WO2024033189A1

WO2024033189A1 - Orthopedic joint device

Info

Publication number: WO2024033189A1
Application number: PCT/EP2023/071445
Authority: WO
Inventors: Reinold Philipp Durstberger
Original assignee: Otto Bock Healthcare Products Gmbh
Priority date: 2022-08-08
Filing date: 2023-08-02
Publication date: 2024-02-15
Also published as: DE102022119920A1

Abstract

An orthopedic joint device having an upper part and a lower part between which a joint is formed, wherein: the joint defines at least two swivel axes that are not parallel to each other and at least one restoring element is fastened to the upper part and the lower part; and the restoring element has an elastic element which exerts a restoring force in the direction of an initial position when the upper part is swiveled relative to the lower part from the initial position.

Description

Orthopedic joint device

The invention relates to an orthopedic joint device with an upper part and a lower part, between which a joint is formed.

An orthopedic joint device is in particular an articulated connection between an upper part and a lower part in prostheses, orthoses and exoskeletons. In addition to providing the ability to move the upper part and the lower part relative to one another and to enable pivoting of the upper part relative to the lower part, the joint device also serves to hold the upper part on the lower part, so that a geometric relationship between the upper part and the lower part is obtained remains.

Orthopedic joint devices can have different designs. A comparatively simple construction provides that the upper part is pivotally attached to the lower part via a rigid axis. Such a design can be found, for example, in uniaxial prosthetic knee joints or orthoses. In the case of so-called multi-link joints, for example prosthetic knee joints with four or more joint components that are articulated to one another via four or correspondingly more axes, the upper part can also be pivoted relative to the lower part about a single pivot axis, but this pivot axis is unsteady and moves on one Path during pivoting. The upper part has only one rotational degree of freedom relative to the lower part and moves, for example, on a circular path, so that there are two translational degrees of freedom. With a simple single-axis joint there is only one rotational degree of freedom, but no translational degree of freedom. From EP 1 962 734 B1 a prosthetic knee joint with a chassis is known which is attached to a mounting plate. The mounting plate is pivotally mounted on a coupling element about a pivot axis. The coupling element in turn is attached to a housing. A spring element is arranged between the mounting plate and the coupling element, which provides a restoring force when deflected about the axis of rotation. The housing can additionally be mounted rotatably about a second axis, which runs perpendicular to the longitudinal extent of a forearm. The prosthetic hand thus has two joint devices, once between the mounting plate and the coupling element and once between the housing and the forearm shaft. The rotations around the two pivot axes can be blocked by separate locking devices. In an unlocked state, flexion and extension against a counterforce and rotation around the longitudinal axis of the forearm shaft without counterforce are possible.

The object of the present invention is to provide an orthopedic joint device with which an improved natural appearance can be achieved.

This task is solved by an orthopedic joint device with the features of the independent claim. Advantageous refinements and developments of the invention are disclosed in the subclaims, the description and the figures.

The orthopedic joint device with an upper part and a lower part, between which a joint is formed, provides that the joint forms at least two pivot axes that are not oriented parallel to one another and that at least one restoring element is attached to the upper part and the lower part, whereby the Restoring element has an elastic element which, when the upper part is pivoted relative to the lower part from a starting position, exerts a restoring force in the direction of the starting position. The joint is formed between the two directly assigned components, namely the upper part and the lower part, and by the two mutually assigned components and has two pivot axes about which the upper part can be pivoted relative to the lower part. These two pivot axes are not oriented parallel to one another and in one embodiment can be designed so that the two pivot axes intersect. The joint device has at least one restoring element, which is preferably designed to be elastic or has at least one elastic component or an elastic element, the restoring element being attached to both the upper part and the lower part. By attaching it to an upper part and the lower part, it is possible to transmit forces via the restoring element between the upper part and the lower part. When the upper part is pivoted relative to the lower part from a starting position, in which the upper part is advantageously held relative to the lower part by the restoring element, a restoring force is exerted in the direction of the starting position when the restoring element is elongated by the elastic element, so that if one is omitted The starting position is resumed by an external force. With such a configuration, it is possible for the upper part to pivot relative to the lower part about two pivot axes without having to move any further components and for it to be moved back into the starting position, so that, for example, not only palmar flexion and dorsiflexion can take place in the case of a wrist, but also radial abduction and ulnar abduction. For example, movements around both a dorsopalmar axis and a radioulnar axis are possible. For an ankle joint, simultaneous plantar flexion or dorsiflexion along with supination or pronation would be possible. In principle, it is also possible to provide the joint with more than two pivot axes.

