CN114869548A - Bionic passive multi-degree-of-freedom ankle joint prosthesis - Google Patents
Bionic passive multi-degree-of-freedom ankle joint prosthesis Download PDFInfo
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- CN114869548A CN114869548A CN202210445588.6A CN202210445588A CN114869548A CN 114869548 A CN114869548 A CN 114869548A CN 202210445588 A CN202210445588 A CN 202210445588A CN 114869548 A CN114869548 A CN 114869548A
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- 210000000544 articulatio talocruralis Anatomy 0.000 title claims abstract description 51
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 13
- 210000003423 ankle Anatomy 0.000 claims abstract description 74
- 241000309551 Arthraxon hispidus Species 0.000 claims abstract description 53
- 210000002683 foot Anatomy 0.000 claims abstract description 39
- 230000007935 neutral effect Effects 0.000 claims abstract description 12
- 238000006073 displacement reaction Methods 0.000 claims description 4
- 230000003592 biomimetic effect Effects 0.000 claims 9
- 238000005538 encapsulation Methods 0.000 claims 4
- 230000033001 locomotion Effects 0.000 abstract description 43
- 230000000694 effects Effects 0.000 abstract description 16
- 150000001875 compounds Chemical class 0.000 abstract description 10
- 210000003000 inclusion body Anatomy 0.000 abstract description 6
- 210000003414 extremity Anatomy 0.000 description 9
- 230000009471 action Effects 0.000 description 3
- 210000003108 foot joint Anatomy 0.000 description 3
- 230000005021 gait Effects 0.000 description 3
- 239000002131 composite material Substances 0.000 description 2
- 210000001503 joint Anatomy 0.000 description 2
- ZMNSRFNUONFLSP-UHFFFAOYSA-N mephenoxalone Chemical compound COC1=CC=CC=C1OCC1OC(=O)NC1 ZMNSRFNUONFLSP-UHFFFAOYSA-N 0.000 description 2
- 229960001030 mephenoxalone Drugs 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 241001653121 Glenoides Species 0.000 description 1
- 238000002266 amputation Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/02—Prostheses implantable into the body
- A61F2/30—Joints
- A61F2/42—Joints for wrists or ankles; for hands, e.g. fingers; for feet, e.g. toes
- A61F2/4202—Joints for wrists or ankles; for hands, e.g. fingers; for feet, e.g. toes for ankles
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- Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Cardiology (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Transplantation (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Vascular Medicine (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Prostheses (AREA)
Abstract
The invention discloses a bionic passive multi-degree-of-freedom ankle joint prosthesis, which comprises: an upper ankle movable seat, a lower ankle movable seat, an elastic inclusion foot plate connecting seat and a foot plate assembly; the top of the movable seat on the ankle part is provided with a foot top connecting component, and the bottom of the movable seat on the ankle part is provided with an inner side joint socket, an outer side joint socket and an intercondylar eminence; the top of the ankle part lower movable seat is provided with an inner side joint head, an outer side joint head and an intercondylar notch; the elastic body is used for driving the two to relatively reset and keep a neutral position state. Compared with the prior art, the bionic passive multi-degree-of-freedom ankle joint prosthesis has the advantages that the double joint heads and the double joint sockets are adopted to do rotary motion in the mode of arc-shaped surface matching, multi-dimensional compound motion in three surface directions between the upper movable seat of the ankle part and the lower movable seat of the ankle part is realized, the motion flexibility is good, and the outer sides of the upper movable seat of the ankle part and the lower movable seat of the ankle part are provided with the elastic inclusion bodies, so that the upper movable seat of the ankle part and the lower movable seat of the ankle part can realize automatic reset when external force is eliminated, the motion characteristics of the ankle joint of a human body are well simulated, and the use effect is good.
Description
Technical Field
The invention belongs to the technical field of human body artificial limbs, and particularly relates to a bionic passive multi-degree-of-freedom ankle joint artificial limb.
