CN103655011A - Artificial limb - Google Patents

Abstract

The invention provides an artificial limb. The artificial limb comprises a receiving cavity, a first supporting plate, a bandage, a second supporting plate, a driving shaft, a driving device, a sensor and a control system. The receiving cavity is a funnel-shaped shell, wherein the big end and the small end of the receiving cavity are both open. One end of the first supporting plate is connected with the big end of the receiving cavity. The bandage and the receiving cavity are arranged in a spaced mode. The bandage is close to the big end of the receiving cavity. One end of the second supporting plate is fixedly connected with the bandage. The two ends of the driving shaft are connected with the end, far away from the receiving cavity, of the first supporting plate and the end, far away from the bandage, of the second supporting plate in a rotatable mode respectively. The driving device is electrically connected with the driving shaft and is used for driving the driving shaft to rotate. The sensor is used for collecting an electromyographic signal. The control system is electrically connected with both the driving device and the sensor and converts the electromyographic signal collected by the sensor into a driving signal after signal processing so as to control the driving device to operate. The artificial limb is not prone to disengagement and is good in load bearing capacity.

Description

Prosthetics

【Technical field】

The invention relates to a prosthesis.

【Background technique】

All kinds of disasters have caused countless amputees, especially arm amputees. As we all know, hands are the most basic tool for us to create value and solve personal daily life. Many upper limb amputees will choose to install prosthetics to realize simple arm and hand movements and assist in solving daily needs. However, the direct fitting area between the prosthetic socket and the limb and the load-bearing capacity of the stump have not attracted enough attention. When the residual limb is used for a long time, the prosthetic socket of the amputee will easily fall off or loosen if it is light, and it will cause chronic blood circulation disorder of the prosthetic wearer, causing swelling of the stump, and even eczema, chronic ulcers and blisters wait. More severe skin changes can render the patient unable to bear weight and wear prosthetics.

Upper limb prosthetics include prosthetic hands, connector components, and sockets. The prosthetic hand is connected to the socket through the connector assembly, and the socket is in close contact with the stump of the amputee. It is conceivable that the socket is the key factor affecting the comfort and functional recovery of patients with prosthetics installed. It is the base of the entire upper limb prosthesis, which not only bears the weight of the prosthetic hand itself, but also bears the weight transmitted by the prosthetic hand grasping objects . However, traditional prosthetics still have the problems of easy detachment and poor weight-bearing capacity.

【Content of invention】

In view of this, it is necessary to provide a prosthesis that is not easy to fall off and has better load-bearing capacity.

A prosthesis comprising:

The socket is a funnel-shaped shell with openings at both the large end and the small end;

A first support plate, one end of which is connected to the large end of the socket;

a band, spaced apart from the socket, and close to the big end of the socket;

A second support plate, one end of which is fixedly connected to the strap;

A drive shaft, the two ends of which are respectively rotatably connected to the end of the first support plate away from the receiving cavity and the end of the second support plate away from the strap;

a driving device electrically connected to the drive shaft and used to drive the drive shaft to rotate;

A sensor for collecting myoelectric signals; and

The control system is electrically connected with the driving device and the sensor, and converts the myoelectric signal collected by the sensor into a driving signal to control the operation of the driving device.

Further, it also includes a connecting ring fixedly sleeved on the big end of the receiving cavity, and the end of the first support plate away from the driving shaft is connected to the connecting ring.

Further, the first support plate is provided with a guide groove, and the connecting ring is provided with a sliding protrusion, and the sliding protrusion is passed through the guide groove and can slide along the guide groove.

Further, the connecting ring is an open ring structure.

Further, it also includes a fixed rod whose one end is fixedly connected to the end of the first support plate away from the receiving cavity, and the other end is rotatably connected to the driving shaft.

Further, it also includes a rod-shaped fixing member, one end of which is rotatably connected to the drive shaft, and the other end is fixedly connected to the end of the second support plate away from the strap.

Further, it also includes a fixing belt fixed on the end of the first support plate away from the receiving chamber.

Further, there are two binding straps, and the two binding straps are respectively fixed to both ends of the second support plate.

Further, the first support plate is a curved plate.

