A kind of hip joint brace system and control methodTechnical field
The present invention relates to medical instruments field, be specifically related to a kind of hip joint brace system and control method.
Background technology
Hip joint disease is one of motor system disease that mankind's incidence of disease is higher, the caput femoris necrosis causing comprising baby's congenital hip dysplasia, adult's osteoarthritis and a variety of causes is that a kind of human health that has a strong impact on very easily causes one of principal disease of physical disabilities. How the treatment of this sick disease adopts different methods of treatments according to different joint disease reasons, fixes and performs the operation as baby's congenital hip dysplasia adopts suspender belt and gypsum brace more; Adult's osteoarthritis and caput femoris necrosis be the method treatments that adopt boring decompression and prosthetic replacement's operation also more; Various therapeutic modalities above, have limited the activity of hip joint, cause hip joint activity irregularities, will keep long-term bed simultaneously, make troubles to human action; Therefore often in treatment disease, cause the multiple joint complication such as hip joint is stiff, avascular necrosis of femoral head, greatly affected patient's rehabilitation. About 1 year of the existing therapeutic modality duration of this class, so the long time brings misery to patient, brings larger burden also to patient family.
Modern bioscience technology and clinical medicine practice all prove, the tissue reconstruction that the passive activity in joint can provide effective stress stimulation to make joint and surrounding structure, the biological processes of quickening tissue repair. But up to now, in the treatment for this class disease of hip joint, also not relevant apparatus can be used for this result of study to apply.
Summary of the invention
The object of the present invention is to provide a kind of hip joint brace system and control method, this hip joint brace system and control method can solve deficiency of the prior art. This hip joint brace system is fixed on hip joint on the treatment position needing effectively, and syndeton interoperation actuator is set hip joint is done passive interior receipts and/or abduction and/or rotatablely moved, ensure to make the having stable behavior of hip joint reliable, promote tissue reconstruction, accelerate tissue repair, shorten treatment time, avoid the morbidity of the joint complication causing because of long-term sufferer. The control method of this hip joint brace system is by default in control module and adjustment parameter, and more intelligent and regularization while making hip joint passive movement, has improved the present invention's reliability and security in use.
For achieving the above object, the present invention has adopted following technical scheme:
A kind of hip joint brace system, comprise holder, leg-holder, the described holder of connection and described leg-holder actuator, be connected described holder and described leg-holder and limit the syndeton of leg-holder range of movement and the control device for whole system is controlled.
Described syndeton comprises the support one that is connected to described holder lower end and the support two that is connected to one end of described leg-holder, and described support one is flexibly connected with described support two.
The two ends of described actuator are hinged with described holder and described leg-holder respectively; The sidepiece of described holder is provided with bearing one, and the position more than bend of described leg-holder is provided with bearing two; One end of described actuator is hinged with holder by described bearing one, and the other end of described actuator is hinged with leg-holder by described bearing two.
Described leg-holder and described actuator correspond to one-sided setting or bilateral setting, and the actuator of each side can arrange at least one; The shape of described holder and trunk adapts, and the angle of bend of described leg-holder and human body lower limbs size and arthrogryposis angle adapt.
Described control device comprises: for whole system being operated to the control module of control, movable information parameter acquiring and the processing of movable information parameter, described control module comprises computer, time servomechanism and control circuit; Described computer is connected with described time servomechanism is interactive, and the output of described control circuit is connected with the input of described time servomechanism with the input of described computer respectively; Described computer is for whole system is operated and controls, obtains and process movable information parameter, and described time servomechanism is for the predetermined movement time and process predetermined movement time parameter;
Be used for the monitoring modular of the movable information parameter of monitoring described actuator, described monitoring modular is connected with described control module is interactive;
For drive the power drive module of described actuator motion under described control module control, described power drive module, its input is connected with the output of described control module, and its output is connected with the input of described actuator;
Described control module, first drive leg-holder motion according to predetermined movement parameter control power drive module drive actuator, control the movable information parameter of monitoring module monitors actuator simultaneously, secondly the movable information parameter acquiring hip joint arriving according to monitoring module monitors and the movable information of joint of lower extremity, the movable information control action actuator finally obtaining described in basis moves continuously;
Described movable information parameter comprises the pressure parameter of described actuator push-and-pull campaign and the angle parameter that actuator rotatablely moves.