Background
The feet of a person can perform more complex movements and adapt to different complex roads, mainly because a plurality of foot joints are mutually hinged and matched, thereby supporting the daily activities of the human body. Among them, the role of the ankle joint is particularly important, and as the main joint of the human foot, the motion of the ankle joint is mainly a compound motion in three planes (sagittal plane, horizontal plane and coronal plane). Researchers find that the orientation of the joint axis changes in real time during the movement process through measurement, and the process comprises the change of angle and displacement parameters, so that the compound movement of the ankle joint particularly comprises two modes of rotation and translation. For example, during the natural gait of a normal human body, when the heel touches the ground in the initial stage of gait, the ankle of the human body entirely rotates outwards and the ankle slightly tilts outwards, i.e., the ankle performs a multidimensional compound movement of plantarflexion and outward rotation at the same time, and when the toe-off is away in the final stage of gait, the ankle of the human body entirely rotates backwards and the ankle slightly tilts outwards, i.e., the multidimensional compound movement of dorsiflexion and inward rotation is performed. The existing multi-degree-of-freedom ankle joint prosthesis combines a plurality of joint bearings to perform one-way motion on three planes, namely a sagittal plane, a horizontal plane and a coronal plane one by one, so as to assist an amputee in performing daily walking by multi-directional motion, for example, the ankle joint prosthesis disclosed in patent No. CN 2021111070173. However, the existing multi-freedom ankle joint degree artificial limb has poor use effect because a plurality of unidirectional motions are combined into multi-dimensional compound motion and has poor flexibility, and cannot provide multi-dimensional compound motion which is more in line with the flexibility and the flexibility characteristics of human joints for amputees.
Disclosure of Invention
The invention aims to overcome the defect that the existing ankle joint vacation limb does not have a multidimensional composite motion effect which accords with the characteristics of human joints, and provides a multi-freedom ankle joint artificial limb which adopts double joint heads and double joint sockets to perform rotary motion by matching arc surfaces so as to realize the multidimensional composite motion of an ankle joint.
In order to achieve the purpose, the invention adopts the following technical scheme:
bionic passive multi-degree-of-freedom ankle joint prosthesis, comprising:
the ankle upper movable seat is provided with a foot top connecting component at the top, an inner side joint socket positioned on the inner side, an outer side joint socket positioned on the outer side and an intercondylar eminence positioned between the inner side joint socket and the outer side joint socket at the bottom.
The top of the ankle part lower movable seat is provided with an inner side joint head positioned on the inner side, an outer side joint head positioned on the outer side and an intercondylar notch positioned between the inner side joint head and the outer side joint head, the inner side joint head is movably matched with the inner side joint notch, the outer side joint head is movably matched with the outer side joint notch, and the intercondylar notch is movably matched with the intercondylar notch.
And the elastic inclusion is wrapped on the outer sides of the upper ankle movable seat and the lower ankle movable seat and is used for driving the upper ankle movable seat and the lower ankle movable seat to relatively reset and keep a neutral position state when the upper ankle movable seat and the lower ankle movable seat generate relative displacement.
The foot plate connecting seat is provided with an assembly cavity with a top opening matched with the shape of the elastic inclusion, the elastic inclusion is arranged in the assembly cavity, and the foot top connecting component extends out of the upper side of the assembly cavity.
The foot plate assembly is arranged at the bottom of the foot plate connecting seat.
Compared with the prior art, the bionic passive multi-degree-of-freedom ankle joint prosthesis has the advantages that the double joint heads and the double joint sockets are adopted to do rotary motion in the mode of arc-shaped surface matching, multi-dimensional compound motion in three surface directions between the upper movable seat of the ankle part and the lower movable seat of the ankle part is realized, the motion flexibility is good, the outer sides of the upper movable seat of the ankle part and the lower movable seat of the ankle part are provided with the elastic inclusion bodies, the upper movable seat of the ankle part and the lower movable seat of the ankle part can realize automatic reset when external force is eliminated, the motion characteristics of flexibility and flexibility of the ankle joint of a human body are well simulated, and the use effect is good.
Further, the socket surface of the inner socket is respectively provided with a first joint surface, a second joint surface and a third joint surface from front to back along the sagittal plane direction, and the socket surface curvature of the first joint surface is smaller than that of the third joint surface; because the swing amplitude of the human foot joint in dorsiflexion is larger than that in plantarflexion, the position of the first joint surface at the tail end of the cambered surface is higher than that of the third joint surface at the tail end of the cambered surface, the dorsiflexion and plantarflexion swing amplitudes of the upper ankle movable seat relative to the lower ankle movable seat are better realized, and the artificial limb simulation effect is good.
Further, the socket curvature of the third articular surface is greater than the socket curvature of the second articular surface, which is equal to the socket curvature of the lateral articular socket; through the arrangement, the ankle upper movable seat and the ankle lower movable seat have better stability when keeping the neutral position.