Further, the second support plate is a curved plate.

Further, the driving device is a geared motor.

Further, the control system includes:

A myoelectric signal acquisition module is electrically connected to the sensor, and performs preliminary processing on the myoelectric signal collected by the sensor;

A main control module, electrically connected to the myoelectric signal acquisition module, for further processing the myoelectric signal processed by the myoelectric signal acquisition module; and

The driving module is electrically connected with the main control module and the driving device, receives the signal processed by the main control module, and converts the signal into a driving signal to control the operation of the driving device.

Further, the control system further includes a feedback module, the feedback module is electrically connected to the main control module and the driving device, and feeds back the operating angle and torque of the driving device to the main control module. module.

Further, the main control module is provided with a boost threshold, and the control system further includes an adjustment display module electrically connected to the main control module, and the adjustment display module is used to display the Myoelectric signals and the boost threshold for adjusting the main control module.

When the above-mentioned prosthesis is used by a forearm amputee, the large end of the socket is placed on the forearm residual limb, the strap is tied on the forearm residual limb, one end of the first support plate is fixedly connected to the large end of the socket, and the other end is connected to the driving The shaft is connected by rotation, and one end of the second support plate is fixedly connected with the strap, and the strap is fixed on the upper arm of the amputee, so that the socket and the upper arm of the amputee are tied together, effectively preventing the prosthesis from falling off; when lifting weights Since the socket and the upper arm of the amputee are tied together, the upper arm can share a part of the load of the socket and improve the load-bearing capacity of the above-mentioned prosthesis. Therefore, the above-mentioned prosthesis is not easy to fall off and has better load-bearing capacity; The device is electrically connected to the drive shaft, and the control system is electrically connected to the drive device and the sensor, and converts the myoelectric signal collected by the sensor into a drive signal to control the operation of the drive device, which is conducive to the realization of the amputee's sensory control of the prosthetic hand. The prosthetic hand is more flexible, which ensures the stability and comfort of the prosthesis on the stump.

【Description of drawings】

Fig. 1 is the structural representation of the artificial limb of an embodiment;

Fig. 2 is the schematic diagram that the prosthesis shown in Fig. 1 is installed on the forearm amputee;

FIG. 3 is a functional schematic diagram of a sensor, a driving device and a control system of the prosthesis shown in FIG. 1 .

【Detailed ways】

In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the associated drawings.

As shown in Figure 1, Figure 2 and Figure 3, forearm amputee as an example, a prosthesis 100 according to an embodiment includes a socket 110, a first support plate 120, a strap 130, a second support plate 140, and a drive shaft 150 , a driving device 160, a sensor 170 and a control system 180.

The receiving cavity 110 is a leak-shaped casing with both the large end and the small end open. Wherein, the stump of the forearm 300 of the forearm amputee is accommodated in the large end of the socket 110 . The small end of the socket 110 forms a connecting joint 112, which is fixedly connected with the prosthetic hand (not shown). For example, the connecting joint 112 is threadedly connected with the prosthetic hand, so that the prosthetic hand is fixedly connected with the socket 110 in a detachable manner, so that amputees can configure different prosthetic hands according to their economic ability or practical use. Wherein, the prosthetic hand can be i-limb bionic hand (Touch Bionics company), also can be common prosthetic hand.

One end of the first support plate 120 is connected to the big end of the receiving cavity 110 . The first support plate 120 is attached to the forearm 300 of the amputee. Wherein, the first support plate 120 is a curved plate, and the curved plate can better fit the forearm 300 of the amputee, thereby increasing the firmness of the fit between the first support plate 120 and the forearm 300 of the amputee. Preferably, the first supporting board 120 is a lightweight and high-strength organic board, preferably a high-strength resin material or carbon fiber material. Thereby, the wearing weight of amputee can be reduced.

The bandage 130 is spaced apart from the receiving cavity 110 and is close to the big end of the receiving cavity 110 . The strap 130 is used to be attached to the forearm 300 . The strap 130 is similar to Velcro, and the tightness of the binding can be manually adjusted.