Described monitoring modular comprises: be positioned on actuator and for obtaining pressure sensor and the angular transducer of actuator movable information parameter, described monitoring modular also comprises the alarm for giving the alarm.
Described predetermined movement parameter comprises frequency, angle and time; Described movable information comprises motion frequency, movement angle and the run duration of hip joint and joint of lower extremity.
A control method for hip joint brace system, the method comprises the following steps:
(1) described holder and described leg-holder are separately fixed to trunk portion and lower limb position;
(2) predetermined movement parameter in control module, the motion of control module control power drive module drive actuator; Meanwhile, control module is obtained the movable information parameter of actuator, according to the movable information parameter of obtaining, obtains the movable information of hip joint and joint of lower extremity;
(3) control module is carried out continuous push-and-pull and/or rotatablely moves according to the movable information control power drive module drive actuator obtaining; Time servomechanism according to the default run duration parameter feedback time cycle to control module, the cycle of control module control action actuator motions;
(4) the movable information parameter acquiring hip joint that control module is moved continuously according to the actuator obtaining and the movable information of joint of lower extremity, when the movable information obtaining when control module reaches predetermined movement parameter, or control module is when the hip joint of movable information parameter acquiring that obtains and the movable information of joint of lower extremity are beyond predetermined movement parameter area, control module control power drive module stops drive actions actuator motions, manually human body is returned to nature limbs state.
The concrete steps of described step (2) are: predetermined movement parameter in control module, the motion of control module control power drive module drive actuator, when actuator drives leg-holder motion, support two follow leg-holder taking support two with the connecting portion of support one as turning cylinder motion, after leg-holder motion and then drive hip joint do passive anteflexion and/or interior receipts and/or abduction and/or rotatablely move; Simultaneously, the pressure parameter of push-and-pull campaign of control module control monitoring module monitors actuator and the angle parameter rotatablely moving of actuator, then control module according to monitoring module monitors to the pressure parameter of push-and-pull campaign of actuator and the angle parameter rotatablely moving of actuator obtain the movable information of hip joint and joint of lower extremity;
Described pressure parameter and angle parameter obtain by the pressure sensor in monitoring modular and angular transducer respectively.
The concrete steps of described step (4) are: in the time that monitoring modular feeds back in control module by the pressure parameter of push-and-pull the campaign continuous actuator monitoring and the continuous angle parameter rotatablely moving of actuator, and control module is obtained the movable information of hip joint and joint of lower extremity according to the pressure parameter of push-and-pull campaign of the actuator of feedback and the angle parameter rotatablely moving of actuator, when the movable information obtaining when control module reaches predetermined movement parameter, control module control monitoring modular starts alarm, gives the alarm; Or control module according to the movable information of the pressure parameter of push-and-pull campaign of the actuator of feedback and hip joint that the angle parameter rotatablely moving of actuator obtains and joint of lower extremity at predetermined movement parameter area in addition time, control module control monitoring modular starts alarm, gives the alarm; Meanwhile, control module control power drive module stops drive actions actuator motions, manually human body is returned to nature limbs state;
Described pressure parameter and angle parameter obtain by the pressure sensor in monitoring modular and angular transducer respectively.
From above technical scheme, the present invention drives leg-holder to take exercises by actuator, and then drive hip joint to do passive activity, can produce the tissue reconstruction that effective stress stimulation makes joint and surrounding structure, not only accelerate the biological processes of tissue reconstruction, and the generation of the complication of prophylactic treatment hip joint disease, under waking state and in sleep rest, can obtain the passive movement of effective joint no matter make patient, and then effectively improve result for the treatment of, shortening treatment time; On the other hand, effectively avoided because of the arthrodesis syndromes such as brought anchylosis, muscular atrophy, osteoporosis of being failure to actuate for a long time. The present invention also drives leg-holder motion by control device control action actuator, can not only allow the passive activity of hip joint more regular, also allows the therapeutic process of hip joint disease more convenient effectively; Simultaneously, when leg-holder motion of the present invention, limit the scope of activities of leg-holder by the connection of support one and support two, not only make hip joint can under the drive of actuator and leg-holder, do multiple passive movement, also improved stability and the reliability of hip joint passive activity. The control method of hip joint brace system of the present invention is first by default in control module and adjustment kinematic parameter, then under the driving of power drive module, drive actuator to move continuously, and then the regular motion of drive hip joint, more intelligent and regularization while making hip joint motion, has improved the present invention's reliability and security in use.