Further, the first joint surface, the second joint surface and the third joint surface are connected with each other by a smooth curved surface; by arranging the smooth curved surface as the critical position, a user can conveniently know the action of switching the ankle joint prosthesis in the neutral position to dorsiflex or plantarflex through the critical position instead of instantly switching the ankle joint prosthesis in the neutral position to dorsiflex or plantarflex, so that the motion characteristic of the ankle joint of the human body is better simulated, and the use effect is good.
Further, the curvature of the cambered surface of the lateral joint head along the sagittal plane direction is smaller than that of the cambered surface of the lateral joint head along the coronal plane direction, and the width of the cambered surface of the lateral joint head along the sagittal plane direction is larger than that of the cambered surface of the lateral joint head along the coronal plane direction; the cambered surface curvature of the medial joint head along the sagittal plane direction is smaller than that of the medial joint head along the coronal plane direction, and the cambered surface width of the medial joint head along the sagittal plane direction is larger than that of the medial joint head along the coronal plane direction; through the arrangement, the range of the motion angle of the ankle joint prosthesis along the sagittal plane direction is larger than the range of the motion angle along the coronal plane direction, so that the motion characteristic of the ankle joint of a human body is better simulated, and the use effect is good.
Further, the curvature of the fossa plane of the lateral socket in the sagittal and coronal directions is the same as the curvature of the arc of the lateral head in the sagittal and coronal directions; through the arrangement, the lateral joint head and the lateral joint socket have a mutual limiting function, so that when the ankle joint prosthesis performs dorsiflexion or plantarflexion, the ankle lower movable seat performs inward rotation and outward rotation of the foot plate assembly by taking the lateral joint head as a rotation center.
Further, the width of the cambered surface of the medial joint head along the sagittal plane and the coronal plane is greater than the width of the medial glenoid fossa along the sagittal plane and the coronal plane; the width of the cambered surface of the lateral joint head along the sagittal plane and the coronal plane is larger than the width of the fossa surface of the lateral joint fossa along the sagittal plane and the coronal plane; through the arrangement, when the ankle joint prosthesis is dorsiflexed or plantarflexed, the two joint heads and the corresponding joint sockets always have larger joint areas, and the ankle joint prosthesis has good movement stability.
Furthermore, the elastic inclusion body is provided with a wrapping cavity with an opening at the top, the inner diameter of the opening at the top of the wrapping cavity is smaller than the outer diameter of the movable seat on the ankle, and the foot top connecting member extends out of the outer side through the opening at the top of the wrapping cavity; through the arrangement, the foot top connecting component is correspondingly arranged at the opening part at the top of the wrapping cavity, and the relative elastic resetting effect of the wrapping cavity on the ankle and the movable seat under the ankle is good.
Further, the width of the intercondylar notch is slightly greater than the width of the intercondylar notch; through the arrangement, the intercondylar eminence has larger movement space along the horizontal plane direction, so that the relative rotation effect of the upper ankle movable seat and the lower ankle movable seat in the horizontal direction is better.
Further, the footboard assembly includes a footboard front member and a footboard rear member.
Drawings
FIG. 1 is a schematic view of a bionic passive multiple-degree-of-freedom ankle joint prosthesis
FIG. 2 is an exploded view of a bionic passive multiple-degree-of-freedom ankle joint prosthesis
FIG. 3 is a schematic view of an upper ankle swing and a lower ankle swing
FIG. 4 is a schematic view of the ankle mobile seat
FIG. 5 is a schematic view of a movable seat on the ankle
The attached figure of the ankle joint artificial limb is a right ankle joint artificial limb of a human body
Detailed Description
The technical scheme of the invention is described in the following with the accompanying drawings:
a plane formed by an X axis and a Z axis of a shaft coordinate in a drawing is a sagittal plane, a plane formed by the X axis and the Y axis is a horizontal plane, and a plane formed by the X axis and the Y axis is a coronal plane.
The invention discloses a bionic passive multi-degree-of-freedom ankle joint prosthesis, which comprises:
referring to fig. 1 to 5, the ankle mobile base 1 is provided with a plantar arch connecting element 5 at the top, a medial socket 11 at the medial side, a lateral socket 12 at the lateral side, and an intercondylar eminence 13 between the medial socket 11 and the lateral socket 12 at the bottom, the plantar arch connecting element 5 being intended to connect to an amputation of a user.