One end of the second support plate 140 is fixedly connected with the strap 130 . The second support plate 140 fits on the upper arm 400 of the amputee. The second support plate 140 is a curved plate, which can better fit the upper arm 400 of the amputee, thereby increasing the firmness of the fit between the second support plate 140 and the upper arm 400 of the amputee. Preferably, the second support plate 140 is a lightweight high-strength organic plate, preferably a high-strength resin material or carbon fiber material. Thereby, the wearing weight of amputee can be reduced.

In a specific embodiment, there are two binding straps 130 , and the two binding straps 130 are respectively fixed to two ends of the second supporting board 140 . It can be understood that there may be one, three or more straps 130 .

Two ends of the driving shaft 150 are respectively rotatably connected to an end of the first support plate 120 away from the receiving cavity 110 and an end of the second support plate 140 away from the strap 130 .

In order to stabilize the prosthesis 100 , the prosthesis 100 further includes a fixed rod 190 with one end fixedly connected to the end of the first support plate 120 away from the socket 110 , and the other end rotatably connected to the drive shaft 150 . Wherein, the fixing rod 190 is a metal rod.

In order to further increase the stability of the prosthesis 100 , the prosthesis 100 further includes a rod-shaped fixing member 210 rotatably connected to the drive shaft 150 at one end and fixedly connected to the end of the second support plate 140 away from the strap 130 at the other end. The rod-shaped fixing member 210 is a metal rod.

Referring to FIGS. 2 and 3 again, the driving device 160 is electrically connected to the driving shaft 150 for driving the driving shaft 150 to rotate. The drive device 160 is a drive geared motor. The drive geared motor is preferably a servo geared motor.

The sensor 170 is used to collect myoelectric signals. Wherein, the sensor 170 is connected to the epidermis of flexion and extension muscles of the upper arm 400 of the amputee, and is used for collecting the first electromyographic signal and the second electromyographic signal.

The control system 180 is electrically connected to the driving device 160 and the sensor 170 , and converts the myoelectric signal collected by the sensor 170 into a driving signal to control the operation of the driving device 160 . Specifically, the control system 180 includes a myoelectric signal acquisition module 182 , a main control module 184 and a driving module 186 . The EMG signal collection module 182 is electrically connected to the sensor 180 and processes the EMG signal collected by the sensor 170 . For example, the EMG signal is buffered, pre-amplified, low-pass filtered, high-pass filtered, notched, and post-amplified to remove various noises. The main control module 184 is electrically connected to the myoelectric signal acquisition module 182 and used for processing the myoelectric signal processed by the myoelectric signal acquisition module 182 . Specifically, the main control module 184 includes a main control chip (not shown in the figure) and a power supply (not shown in the figure). The processing and data transmission functions then pass the converted drive signal to the drive module 186 in real time. The driving module 186 is electrically connected to the main control module 184 and the driving device 160 , and receives the driving signal processed by the main control module 184 to control the operation of the driving device 160 . Specifically, the driving module 186 mainly receives the driving signal from the main control module 184, realizes the start-stop and steering control of the driving device 160, and can also automatically adjust the speed of the driving device 160 according to the strength of the driving signal.

Further, the control system 180 also includes a feedback module 187 , which is electrically connected to the main control module 184 and the driving device 160 , and feeds back the operating angle and torque of the driving device 160 to the main control module 184 . It can be understood that the torque is mainly obtained through the conversion of the current of the servo drive motor, which can be fed back to the adjustment display module in real time. On the one hand, it can guide the adjustment of the assist threshold, and on the other hand, it can allow users to observe the working conditions of the motor in real time. Specifically, the feedback module 187 includes a limit switch (not shown in the figure) and a displacement sensor (not shown in the figure). The limit switch is installed near the drive shaft 150, mainly to limit the movement of the limbs at a safe angle, and to feed back the limit information to The main control module 184 stops the movement of the driving device 160 . The limit switch is installed near the driving shaft 150, so that the driving device 160 is in the process of rotation, in order to ensure the safety of the amputee, the limit position is fed back to the main control module 184, and then the rotation of the driving device 160 is stopped. The displacement sensor is installed on the rotating shaft of the driving device 160, mainly to detect the rotation angle of the elbow joint, and feed back to the driving device 160 in real time to control the stable operation of the driving device 160. A displacement sensor is installed on the rotating shaft of the driving device 160 to feed back the displacement to the main control module 184 in real time to ensure stable rotation.