In one embodiment, the joint has a joint head and a joint socket, which, for example, bear directly against one another. An intermediate element can also be arranged in the joint gap between the joint socket and the joint head, for example to reduce friction, to dampen shocks and/or to compensate for surface inaccuracies. The joint can be designed as a ball joint or ellipsoid joint. With a ball joint, three pivot axes or three rotational degrees of freedom can be achieved, which enable free rotational mobility of the upper part relative to the lower part. The rotational restrictions then take place via the restoring forces that are applied by the restoring element or elements, with different levels of restoring forces being able to be provided to achieve different stabilities and resistances to the respective pivoting movement around the respective axis. In one embodiment, the joint is designed as an ellipsoid joint or a so-called egg joint, in which a rotational degree of freedom is blocked or a pivoting by one due to the design of the joint socket and the joint head and the holding force of the restoring element, by which the joint head is pressed into the joint socket third rotational degree of freedom is made more difficult. With a barrel-like design of the joint head and joint socket in a prosthetic wrist, dorsiflexion and palmar flexion would be possible, as would radial abduction and ulnar abduction; pronation or supination of the hand relative to the forearm would not be possible. However, if the joint socket is very flat or if high forces are applied, supination or pronation of a prosthetic wrist would be possible in principle if the restoring elements were designed accordingly. If necessary, the joint head will then be lifted from the joint socket, or an otherwise flat or linear load on the joint head and joint socket would be eliminated. However, supination or pronation in the joint occurs under difficult structural conditions.

In one embodiment, the pivot axes of the joint are designed to be oriented perpendicular to one another, so that a simple combined movement around the two pivot axes can also take place. The pivot axes do not have to intersect each other; with the ellipsoid joint, the two radii around the axes can be of different sizes. In a ball joint, all three possible pivot axes are perpendicular to one another and intersect at the center of the ball, which is defined by the spherical cap or the spherical segment of the joint head or joint socket.

In one embodiment, the joint has a translational degree of freedom, in particular exactly one translational degree of freedom, so that the joint gap between the joint head and the joint socket can increase, but a shift into the other two translational degrees of freedom is prevented or at least made more difficult. The joint socket can then be lifted from the joint head if no holding forces act, for example through the restoring elements, but there is a displacement in the other two directions not possible. This gives the joint greater stability. In principle, there is also the possibility that the joint socket is mounted in a translationally movable manner relative to the joint head in another or several other planes or, with a correspondingly low pretension of the restoring element or the elastic portion of the restoring element, a combined translational movement in several planes or directions allows.

In one embodiment, a plurality of restoring elements with one or more elastic elements formed or arranged thereon are attached to the upper part and the lower part and are effectively arranged in different, in particular opposite, directions. In the case of a wrist, for example, restoring elements are arranged palmarly and dorsally in order to apply a restoring force to dorsiflexion and palmar flexion. In order to enable radial abduction and ulnar abduction and at the same time to bring about a return to an initial position, restoring elements are arranged, for example, medially and laterally between the upper part and the lower part. A corresponding arrangement takes place in an ankle joint with restoring elements against plantar flexion and dorsiflexion as well as supination and pronation. It is also possible to provide only one restoring element for each of the different pivot axes, which can be loaded in both the pulling direction and the pushing direction and provides corresponding restoring forces, for example through tension-compression springs, elastomer elements or the like.

In one embodiment, the restoring element or elements are designed as a tension element, belt, band or elastomer or have or have at least one elastic component. The elastic component can be, for example, an elastic belt section, an elastic band section or a spring which is arranged on or in the restoring element. In addition, the restoring element has at least one tensile, flexible component, which is preferably arranged or formed in the distal region of the restoring element. The rigid, flexible component can also extend over the entire length of the restoring element and be arranged or effectively connected in parallel to it. If the tensile component is relative to the upper part and Fixed to the lower part, a displacement of the lower part relative to the upper part, which would cause the rigid component to steer, is prevented. For example, if two rigid components opposite a pivot axis are fixed in a stretched or tensioned position, the lower part cannot be given away relative to the upper part about this pivot axis. If only one rigid component is fixed, pivoting is possible in the direction that causes the rigid component to be shortened or compressed. The pivoting can also be blocked by maximum prestressing of the elastic component or the elastic region or the elastic restoring element, at which no elastic deformation of the restoring element is possible without destroying the restoring element.