The top of the sub-ankle movable seat 2 is provided with an inner side joint head 21 positioned on the inner side, an outer side joint head 22 positioned on the outer side and an intercondylar notch 23 positioned between the inner side joint head 21 and the outer side joint head 22, the inner side joint head 21 is movably matched with the inner side joint notch 11, the outer side joint head 22 is movably matched with the outer side joint notch 12, and the intercondylar spine 13 is movably matched with the intercondylar notch 23.
And the elastic inclusion 3 is wrapped on the outer sides of the upper ankle movable seat 1 and the lower ankle movable seat 2 and used for driving the upper ankle movable seat 1 and the lower ankle movable seat 2 to relatively reset and keep a neutral position state when the two are subjected to relative displacement. In the rest neutral position, under the action of the elastic inclusion 3, the medial articular head 21 forms an articulated fit with the medial articular socket 11, the lateral articular head 22 forms an articulated fit with the lateral articular socket 12, and the intercondylar notch 13 and the intercondylar notch 23 are mutually meshed and limited, so that the neutral position of the joint is simulated while the self-weight of the prosthesis wearer is supported.
The foot plate connecting seat 4 is provided with an assembly cavity 41 with the top opening matched with the shape of the elastic inclusion body 3, the elastic inclusion body 3 is arranged in the assembly cavity 41, and the foot top connecting component 5 extends out of the upper side of the assembly cavity 41.
And the foot plate assembly 6 is arranged at the bottom of the foot plate connecting seat 4.
Compared with the prior art, the bionic passive multi-degree-of-freedom ankle joint prosthesis has the advantages that the double joint heads and the double joint sockets are adopted to do rotary motion in the mode of arc-shaped surface matching, multi-dimensional compound motion in three surface directions between the upper ankle movable seat 1 and the lower ankle movable seat 2 is achieved, the motion flexibility is good, the outer sides of the upper ankle movable seat 1 and the lower ankle movable seat 2 can realize automatic reset when external force is eliminated through the elastic inclusion body 3, the motion characteristics of flexibility and flexibility of the ankle joint of a human body are well simulated, and the use effect is good.
Referring to fig. 2 and 5, in one embodiment, the socket surface of the medial socket 11 is provided with a first joint surface 111, a second joint surface 112 and a third joint surface 113 from front to back along the sagittal plane direction, the socket surface curvature of the first joint surface 111 is smaller than that of the third joint surface 113, and preferably, the width of the first joint surface 111 along the sagittal plane direction is greater than or equal to that of the third joint surface 113; because the swing amplitude of the human foot joint in dorsiflexion is larger than that in plantarflexion, the position of the first joint surface 111 at the tail end of the cambered surface is higher than that of the third joint surface 113 at the tail end of the cambered surface, so that the dorsiflexion and plantarflexion swing amplitudes of the upper ankle movable seat 1 relative to the lower ankle movable seat 2 are better realized, and the artificial limb simulation effect is good.
Referring to fig. 5, in one embodiment, the socket curvature of the third articular surface 113 is greater than the socket curvature of the second articular surface 112, and the socket curvature of the second articular surface 112 is equal to the socket curvature of the lateral socket 12; by means of the arrangement, the ankle upper movable seat 1 and the ankle lower movable seat 2 have better stability when keeping the neutral position.
Referring to fig. 5, in one embodiment, the first articular surface 111, the second articular surface 112 and the third articular surface 113 are connected by a smooth curved surface 114; by arranging the smooth curved surface 114 as a critical position, a user can conveniently know the action of switching the ankle joint prosthesis from the neutral position to dorsiflexion or plantarflexion through the critical position instead of instantly switching the ankle joint prosthesis from the neutral position to dorsiflexion or plantarflexion, so that the motion characteristics of the ankle joint of the human body can be better simulated, and the use effect is good.
During movement, the foot generally walks in a splayed shape, and the bionic passive multi-degree-of-freedom ankle joint prosthesis can perform pronation and supination movement along different joint surfaces of the socket surface of the inner joint socket 11. Specifically, the relative motion of the ankle upper movable seat 1 and the ankle lower movable seat 2 during pronation can make the medial joint head 21 slide from the second joint surface 112 to the first joint surface 111, and because of the difference in height potential between the first joint surface 111 and the second joint surface 112, a compound state of inversion, plantarflexion and pronation can be generated, thereby realizing the pronation motion of the prosthesis. Similarly, when performing supination, the prosthesis slides along the second articular surface 112 toward the third articular surface 113 to achieve eversion, dorsiflexion, and supination. It should be noted that, since the heights of the surfaces are different, after the smooth curved surface 114 is used to connect the first joint surface 111, the second joint surface 112 and the third joint surface 113, the extreme point is not reached immediately when the medial joint head 21 performs the on-plane motion, but the extreme point is reached gradually as the height of the surface changes, which is consistent with the trend of the human body.