Furthermore, the main control module 184 is provided with a booster threshold, and the control system 180 also includes an adjustment display module 188 electrically connected to the main control module 184. The electrical signal is used to adjust the assist threshold of the main control module 184 . Specifically, the adjustment and display module 188 can be set near the elbow joint of the amputee, and mainly displays the power assist threshold initially set by the main control module 184 in real time; the color screen display is preferred; at the same time, the power assist threshold can be adjusted through buttons (not shown in the figure) When the magnitude of the collected and processed EMG signal is converted through a certain process to obtain a force parameter (here, the force parameter is referred to as the EMG signal conversion force), when the EMG signal conversion force is less than the assist threshold, the driving device 160 is in a free state. In the loosened state, the amputee’s arm can move freely. When the conversion force of the collected and processed myoelectric signal is greater than the power assist threshold, the driving device 160 will immediately lock and receive the control of the myoelectric signal to achieve power assistance. The virtual animation is displayed on the color screen in real time, and different modes can be selected for the virtual animation. Since the assistance threshold can be set, the initial assessment of upper arm muscle strength rehabilitation can also be realized.

Further, the prosthesis 100 also includes a connecting ring 220 fixedly sleeved on the big end of the socket 110 , and the end of the first support plate 120 away from the driving shaft 150 is connected to the connecting ring 220 . Further, the connecting ring 220 is an open ring structure, so that the size of the connecting ring 220 can be adjusted according to the peripheral degree of the receiving cavity 110 . The connecting ring 220 is made of metal. Further, there may be one or more connecting rings 220 . Wherein, the connecting ring 220 is detachably fixedly connected with the receiving cavity 110 . When the connecting ring 220 is disassembled from the socket 110, only the function of the traditional prosthesis can be realized.

In order to adjust the length of the forearm according to the actual situation of the amputee, the first support plate 120 is provided with a guide groove 122, and the connecting ring 220 is provided with a sliding protrusion 222, and the sliding protrusion 222 is set in the guide groove 122, and along the guide groove 122 is slidable. Specifically, there are three guide grooves 122, and the three guide grooves 122 are arranged in parallel, and the corresponding number of sliding protrusions 222 is three. It can be understood that the number of guide grooves 122 can be one, two, four or more, and the number of sliding protrusions 222 can be one, two, four or more; and the number of guide grooves 122 and sliding protrusions 222 can be The same may or may not be the same.

Further, the prosthesis 100 also includes a fixing belt 230 fixed on the end of the first support plate 120 away from the socket 110 . The strap 230 is fixed on the upper arm of the amputee. It can be understood that there may be one or more fixing straps 230 . And not only the fixing strap 230 can be fixed on the upper arm, but also the fixing strap 230 can be added to fix on the shoulder, so that the prosthesis 100 is more firm and not easy to fall off.

The functional operation of the prosthesis 100 described above is as follows:

When the prosthetic hand grabs a lighter object, the myoelectric signal generated by the amputee is quite weak, and the conversion force of the myoelectric signal collected by the myoelectric acquisition module 182 is less than the assisting threshold set according to the actual situation of the amputee, which is not enough to trigger the prosthesis 100 The power assist is realized, so the driving shaft 150 of the prosthesis 100 does not work, the intermediate shaft of the driving device 160 is in a loose state, the amputee can move freely, and the socket 110 is closely attached to the stump with less force.