The restoring element itself does not have to be exclusively elastic; it can also be coupled to an elastic component or an elastic element. An elastic restoring element makes it possible to set a pretension and also to fix the upper part to the lower part. The higher the preload force, the greater the restoring force with the same deflection around the corresponding pivot axis.

In one embodiment, the restoring element is detachably attached to the upper part and/or the lower part, which makes it easy, for example, to remove the upper part from the lower part or to apply different restoring forces or

Adjust the preload or replace a restoring element if it is worn.

In one embodiment, the restoring element or elements are assigned an adjusting device for adjusting the restoring force. The restoring force can be adjusted, for example, by the adjusting device being mounted in a displaceable and fixable manner on the restoring element, the upper part and/or the lower part. The effective length, for example of an elastic belt or an elastic band, can be shortened or extended by the adjusting device. By moving an attachment point on the upper part and/or the lower part, for example, an elastic component or a spring can be stretched or relaxed in order to obtain different restoring forces. If there are several control elements, can each individual can be adjusted and adjusted in order to adapt to different situations and / or different users of the orthopedic joint device.

The adjusting device can be mounted in discrete steps or continuously displaceable on the upper part and/or the lower part. Continuous displacement enables finer and more individual adjustment than adjustment in discrete steps, but may require greater design effort or increased motor skills on the part of the user. An elastic band or a belt with an elastic portion can have a form-fitting element, for example a hook, which engages in a correspondingly designed form-fitting element, for example a projection or a hole in the upper part or lower part. The restoring element or a component associated with it can, for example, be a part of a Velcro fastener, which can be individually adjustable and fixed at a corresponding location on the upper part and/or the lower part. The adjusting device can, for example, also be designed as a slider which is mounted on the restoring element, the upper part and/or the lower part.

The adjustment device can be motor-driven, which in particular facilitates automated adjustment and adjustment of the restoring force if the motor drive is coupled to a sensor device or a control device that activates and deactivates the drive based on sensor data.

In one embodiment, at least one limiting device for limiting the pivoting about at least one of the pivot axes is mounted on the restoring element, upper part and/or the lower part. The limiting device can be designed as a slide or positive locking element, which is fastened and fixable, for example, on the flexible, tensile element, which is designed in particular as a belt, band, cable or the like or a section of the restoring element. The tensile element can be part of the restoring element or attached to it. Using the limiting device, it is possible to set the maximum pivot angle about the respective pivot axis. This can be done, for example, via a Combination of elastic materials with non-elastic materials happens. The restoring element can, for example, be designed as an elastic belt which is arranged on a flexible, non-elastic or tensile belt, the non-elastic belt forming a loop. If the restoring element is stretched, the non-elastic belt tightens and, when fully stretched, limits further pivoting about the corresponding pivot axis. In principle, the use of exclusively elastic restoring elements is also provided and possible, whereby the maximum limit can be achieved by reaching the maximum stretch, for example of an elastic band or elastic belt. The limiting device can form or cover a section of the restoring element. The limiting device in the embodiment as a slide or positive-locking element can, for example, be displaceably arranged along the longitudinal extent of the restoring element or the tensile element and can be arranged in a fixable manner in the desired position. Alternatively or additionally, the limiting device is arranged on the upper part or the lower part and effects a coupling or positive locking of the upper part or lower part with the restoring element or the tensile component thereof or thereon.

The restoring element in conjunction with the optionally provided limiting device fastens the upper part to the lower part prevents a translational displacement of the upper part and lower part away from one another beyond an intended dimension. The restoring element or elements provide a restoring force against pivoting about each pivot axis, so that regardless of the pivoting about any pivot axis, the starting position is resumed when external forces disappear.