Referring to fig. 2-4, in one embodiment, the curvature of the arc of the lateral articular head 22 in the sagittal direction is less than the curvature of the arc thereof in the coronal direction, and the width of the arc of the lateral articular head 22 in the sagittal direction is greater than the width of the arc thereof in the coronal direction; the curvature of the cambered surface of the medial joint head 21 along the sagittal plane direction is smaller than that of the cambered surface of the medial joint head 21 along the coronal plane direction, and the width of the cambered surface of the medial joint head 21 along the sagittal plane direction is larger than that of the cambered surface of the medial joint head along the coronal plane direction; through the arrangement, the range of the motion angle of the ankle joint prosthesis along the sagittal plane direction is larger than the range of the motion angle along the coronal plane direction, so that the motion characteristic of the ankle joint of a human body is better simulated, and the use effect is good.
Referring to fig. 3-5, in one embodiment, the curvature of the socket plane of the lateral socket 12 in the sagittal and coronal directions is the same as the curvature of the arc of the lateral head 22 in the sagittal and coronal directions; by such arrangement, the lateral joint head 22 and the lateral joint socket 12 are mutually limited, so that the ankle joint prosthesis can conveniently carry out the inward rotation and outward rotation of the foot plate assembly 6 by taking the lateral joint head 22 as a rotation center when carrying out the dorsiflexion or plantar flexion.
Referring to fig. 3-5, in one embodiment, the width of the medial articular head 21 in the sagittal and coronal directions is greater than the width of the medial articular socket 11 in the sagittal and coronal directions; the width of the arc of the lateral articular head 22 in the sagittal and coronal directions is greater than the width of the socket of the lateral articular socket 12 in the sagittal and coronal directions; through the arrangement, when the ankle joint prosthesis is dorsiflexed or plantarflexed, the two joint heads and the corresponding joint sockets always have larger joint areas, and the ankle joint prosthesis has good movement stability.
Referring to fig. 1 and 2, in one embodiment, the elastic enclosure 3 is provided with a top opening enclosure 31, the elastic enclosure 3 is preferably made of rubber material, the top opening inner diameter of the enclosure 31 is smaller than the outer diameter of the movable seat 1 on the ankle, and the foot top connecting member 5 extends out of the top opening of the enclosure 31; through the arrangement, the foot top connecting component 5 is correspondingly arranged at the opening at the top of the wrapping cavity 31, and the relative elastic resetting effect of the wrapping cavity 31 on the ankle upper movable seat 1 and the ankle lower movable seat 2 is good.
Referring to fig. 3, in one embodiment, the width of the intercondylar notch 23 is slightly greater than the width of the intercondylar notch 13; by means of the arrangement, the intercondylar eminence 13 has a larger moving space along the horizontal plane direction, so that the relative rotation effect of the upper ankle movable seat 1 and the lower ankle movable seat 2 in the horizontal direction is better.
Referring to fig. 1 and 2, in one embodiment, the foot plate assembly 6 includes a front foot plate 61 having a two-toe shape on a front side, and a rear foot plate 62 having a C-shape, the front foot plate 61 is arranged to be inclined downward from the rear to the front, a rear end of the front foot plate 61 is connected to a top of the rear foot plate 62, two sides of the front foot plate 61 are respectively provided with a first connection hole 63, two sides of the rear foot plate 62 are respectively provided with a second connection hole 64, two sides of the foot plate connection base 4 are respectively provided with a third connection hole 42, and the first connection hole 63, the second connection hole 64 and the third connection hole 42 are fixedly connected by screws.
Variations and modifications to the above-described embodiments may occur to those skilled in the art, which fall within the scope and spirit of the above description. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and some modifications and variations of the present invention should fall within the scope of the claims of the present invention. Furthermore, although specific terms are employed herein, they are used in a generic and descriptive sense only and not for purposes of limitation.