When the prosthetic hand grasps a heavy object, the myoelectric signal generated by the amputee is strong, and the conversion force of the myoelectric signal collected by the myoelectric acquisition module 182 is greater than the power assist threshold, which triggers the driving device 160 to work to achieve power assistance, such as the middle of the servo motor The shaft is locked, and the control system 180 realizes the control of the driving device 160, and the receiving cavity 110 of the amputee is lifted up, so that the stump of the amputee will not be subjected to a large compressive force, but has a relief effect. When the amputee's prosthetic hand lifts the object, the first myoelectric signal plays a major role, and the servo motor rotates in the positive direction, that is, the exoskeleton of the prosthesis is positively assisted; when the amputee's prosthetic hand puts down the object, the second myoelectric signal plays a major role , the servo motor rotates in the opposite direction, that is, the drive shaft 150 of the prosthesis rotates in the reverse direction to provide assistance; when the object is put down, the amputee's muscles are in a relaxed state, the drive shaft 150 of the prosthesis automatically stops working, the servo motor is in a free state, and the restriction is released. The prosthesis can perform the same function as the existing prosthesis and realize freedom of movement. In particular, the lifting and lowering movements of the amputee's prosthetic hand are basically in line with the amputee's own movements, which are in line with the routine habits of the human body. The myoelectric signal generated by self-lowering is used to control the lowering action of the prosthetic hand.

When the power-assisted exoskeleton is not desired, it can also be removed, and only the traditional prosthetic function can be realized.

When the above-mentioned prosthesis 100 is used by a forearm amputee, the large end of the socket 110 is placed on the stump of the forearm 300, the strap 130 is tied to the stump of the forearm 300, and one end of the first support plate 130 is connected to the large end of the socket 110. Fixedly connected, the other end is rotationally connected with the drive shaft 150, and one end of the second support plate 140 is fixedly connected with the strap 130, and the strap 130 is fixed on the upper arm 400 of the amputee, thereby binding the socket 110 to the upper arm 400 of the amputee Together, the prosthesis 100 is effectively prevented from falling off; when lifting heavy objects, since the socket 110 is tied to the upper arm 400 of the amputee, the upper arm can share a part of the load of the socket 110, improving the load-bearing capacity of the above-mentioned prosthesis 100 , therefore, the above-mentioned prosthesis 100 is not easy to fall off and has better load-bearing capacity; in addition, the drive device 160 is electrically connected to the drive shaft 150, and the control system 180 is electrically connected to the drive device 160 and the sensor 170, and the sensor 170 collects The myoelectric signal is converted into a driving signal to control the operation of the driving device 160, which is conducive to the realization of the amputee's sensory control of the prosthetic hand, making the prosthetic hand more flexible and ensuring the stability and comfort of the prosthesis 100 worn on the stump.

Moreover, the above-mentioned prosthesis 100 is performing the traditional function of the prosthesis, and further improves the function of the traditional prosthesis. On the one hand, when the amputee wears the prosthesis 100, the pressure of the socket 110 on the stump is reduced, and the pressure is distributed to the upper arm and shoulder; On the one hand, it broadens the scope of application of the prosthesis 100, improves speed and strength, and increases employment opportunities for amputees. Moreover, the prosthesis 100 is simple in structure, easy to operate, lightweight, easy to wear and easy to carry.

And above-mentioned artificial limb 100 has following advantage:

(1) Simple structure and reliable wearing. The prosthesis 100 incorporates the features of the exoskeleton. The curved plate made of light materials can be tightly attached to the forearm and upper arm of the amputee with a large area, and the prosthesis connecting ring made of high-strength metal is used to fix the prosthesis socket. Connecting the various elements of the prosthesis 100 ensures the firmness of the structure to be worn.

(2) Easy to operate. Wearing operation: use straps to realize the easy and convenient wearing of the upper extremity power-assisted exoskeleton prosthesis, and the guide groove 122 on the second support plate 120 can be easily adjusted to realize the concentricity of the elbow joint and the drive shaft 150; display and adjustment operation: through button operation , to realize the setting of the assist threshold, to display the threshold value through virtual animation, and to choose different animation display modes.

(3) The control is in line with the habitual operation of the human body, which is more humane. When the amputee lifts the hand, the generated myoelectric signal controls the prosthesis 100 to lift the hand; when the amputee lowers the hand, the generated myoelectric signal controls the prosthesis 100 to put down the object. If the strength is less than the threshold setting, the action is directly completed by the socket 110 and the prosthetic hand itself, and there is no power-assisted interference.