Exemplary embodiments of the invention are explained in more detail below with reference to the figures. Show it:

Figure 1 is a perspective view of a joint device;

Figure 2 - Detailed views of a restoring element and an adjusting device; Figure 3 - a detailed view of a mounted restoring element;

Figure 4 - Detailed views of a restoring element according to a further embodiment;

Figure 5 - a representation of a partially disassembled prosthetic arm;

Figure 6 - an exploded view of a prosthetic arm;

Figure 7 - a detailed representation of a partially assembled prosthetic arm;

Figure 8 - a perspective view of a variant;

Figure 9 - a side view according to Figure 8 with an extended prosthetic hand;

Figure 10 - representation of the embodiment according to Figure 8 with a prosthetic hand twisted around several axes;

Figure 11 - a detailed representation of the embodiment according to Figure 8;

Figure 12 - a detailed representation of a guide rail;

Figure 13 - two sectional views of the guide rail;

Figures 14 and 15 - detailed representations of the restoring element and the adjusting device;

Figure 16 - individual representations of the restoring element; as well as

Figure 17 - a variant of a prosthesis of the lower extremity.

1 shows a perspective view of a prosthetic arm with an upper part 10 in the form of a forearm shaft and a lower part 20 in the form of a prosthetic hand. There is a between the upper part 10 and the lower part 20 Joint 30 is formed, so that the upper part 10 and the lower part 20 overall form an orthopedic joint device. The upper part 10 is constructed in several parts and, together with the lower part 20, forms at least two pivot axes 31, 32 around which the lower part 20 can be pivoted relative to the upper part 10. In the illustrated embodiment, the first pivot axis 31 enables pivoting of the lower part 20 or the prosthetic hand about an axis essentially perpendicular to the palm base body, which corresponds to a pivoting in the radial direction or ulnar direction within the palm plane. A second joint axis 32 runs essentially perpendicular to the first pivot axis 31 and enables flexion and extension of the lower part 20 relative to the upper part 10, so that the prosthetic hand can be pivoted in a palmar direction and dorsal direction from the starting position or neutral position shown.

In the position shown, the lower part 20 is in the starting position and is held in this starting position by a total of four restoring elements 40. In the embodiment shown, the restoring elements 40 are designed as elastic belts or bands, which are fastened with their respective proximal end to the upper part 10 and their respective distal end to the lower part 20. The restoring elements 40 are guided in the upper part 10 in guide rails, which will be explained in more detail later. The restoring elements 40 are assigned a plurality of adjusting devices 50, via which it is possible to adjust the effective length of the restoring elements 40 and/or the restoring force or preload force of the restoring elements 40.

In the embodiment shown, the joint 30 is designed in the form of an ellipsoid joint or egg joint and has a joint head 34 which is formed on the lower part 20 at its proximal end. A correspondingly designed joint socket 35 is formed or arranged at the distal end of the upper part 10 and enables pivoting about the two pivot axes 31, 32. In addition, the structure with the joint socket 35 and the joint head 34 prevents a translational displacement of the upper part 20 relative to the Lower part 10 in the proximal direction, i.e. in the direction of the upper part 10, and in directions perpendicular to it, i.e. in the radial-ulnar direction and in the dorsal-palmar direction. Only a translational degree of freedom is 33 released by the joint 30, namely the displacement in the distal direction, so that the prosthetic hand or the lower part 20 can be moved or lifted away from the upper part 10. Since this is not desired in the normal operation of the prosthetic hand, the restoring elements 40 are prestressed, so that the restoring elements 40 hold the prosthetic hand or the upper part 20 prestressed within the joint 30 and counteract displacement in the distal direction. The restoring elements 40 thus fasten the prosthetic hand 20 displaceably within the joint 30 to the prosthetic shaft.

The two pivot axes 31, 32 of the joint 30 are oriented perpendicular to one another in the exemplary embodiment shown. When designing the joint 30 as an ellipsoidal joint, it is possible that with a large radius of the joint surfaces, rotation around the longitudinal extent of the upper part 10 is possible, so that the lower part 20 can carry out several rotational movements or a combined rotational movement. The judgment 20 is moved in the direction of the translational degree of freedom 33 in the distal direction and is thus at least partially lifted out of the joint socket 35. Due to the restoring force of the restoring elements 40, the joint head 34 remains pressed against the corresponding support points or support lines on the joint socket 35.

In the exemplary embodiment according to FIG. 1, a total of four restoring elements 40 are arranged, which lie opposite one another in pairs. All restoring elements 40 are prestressed so that the starting position shown is maintained when no external forces or moments act. The pretension of the respective restoring element 40 is adjustable, so that it is possible, for example, to provide a flexion movement with a higher resistance than an extension movement.