Brief description of the drawings
Fig. 1 is structural representation of the present invention;
Fig. 2 is the structured flowchart of control device of the present invention.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention will be further described:
The actuator 30, connection fixing base 10 that a kind of hip joint brace system as Figure 1-Figure 2 comprises holder 10, leg-holder 20, connection fixing base 10 and leg-holder 20 and leg-holder 20 also limit the syndeton of range of movement of leg-holder 20 and the control device 700 for whole system is controlled. Holder 10 adapts with the shape of trunk, and the angle of bend of leg-holder 20 and human body lower limbs size and arthrogryposis angle adapt. Holder 10 is fixed on patient's metastomium, particularly waist, leg-holder 20 is fixed on patient's knee joint position, and need to select suitable profile and joint angles according to patient's lower limb size and treatment, this version is very reasonable, effectively hip joint structure is fixed on the treatment position needing. Leg-holder 20 and actuator 30 correspond to one-sided setting or bilateral setting, and the actuator 30 of each side can arrange at least one; Actuator 30 can adopt electronic controlled pressure, pneumatic control pressure or the controlled pressure structure of surging to do push-and-pull campaign. Patient is the caput femoris necrosis of a side hip joint depauperation or a side, in diseased joints one side correspondence, a leg-holder 20 and at least one actuator 30 are set, actuator 30 can be positioned at front side, outside and the rear side of diseased joints, forms 3 D stereo setting; Patient is the caput femoris necrosis of bilateral hip dysplasia or bilateral, each side of diseased joints respectively correspondence a leg-holder 20 and at least one actuator 30 are set, actuator 30 can be positioned at front side, outside and the rear side of diseased joints, formation 3 D stereo arranges, and so just can require to drive ill joint in safe range, form passive anteflexion and/or interior receipts and/or abduction and/or rotatablely move according to treatment.
Hip joint brace system connection fixing base 10 also comprises the support 1 that is connected to holder 10 lower ends and the support 2 50 that is connected to leg-holder 20 one end with the syndeton of leg-holder 20, and support 1 is flexibly connected with support 2 50; Support 1 is connected by hinge or universal drive shaft with support 2 50, in the time that actuator 30 pushes away or draw the motion of leg-holder 20, support 2 50 is followed leg-holder 20 and is moved for turning cylinder taking the connecting portion 60 of support 2 50 and support 1, thereby the range of movement of restriction leg-holder 20, leg-holder 20 motions are rear and then drive hip joint do passive anteflexion and/or interior receipts and/or abduction and/or rotatablely move.
The two ends of actuator 30 are hinged with holder 10 and leg-holder 20 respectively; The sidepiece of holder 10 is provided with bearing 1, and the position more than bend of leg-holder 20 is provided with bearing 2 21; One end of actuator 30 is hinged by bearing 1 and holder 10, and the other end of actuator 30 is hinged by bearing 2 21 and leg-holder 20. In the time that leg-holder 20 rotatablely moves certain angle, actuator 30 also can correspondingly rotate to an angle, and makes actuator 30 flexibly movable, easy accessibility, and versatility is good, effectively reduces use cost; Can be convenient the present invention carried out to dismounting be used in combination.
The control device 700 of hip joint brace system of the present invention comprises: for whole system being operated to the control module 710 of control, movable information parameter acquiring and the processing of movable information parameter, control module 710 comprises computer 711, time servomechanism 712 and control circuit 713; Computer 711 is connected with time servomechanism 712 is interactive, and the output of control circuit 713 is connected with the input of time servomechanism 712 with the input of computer 711 respectively; Computer 711 is for whole system is operated and controls, obtains and process movable information parameter, and time servomechanism 712 is for the predetermined movement time and process predetermined movement time parameter;
Control device 700 of the present invention also comprises the monitoring modular 720 for monitoring actuator 30 movable information parameters, and monitoring modular 720 is connected with control module 710 is interactive;
Control device 700 of the present invention also comprises the power drive module 730 of moving for drive actions actuator 30 under controlling in control module 710, power drive module 730, its input is connected with the output of control module 710, and its output is connected with the input of actuator 30;
Control module 710, first drive leg-holder 20 to move according to predetermined movement parameter control power drive module 730 drive actions actuators 30, control monitoring modular 720 simultaneously and monitor the movable information parameter of actuator 30, secondly the movable information parameter acquiring hip joint monitoring according to monitoring modular 720 and the movable information of joint of lower extremity, the movable information control action actuator 30 that last basis is obtained moves continuously. Movable information parameter comprises the pressure parameter of described actuator push-and-pull campaign and the angle parameter that actuator rotatablely moves.