(4) Rehabilitation assessment can be realized. The prosthesis 100 can be applied to amputees with weak muscle strength. Adjusting the display module 188 can set the assist threshold. When the muscle strength is small, you can set a smaller assist threshold. The amount of power increase is re-set the assist threshold. Medical staff, amputees themselves or their family members can conduct a preliminary assessment of the degree of muscle strength recovery of amputees.

And the above-mentioned prosthesis 100 is not only used for forearm amputee, but also can be used for upper arm amputee; similarly, the assisting idea can also be extended to lower limb assisting.

The above-mentioned embodiments only express several implementation modes of the present invention, and the description thereof is relatively specific and detailed, but should not be construed as limiting the patent scope of the present invention. It should be pointed out that those skilled in the art can make several modifications and improvements without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent for the present invention should be based on the appended claims.

Claims (14)

1. an artificial limb, is characterized in that, comprising:

Receptive cavity is the leakage head housing of stub end and the equal opening of little head end;

The first gripper shoe, one end is connected with the stub end of described receptive cavity;

Bandage, arranges with described receptive cavity interval, and the stub end of close described receptive cavity;

The second gripper shoe, one end is fixedly connected with described bandage;

Driving shaft, away from one end of described receptive cavity and described the second gripper shoe, the one end away from described bandage is rotationally connected with described the first gripper shoe respectively at two ends;

Driving device, is electrically connected with described driving shaft, for driving described drive shaft turns;

Sensor, for gathering electromyographic signal; And

Control system, is all electrically connected with described driving device and described sensor, and the described electromyographic signal of described sensor acquisition is converted to driving signal, to control described driving device running.

2. artificial limb as claimed in claim 1, is characterized in that, also comprises that fixed cover is located at the connecting ring on the stub end of described receptive cavity, and described the first gripper shoe is connected with described connecting ring away from one end of described driving shaft.

3. artificial limb as claimed in claim 2, is characterized in that, described the first gripper shoe is provided with gathering sill, and described connecting ring is provided with slide protrusion, and described slide protrusion is arranged in described gathering sill, and along described gathering sill slidably.

4. artificial limb as claimed in claim 2, is characterized in that, described connecting ring is open loop structure.

5. artificial limb as claimed in claim 1, is characterized in that, also comprises one end and the fixed bar that one end be fixedly connected with, the other end with described drive shaft turns be connected of described the first gripper shoe away from described receptive cavity.

6. artificial limb as claimed in claim 1, is characterized in that, the shaft-like fixture that also comprise that one end is connected with described drive shaft turns, the other end and described the second gripper shoe is fixedly connected with away from one end of described bandage.

7. artificial limb as claimed in claim 1, is characterized in that, also comprises and is fixed on described the first gripper shoe away from the fixing band of one end of described receptive cavity.

8. artificial limb as claimed in claim 1, is characterized in that, described bandage is two, and described two bandages are individually fixed in the two ends of described the second gripper shoe.

9. artificial limb as claimed in claim 1, is characterized in that, described the first gripper shoe is arc.

10. artificial limb as claimed in claim 1, is characterized in that, described the second gripper shoe is arc.

11. artificial limbs as claimed in claim 1, is characterized in that, described driving device is for driving reducing motor.

12. artificial limbs as claimed in claim 1, is characterized in that, described control system comprises:

Electromyographic signal collection module, is electrically connected with described sensor, and the described electromyographic signal of described sensor acquisition is carried out to preliminary treatment;

Main control module, is electrically connected with described electromyographic signal collection module, for the described electromyographic signal after described electromyographic signal collection resume module is further processed; And

Driver module, is electrically connected with described main control module and described driving device, and receives the signal after described main control module is processed, and described signal is converted to driving signal, to control described driving device running.

13. artificial limbs as claimed in claim 12, it is characterized in that, described control system also comprises feedback module, and described feedback module and described main control module and described driving device are all electrically connected, and the running angle of described driving device and torque are fed back to described main control module.

14. artificial limbs as claimed in claim 12, it is characterized in that, described main control module is provided with power-assisted threshold values, described control system also comprises the adjusting display module being electrically connected with described main control module, and described adjusting display module is for showing electromyographic signal after described main control module is processed and for regulating the power-assisted threshold values of described main control module.

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