As an alternative to the opposing elastic restoring elements 40, which act solely on tensile force and are designed as a flexible and elastic group or bands, tension-pressure elements can also be arranged and fastened to the upper part 10 and the lower part 20, which allow pivoting about the two Apply a corresponding restoring force to the pivot axes 31, 32, starting from a starting position. The restoring force can then be exerted as a compressive force or a tensile force, depending on the direction in which a relocation takes place. With tension-compression elements as restoring elements 40, only two restoring elements are then required; There is also the possibility that several such restoring elements 40 are designed and arranged on the orthopedic joint device. It is also possible for only one restoring element 40 to be present and attached to the upper part 10 and the lower part 20, which exerts a restoring force in the direction of the starting position when pivoted about both the first pivot axis 31 and the second pivot axis 32.

Detailed representations of the restoring element 40 or the restoring elements 40 as well as their storage position and their structure are shown in FIG. The respective restoring element 40 is designed as a belt made of an elastomeric material or with an elastomeric material, which has a recess 42 at each end, with which the respective restoring element 40 can be fixed in a form-fitting manner to the upper part 10 or lower part 20. 2 only shows one fastening device or one fastening element 11 of the upper part 10, which is designed as an angle or hook and is designed or fastened to the upper part 10. A corresponding positive locking element is arranged or formed on the lower part, not shown, and is brought into engagement with the opposite recess 42. The recesses 42 can have various shapes, which are shown in Figure 2, for example square, oval, round, rectangular, triangular, oval, polygonal or rounded recesses.

A thickening with a through opening for a locking pin 41 is formed between the two end recesses 42. The through opening can have been created as part of a primary molding process or can be formed by attaching a second layer of material. The locking pin 41 runs transversely to the longitudinal extent of the restoring element 40 and protrudes laterally beyond it. The safety pin 41 prevents the restoring element 40 from contracting beyond a specified point. The locking pin 41 can provide a safeguard when the adjusting device 50 is completely unlocked and can guarantee a minimal pre-tension of the restoring elements 40. In one embodiment, the locking pin 41 represents the abutment for the adjusting device 50. The Adjusting device 50 is designed in the exemplary embodiment shown as a slider which is arranged on the restoring element 40 in a displaceable and fixable manner. The adjusting device 50 can be moved and fixed either continuously or in discrete steps along the longitudinal extent of the restoring element 40 in order to adjust the respective restoring force of the respective restoring element 40. The adjusting device 50 can be supported either via the locking pin 41 or via other form-fitting elements or frictional elements in a guide rail or on the upper part 10 and change the effective length of the restoring elements 40.

3 shows a detailed representation of the restoring element 40 in an installed state in the area of attachment to the upper part 10. The fastening element 11 is fixed in a holder on the upper part 11 and can be covered and closed via a flap. The restoring element 40 is hooked into the recess 42 in the fastening element 11 and guided along a guide rail 45. Within the guide rail 45, the adjusting device 50 is arranged in the form of the slide, which on the one hand clamps the restoring element 40 or is otherwise fixed to it and on the other hand is fixed in the rail 45, for example, is clamped or hooked. As a result, the proximal part of the restoring element 40 is inactivated, so that the effective length of the restoring element 40 is shortened. As a result, when the upper part 10 is displaced relative to the lower part 20, a greater relative deformation of the restoring element 40 is carried out in the distal section, so that a greater restoring force is provided with the same deflection.

A variant of the guidance and fastening of the restoring element is shown in FIG. In addition, the orthopedic joint device has a limiting device 60 in the form of a flexible and inelastic belt or band, which is also coupled to an adjusting device 50. The restoring element 40 and the limiting device 60 are guided essentially parallel and are attached to the upper part 10 on the one hand and to the lower part 20 on the other hand. By appropriately adjusting the adjusting devices 50, it is possible to adjust both the restoring force or preload and the maximum achievable pivoting angle. Both control variables can be adjusted independently of one another and can be used during flexion and extension as well be used when rotating about the pivot axis 31. In the lower illustration of Figure 4, the two pivot axes 31, 32 are shown, the second pivot axis 32 runs perpendicular to the plane of the sheet, the first pivot axis 31 runs perpendicular thereto within the plane of the sheet.