Monitoring modular 720 comprises: be positioned on actuator 30 and for obtain actuator 30 push-and-pull campaigns pressure parameter pressure sensor 721 and be positioned on actuator 30 and for obtaining the angular transducer 722 of the angle parameter that actuator 30 rotatablely moves, monitoring modular 720 also comprises the alarm 723 for giving the alarm. Predetermined movement parameter comprises frequency, angle and time; Movable information comprises motion frequency, movement angle and the run duration of hip joint and joint of lower extremity. Pressure parameter and the angle parameter of the push-and-pull campaign of monitoring modular 720 to actuator 30 are monitored, then by movable information parameter feedback to control module 710, the movable information of the movable information parameter acquiring hip joint that control module 710 monitors according to monitoring modular 720 and motion frequency, movement angle and the run duration of joint of lower extremity, continues control action actuator 30 and carries out continuous motion or stop motion.
The control method of a kind of hip joint brace of the present invention system comprises the following steps:
(1) holder 10 and leg-holder 20 are separately fixed to trunk portion and lower limb position;
(2) predetermined movement parameter in control module 710, control module 710 is controlled power drive module 730 drive actions actuators 30 and is moved, when actuator 30 drives leg-holder 20 to move, support 2 50 is followed leg-holder 20 and is moved for turning cylinder taking the connecting portion 60 of support 2 50 and support 1, thereby the range of movement of restriction leg-holder 20, after leg-holder 20 motion and then drive that hip joint is passive to be done anteflexion and/or interior receipts and/or abduction and/or rotatablely move; Simultaneously, control module 710 is controlled monitoring modular 720 and monitors the pressure parameter of push-and-pull campaign and the angle parameter rotatablely moving of actuator 30 of actuator 30, and the pressure parameter of the push-and-pull campaign of the actuator 30 that then control module 710 monitors according to monitoring modular 720 and the angle parameter rotatablely moving of actuator 30 obtain the movable information of hip joint and joint of lower extremity;
Pressure parameter and angle parameter obtain by the pressure sensor 721 in monitoring modular 720 and angular transducer 722 respectively;
Computer 711 in control module 710 gathers after predetermined movement information parameter, first predetermined movement information parameter is carried out to conversion processing, then controls power drive module 730 drive actions actuators 30 and moves; Finally, the computer 711 in control module 710 obtains movable information parameter, goes out the movable information of hip joint and joint of lower extremity according to the movable information calculation of parameter of obtaining;
(3) control module 710 is carried out continuous push-and-pull and/or rotatablely moves according to the movable information control power drive module 730 drive actions actuators 30 that obtain; Time servomechanism 712 according to the default run duration parameter feedback time cycle to control module 710, the cycle that control module 710 control action actuators 30 move;
Wherein, the computer 711 in control module 710 carries out movable information after conversion processing, controls power drive module 730 drive actions actuators 30 and carries out continuous motion; Meanwhile, time servomechanism 712 is according to the default run duration parameter feedback time cycle to computer 711, and computer 711 is controlled the drive cycle of power drive module 730;
(4) in the time that monitoring modular 720 feeds back in control module 710 by the pressure parameter of push-and-pull the campaign continuous actuator monitoring 30 and the continuous angle parameter rotatablely moving of actuator 30, and control module 710 is obtained the movable information of hip joint and joint of lower extremity according to the pressure parameter of push-and-pull campaign of the actuator 30 of feedback and the angle parameter rotatablely moving of actuator 30, when the movable information obtaining when control module reaches predetermined movement parameter, control module 710 is controlled monitoring modular 720 and is started alarm 723, gives the alarm; Or control module 710 according to the movable information of the pressure parameter of push-and-pull campaign of the actuator of feedback and hip joint that the angle parameter rotatablely moving of actuator obtains and joint of lower extremity at predetermined movement parameter area in addition time, control module 710 is controlled monitoring modular 720 and is started alarm 723, gives the alarm;
Wherein, the movable information calculation of parameter that computer 711 in control module 710 feeds back according to monitoring modular 720 goes out the movable information of hip joint and joint of lower extremity, when movable information reach in computer 711 and time servomechanism 712 in when default kinematic parameter, computer 711 is controlled monitoring modular 720 and is started alarm 723, gives the alarm; Or the movable information that the movable information calculation of parameter fed back according to monitoring modular 720 of computer 711 in control module 710 goes out hip joint and joint of lower extremity is in computer 711 and in time servomechanism 712 beyond default kinetic parameter range time, computer 711 is controlled monitoring modular 720 and is started alarm 723, gives the alarm;
Meanwhile, control module 710 is controlled power drive module 730 and is stopped drive actions actuator 30 and move, and manually human body is returned to nature limbs state.