Claims (10)
1. Bionic passive multi-degree-of-freedom ankle joint prosthesis is characterized by comprising:
the ankle part upper movable seat is provided with a foot top connecting component at the top part, an inner side joint socket positioned on the inner side, an outer side joint socket positioned on the outer side and an intercondylar eminence positioned between the inner side joint socket and the outer side joint socket at the bottom part;
the top of the ankle part lower movable seat is provided with an inner side joint head positioned on the inner side, an outer side joint head positioned on the outer side and an intercondylar notch positioned between the inner side joint head and the outer side joint head, the inner side joint head is movably matched with the inner side joint notch, the outer side joint head is movably matched with the outer side joint notch, and the intercondylar notch is movably matched with the intercondylar notch;
the elastic inclusion is wrapped on the outer sides of the ankle upper movable seat and the ankle lower movable seat and used for driving the ankle upper movable seat and the ankle lower movable seat to relatively reset and keep a neutral position state when the ankle upper movable seat and the ankle lower movable seat generate relative displacement;
the foot plate connecting seat is provided with an assembly cavity with the top opening matched with the shape of the elastic inclusion, the elastic inclusion is arranged in the assembly cavity, and the foot top connecting component extends out of the upper side of the assembly cavity;
the foot plate assembly is arranged at the bottom of the foot plate connecting seat.
2. The biomimetic passive multiple degree of freedom ankle joint prosthesis of claim 1, wherein the socket surface of the medial socket is provided with a first joint surface, a second joint surface and a third joint surface from front to back along the sagittal plane direction, and the socket surface curvature of the first joint surface is smaller than the socket surface curvature of the third joint surface.
3. The biomimetic passive multiple degree of freedom ankle joint prosthesis of claim 2, wherein the curvature of the socket surface of the third articular surface is greater than the curvature of the socket surface of the second articular surface, the curvature of the socket surface of the second articular surface being equal to the curvature of the socket surface of the lateral socket.
4. The biomimetic passive multiple degree of freedom ankle joint prosthesis of claim 2, wherein the first, second and third articular surfaces are transitionally connected by a smooth curved surface.
5. The biomimetic passive multiple degree of freedom ankle joint prosthesis according to any one of claims 1 to 4, wherein the curvature of the arc of the lateral joint head in the sagittal plane direction is smaller than the curvature of the arc thereof in the coronal plane direction, and the width of the arc of the lateral joint head in the sagittal plane direction is larger than the width of the arc thereof in the coronal plane direction.
The cambered surface curvature of the medial joint head along the sagittal plane direction is smaller than that of the medial joint head along the coronal plane direction, and the width of the cambered surface of the medial joint head along the sagittal plane direction is larger than that of the cambered surface of the medial joint head along the coronal plane direction.
6. The biomimetic passive multiple degree of freedom ankle joint prosthesis of claim 5, wherein the curvature of the socket plane of the lateral socket along the sagittal and coronal directions is the same as the curvature of the arc of the lateral head along the sagittal and coronal directions.
7. The biomimetic passive multiple degree of freedom ankle joint prosthesis of claim 1, wherein the medial joint head has a greater sagittal and coronal aspect width for the arc than the medial socket;
the width of the cambered surface of the lateral articular head along the sagittal plane and the coronal plane is greater than the width of the fossa surface of the lateral articular fossa along the sagittal plane and the coronal plane.
8. The biomimetic passive multiple degree of freedom ankle joint prosthesis of claim 1, wherein the elastic encapsulation body is provided with an open-topped encapsulation cavity, an inner diameter of the open-topped encapsulation cavity is smaller than an outer diameter of the movable seat on the ankle, and the foot top connecting member extends out of the outer side through the open-topped encapsulation cavity.
9. The biomimetic passive multiple degree of freedom ankle prosthesis of claim 1, wherein a width of the intercondylar notch is slightly larger than a width of the intercondylar eminence.
10. The biomimetic passive multiple degree of freedom ankle joint prosthesis of claim 1, wherein the foot plate assembly comprises a foot plate anterior member and a foot plate posterior member.
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| CN202210445588.6A CN114869548B (en) | 2022-04-26 | 2022-04-26 | Bionic passive multi-freedom-degree ankle joint artificial limb |
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| CN202210445588.6A CN114869548B (en) | 2022-04-26 | 2022-04-26 | Bionic passive multi-freedom-degree ankle joint artificial limb |
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| CN114869548B CN114869548B (en) | 2024-05-31 |
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