It is also possible to arrange two restoring elements 40 with two adjusting devices 50, for example on the top of the upper part 10, in order to ensure easy accessibility. One of the restoring elements 40 serves to provide a restoring force when the lower part 20 is flexed, the other when it is extended. Correspondingly, corresponding limiting devices 60 can also be arranged on the easily accessible top and be coupled to adjusting devices 50. The attachment to the lower part 10 then takes place at attachment points on opposite sides of the pivot axis 32 or 31.

In Figure 5, the embodiment according to Figure 1 is shown in a partially disassembled state. The restoring elements 40 in the form of elastic bands with possibly different lengths or elasticities are each provided with recesses at the ends in order to be able to be fixed to the fastening elements on the upper part 10 and the lower part 20. The fixing is reversible, so that the restoring elements 40 can be easily replaced and adjusted. The locking pin 41 can be inserted into a corresponding receptacle in the restoring element 40. Also visible are the guide rails 45 with the associated adjusting devices 50, which are slidably mounted within the guide rails 45 in order to be locked in a positive or non-positive manner at different points along the longitudinal extent of the guide rails 45. The adjusting device 50 can either be fixed to the restoring element or held displaceably clamped to it. The upper part 10 has receptacles for a total of four guide rails 45, at the proximal end points of which the fastening devices 11 and the cover flaps 12 are arranged or inserted. At the distal end of the upper part 10, the joint socket 35 of the ellipsoid joint 30 is formed, while at the proximal end of the lower part 20, the joint head 34 is formed in a barrel-like or egg-shaped shape. Both the joint socket 35 and the joint head 34 can be replaced be arranged in the respective components. As an alternative to the ellipsoidal joint or the barrel shape shown, the components of the joint 30 can also be designed as a ball joint with a flat joint socket 35.

In Figure 6, the individual components of the embodiment according to Figure 1 are shown in an exploded view. The guide rails 45 with the adjusting devices 50 are inserted into the recesses both on the top and bottom as well as medially and laterally on the upper part 10 and fixed therein. The restoring elements 40 in the form of elastic bands or belts are positively and reversibly fixed to the upper part 10 and the lower part 20 and guided in the guide rails 45. Before fixing the restoring elements 40, the adjusting devices 50 are pushed onto the restoring elements 40 and then inserted into the guide rails 45. There are two adjusting devices 50 per restoring element 40, which are positioned on both sides of the receptacle of the locking pin 41 in order to be able to adjust different restoring forces continuously or in stages. The joint socket 35 is arranged or formed on a support part and is inserted into the shaft of the upper part 10.

7 shows the partially assembled state of the orthopedic joint device in the form of the prosthetic arm. A restoring element 40 on the top of the upper part 10 is already positively locked in the fastening device 11 and guided with the adjusting devices 50 within the guide rail 45. The flap 12 is not yet closed. The other three restoring elements 40 are not yet inserted and fixed in the guide rails 45 and the adjusting devices 50. It can be seen that all restoring elements 40 are attached to the lower part 20, so that two restoring elements 40 lie opposite one another in pairs. This ensures that from a starting position a pivoting can take place in both possible pivoting directions around the respective rotational degree of freedom and a restoring movement can take place with a corresponding restoring force.

8 shows a further embodiment of the orthopedic joint device in the form of a prosthetic arm. The The basic structure does not differ from the embodiment according to FIG. 1. Here too, two pivot axes 31, 32, which are oriented essentially perpendicular to one another in the ellipsoid joint 30, are available. The lower part 20 can thus carry out two pivoting movements around the pivot axes 31, 32, if necessary also a combination movement. The lower part 20 is movably secured to the upper part 10 via a total of four restoring elements 40. The restoring elements 40 are designed as elastic bands or belts and, in the exemplary embodiment shown, are guided in two layers within the guide rails 45. The adjusting devices 50 are also guided in the guide rails 45 and limit the effective length of the respective restoring elements 40 between the adjusting device 50 and the lower part 20. The restoring elements 40 are guided in the area of the joint socket 35 within a circumferential ring in order to keep the restoring elements 40 at a To protect movement of the joint head 34 within the joint socket 35 and to prevent the restoring elements 40 from twisting or jamming other objects.

9 shows a side view of the prosthetic arm with upper part 10 and lower part 20 in an extended position. This involves pivoting about the second pivot axis 32, which is shown in FIG. 8, so that the back of the prosthetic hand is displaced in the direction of the upper part 10. As a result, the restoring element 40 attached to the underside is stretched, while the restoring element 40 on the top is relaxed. The medially and laterally arranged restoring elements 40 are also slightly displaced; the deformation only contributes slightly, if at all, to an expansion and thus to the generation of a restoring force in the direction of the starting position according to FIG. Due to the ring, which is formed on the outside around the joint socket 35, the restoring elements 40 remain aligned with the guide rails 45, so that safe and reliable operation can take place.

