US6171272B1 (en) * 1995-10-12 2001-01-09 Nhk Spring Co., Ltd. Short leg brace
RU2635760C1 (ru) * 2016-12-07 2017-11-15 Общество С Ограниченной Ответственностью "Экзоатлет" Голенное звено ортеза или экзоскелета
RU2643341C2 (ru) * 2014-05-27 2018-01-31 Тойота Дзидося Кабусики Кайся Приспособление для тренировки ходьбы и способ тренировки ходьбы для него
RU2665116C1 (ru) * 2017-04-25 2018-08-28 Российская Федерация, от имени которой выступает Федеральное государственное казенное учреждение "Войсковая часть 68240" (ФГКУ "В/Ч 68240") Грузовой экзоскелет с настройкой под антропометрические параметры пользователя

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
RU2032390C1 (ru) * 1991-06-28 1995-04-10 Центральный Научно-Исследовательский Институт Протезирования И Протезостроения Способ реабилитации больных до и после ампутации нижней конечности и ортопедический аппарат для его осуществления
US5215508A (en) * 1992-06-01 1993-06-01 Jack Bastow Ankle rehabilitation device
US6171272B1 (en) * 1995-10-12 2001-01-09 Nhk Spring Co., Ltd. Short leg brace
RU2643341C2 (ru) * 2014-05-27 2018-01-31 Тойота Дзидося Кабусики Кайся Приспособление для тренировки ходьбы и способ тренировки ходьбы для него
RU2635760C1 (ru) * 2016-12-07 2017-11-15 Общество С Ограниченной Ответственностью "Экзоатлет" Голенное звено ортеза или экзоскелета
RU2665116C1 (ru) * 2017-04-25 2018-08-28 Российская Федерация, от имени которой выступает Федеральное государственное казенное учреждение "Войсковая часть 68240" (ФГКУ "В/Ч 68240") Грузовой экзоскелет с настройкой под антропометрические параметры пользователя

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