Pressure parameter and angle parameter obtain by the pressure sensor 721 in monitoring modular 720 and angular transducer 722 respectively;
As shown in Figure 1, holder 10 and leg-holder 20 are separately fixed to trunk portion and lower limb position so that patient's bilateral hip joint is ill as example; Hip joint as one-sided in patient is ill selects an ill side to assemble leg-holder 20 and actuator 30; Require and treatment environment predetermined movement frequency, angle and time in control module 710 according to patient's treatment, start the power supply of control circuit 713, control module 710 is controlled power drive module 730 drive actions actuators 30, when actuator 30 pulls leg-holder 20 to move from position A to position B, support 2 50 follow leg-holder 20 taking support 2 50 with the connecting portion 60 of support 1 for turning cylinder motion, thereby limit the range of movement of leg-holder 20; Actuator 30 is followed leg-holder 20 simultaneously and is rotated certain angle, leg-holder 20 and support 2 50 are with respect to initial position rotational angle θ, after leg-holder 20 motion and then drive hip joint to complete passively to do anteflexion and/or interior receipts and/or abduction and/or rotatablely move, in motion process, connecting portion 60 is positioned at hip joint front side or rear side or outside; Simultaneously, control module 710 is controlled monitoring modular 720 and is monitored the pressure parameter of actuator 30 push-and-pull campaigns and the angle parameter that actuator 30 rotatablely moves, and the pressure parameter of the push-and-pull campaign of the actuator 30 that then control module 710 monitors according to monitoring modular 720 and the angle parameter rotatablely moving of actuator 30 obtain motion frequency, movement angle and the run duration of hip joint and joint of lower extremity; Control module 710 is taken exercises according to the hip joint obtaining and motion frequency, movement angle and the run duration control power drive module 730 drive actions actuators 30 of joint of lower extremity, actuator 30 carries out continuous push-and-pull and/or rotatablely moves, and drives leg-holder 20 to move and then drive hip joint do next step passive anteflexion and/or interior receipts and/or abduction and/or rotatablely move; Time servomechanism 712 according to the default time parameter feedback time cycle to control module 710, in the cycle that control module 710 control action actuators 30 move, bilateral actuator 30 is regular under the control of control module 710, moving of moving in circles.
In the time that monitoring modular 720 feeds back to control module 710 by the pressure parameter of push-and-pull the campaign continuous actuator monitoring 30 with the angle parameter rotatablely moving, and control module 710 is obtained motion frequency, movement angle and the run duration of hip joint and joint of lower extremity according to feedback parameter, in the time that the motion frequency obtaining, movement angle and run duration reach default frequency, angle and time, control module 710 is controlled monitoring modular 720 and is started alarm 723, gives the alarm; Or motion frequency, movement angle and the run duration of the hip joint that obtains of control module 710 and joint of lower extremity be beyond default frequency, angle and time range time, control module 710 is controlled monitoring modular 720 and is started alarm 723, gives the alarm. Meanwhile, control module 710 is controlled power drive module 730 and is stopped drive actions actuator 30 and move, and manually human body is returned to nature limbs state, in order to avoid the unexpected injury that system may cause patient.
Above-described embodiment is described the preferred embodiment of the present invention; not scope of the present invention is limited; design under the prerequisite of spirit not departing from the present invention; various distortion and improvement that those of ordinary skill in the art make technical scheme of the present invention, all should fall in the definite protection domain of the claims in the present invention book.