10 shows a combined movement of the lower part 20 relative to the upper part 10 in an oblique top view. The joint head 34 on the lower part 20 is rotated both about the second pivot axis 32 and about the longitudinal extent of the upper part 10, so that the joint head 34 is slightly lifted out of the joint socket 35. This is due to the twisting Restoring elements 40 can be seen. When the external forces are eliminated, the lower part 20 is moved back into the starting position relative to the upper part 10, so that the joint head 34 is completely accommodated again in the joint socket 35.

11 shows an individual part representation of the embodiment according to FIGS. 8 to 10. The prosthetic hand as a lower part 20 is constructed in several parts and has a base body similar to a palm with fingers attached to it and a thumb module. At the proximal end of the lower part 20, the joint head 34 is arranged, which is designed separately and can be fixed to the base body either permanently in a materially bonded manner or in a replaceable form-fitting manner. The upper part 10 is also constructed in several parts and has receptacles for the rails 45 and for the joint socket 35. The components are pluggable and fixable and can be secured to one another, for example, using screws or similar fastening devices. Likewise, the guide rails 45 can be fixed in the upper part 10 using screws or other fastening elements. Both the joint head 34 and the joint socket 35 are designed as an egg joint or ellipsoid joint, so that activity in several planes around several axes, in this case around two axes, can be easily achieved. The main mobility occurs around the second pivot axis 32 along the longitudinal extent of the ellipsoid joint.

12 shows a perspective individual view of the guide rails 45 with the restoring element 40 and the adjusting device 50. In this embodiment, the guide rail 45 has downwardly directed positive locking elements 46 in the form of teeth on its upper, inwardly projecting rail parts, which can be seen more clearly in the illustrations in FIG. The illustrations in Figure 13 show a sectional view without the restoring element. The adjusting device 50 is fixed to the restoring element 40 and is pressed upwards against the positive locking elements 46 by the tensile stress in the prestressed restoring element 40. The adjusting device 50 has projections similar to the locking pin that protrude laterally beyond the restoring element 40 and can be brought out of engagement with the positive locking elements 46 by pressing down. The adjusting device 50 is then moved to the desired position and released so that the side Projections, as shown in the lower illustration of Figure 13, come into engagement with the form-fitting elements 46 again.

14 and 15 show a restoring element 40 with an adjusting device 50 and a locking pin 41 displaceably arranged on the restoring element 40. The locking pin 41 is infinitely displaceable and designed to be fixable on the restoring element 40. The locking pin 41 limits the effective length of the restoring element 40 or enables the pretension of the elastic element of the restoring element 40 to be changed. The adjusting device 50 has an operating surface which projects beyond the guide rail 45, not shown, and which can be guided displaceably within the central recess of the guide rail 45 . To the side of this, the projections shaped corresponding to the form-fitting elements 46 protrude beyond the width of the restoring element 40 in order to be able to engage with the form-fitting elements 46.

16 shows individual representations of the restoring element 40, in which both an elastic element 43 and a limiting device 60 are shown. In the two left figures, a side view and a top view show a restoring element 40 with a limiting device 60 made of a flexible, non-elastic material, to which an elastic element 43 is connected. The elastic element 43 also has the shape of a belt and is arranged, for example, proximal to the limiting device 60. If an adjusting device, not shown, is moved into the area of the limiting device 60 and is locked there, for example in a form-fitting manner, with one of the guide rails, no elastic displacement of the lower part takes place relative to the upper part in the pulling direction. However, a shift towards the elastic element 43 or the elastic section is possible. If the adjusting device, not shown, is displaced into the area of the elastic element 43 or the elastic section 43, the upper part can be pivoted relative to the lower part due to the elongation of the elastic element 43.

Two further embodiments of the restoring element 40 are shown in side view in the two right-hand illustrations in FIG. 16, which show a parallel arrangement or parallel connection of an elastic element 43 and one Limiting device 60 show. In the illustration above, the two components are connected to one another at both ends, with the limiting device 60 being longer than the elastic element 43. Stretching of the elastic element 43 is then only possible until the belt as a limiting device 60 is stretched to the maximum. In the illustration below, the limiting device 60 is shorter than the elastic element 43 and is sewn, for example, on the top of the elastic element 43, whereby the same effect is achieved as in the illustration on the left.

17 shows a perspective view of a prosthetic device for a lower extremity. The prosthesis forms an orthopedic joint device with an upper part 10 in the form of a prosthetic lower leg with a proximal fastening device for fixing the prosthetic lower leg to a femoral shaft. A prosthetic knee joint with an actuator or a damper is arranged within the prosthetic lower leg. In the distal region of the upper part 10, a joint 30 is formed, which pivotally connects a prosthetic foot as a lower part 20 to the upper part 10. The joint 30 is designed, for example, as a ball joint or ellipsoid joint, so that two pivot axes, which are not shown, are formed. The prosthetic foot as a lower part 20 can pivot anteriorly and posteriorly within the sagittal plane and pivot medially and laterally within the frontal plane. A total of four restoring elements 40 are arranged on the outside of both the upper part 10 and the lower part 20, which are constructed as described above and bias the lower part 20 elastically towards the upper part 10. A pivoting from the illustrated starting position into one of the possible pivoting directions results in at least one restoring element 40 being stretched, whereby a restoring force is exerted in the direction of the starting position. The restoring force is adjustable, as explained above. In principle, a limiting device for limiting the maximum pivoting in the respective direction is also possible and provided.

Claims

Patent claims

1 . Orthopedic joint device with an upper part (10) and a lower part (20), between which a joint (30) is formed, characterized in that the joint (30) forms at least two pivot axes (31, 32) which are not oriented parallel to one another and that at least one restoring element (40) is attached to the upper part (10) and the lower part (20), the restoring element (40) having an elastic element (43) which, when the upper part (10) is pivoted relative to the lower part (20) exerts a restoring force from a starting position in the direction of the starting position.

2. Orthopedic joint device according to claim 1, characterized in that the joint (30) has a joint head (34) and a joint socket (35) and is designed as a ball joint or ellipsoid joint.

3. Orthopedic joint device according to claim 1 or 2, characterized in that the pivot axes (31, 32) are designed to be oriented perpendicular to one another.

4. Orthopedic joint device according to one of the preceding claims, characterized in that the joint (30) has at least one translational degree of freedom (33).

5. Orthopedic joint device according to one of the preceding claims, characterized in that a plurality of restoring elements (40) are attached to the upper part (10) and the lower part (20) and are effectively arranged in different, in particular opposite, directions.

6. Orthopedic joint device according to one of the preceding claims, characterized in that the restoring element (40) is designed as a tension element, belt, band or elastomer and has at least one rigid, flexible component ().

7. Orthopedic joint device according to one of the preceding claims, characterized in that the restoring element (40) is releasably attached to the upper part (10) and / or the lower part (20).

8. Orthopedic joint device according to one of the preceding claims, characterized in that the restoring element (40) is assigned an adjusting device (50) for adjusting the restoring force.

9. Orthopedic joint device according to claim 8, characterized in that the adjusting device (50) is displaceably and fixably mounted on the restoring element (40), the upper part (10) and / or the lower part (20).

10. Orthopedic joint device according to one of claims 8 or 9, characterized in that the adjusting device (50) is mounted in discrete steps or continuously displaceable on the upper part (10) and / or the lower part (20).

11. Orthopedic joint device according to one of claims 8 to 10, characterized in that the adjusting device (50) is motor-driven.

12. Orthopedic joint device according to one of the preceding claims, characterized in that at least one limiting device (60) for limiting pivoting about at least one of the pivot axes (31, 32) is adjustable on the restoring element (40), the upper part (10) and / or the lower part (20) is stored.

13. Orthopedic joint device according to claim 12, characterized in that the limiting device (60) is a flexible, rigid Element, in particular as a belt, band or cable, or as a slide or positive locking element (41). Orthopedic joint device according to one of the preceding claims, characterized in that it is designed as a prosthetic wrist or as a prosthetic ankle joint. Orthopedic joint device according to one of the preceding claims, characterized in that the restoring element (40) fastens the upper part (10) to the lower part (20). Orthopedic joint device according to one of the preceding claims, characterized in that the restoring element (40) exerts a restoring force when pivoting about each pivot axis (31, 32) in the direction of the starting position.