WO2004019831A2 - Artificial joint - Google Patents

Artificial joint Download PDF

Info

Publication number
WO2004019831A2
WO2004019831A2 PCT/DE2003/002719 DE0302719W WO2004019831A2 WO 2004019831 A2 WO2004019831 A2 WO 2004019831A2 DE 0302719 W DE0302719 W DE 0302719W WO 2004019831 A2 WO2004019831 A2 WO 2004019831A2
Authority
WO
WIPO (PCT)
Prior art keywords
joint
artificial joint
artificial
links
gap
Prior art date
Application number
PCT/DE2003/002719
Other languages
German (de)
French (fr)
Other versions
WO2004019831A3 (en
Inventor
Marc Franke
Original Assignee
Marc Franke
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Marc Franke filed Critical Marc Franke
Priority to AU2003266119A priority Critical patent/AU2003266119A1/en
Publication of WO2004019831A2 publication Critical patent/WO2004019831A2/en
Publication of WO2004019831A3 publication Critical patent/WO2004019831A3/en

Links

Classifications

    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61FFILTERS 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
    • A61F2/00Filters 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
    • A61F2/50Prostheses not implantable in the body
    • A61F2/54Artificial arms or hands or parts thereof
    • A61F2/58Elbows; Wrists ; Other joints; Hands
    • A61F2/583Hands; Wrist joints
    • A61F2/585Wrist joints
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61FFILTERS 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
    • A61F2/00Filters 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
    • A61F2/50Prostheses not implantable in the body
    • A61F2/54Artificial arms or hands or parts thereof
    • A61F2/58Elbows; Wrists ; Other joints; Hands
    • A61F2/583Hands; Wrist joints
    • A61F2/586Fingers
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61FFILTERS 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
    • A61F2/00Filters 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
    • A61F2/50Prostheses not implantable in the body
    • A61F2/68Operating or control means
    • A61F2/74Operating or control means fluid, i.e. hydraulic or pneumatic
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61FFILTERS 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
    • A61F2/00Filters 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
    • A61F2/50Prostheses not implantable in the body
    • A61F2/5044Designing or manufacturing processes
    • A61F2/5046Designing or manufacturing processes for designing or making customized prostheses, e.g. using templates, finite-element analysis or CAD-CAM techniques
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61FFILTERS 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
    • A61F2/00Filters 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
    • A61F2/50Prostheses not implantable in the body
    • A61F2/54Artificial arms or hands or parts thereof
    • A61F2/58Elbows; Wrists ; Other joints; Hands
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61FFILTERS 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
    • A61F2/00Filters 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
    • A61F2/50Prostheses not implantable in the body
    • A61F2/54Artificial arms or hands or parts thereof
    • A61F2/58Elbows; Wrists ; Other joints; Hands
    • A61F2/581Shoulder joints
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61FFILTERS 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
    • A61F2/00Filters 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
    • A61F2/50Prostheses not implantable in the body
    • A61F2/60Artificial legs or feet or parts thereof
    • A61F2/605Hip joints
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61FFILTERS 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
    • A61F2/00Filters 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
    • A61F2/50Prostheses not implantable in the body
    • A61F2/60Artificial legs or feet or parts thereof
    • A61F2/64Knee joints
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61FFILTERS 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
    • A61F2/00Filters 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
    • A61F2/50Prostheses not implantable in the body
    • A61F2/68Operating or control means
    • A61F2/70Operating or control means electrical
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61FFILTERS 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
    • A61F2/00Filters 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
    • A61F2/0077Special surfaces of prostheses, e.g. for improving ingrowth
    • A61F2002/0086Special surfaces of prostheses, e.g. for improving ingrowth for preferentially controlling or promoting the growth of specific types of cells or tissues
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61FFILTERS 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
    • A61F2/00Filters 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
    • A61F2/50Prostheses not implantable in the body
    • A61F2002/5007Prostheses not implantable in the body having elastic means different from springs, e.g. including an elastomeric insert
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61FFILTERS 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
    • A61F2/00Filters 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
    • A61F2/50Prostheses not implantable in the body
    • A61F2002/5038Hinged joint, e.g. with transverse axle restricting the movement
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61FFILTERS 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
    • A61F2/00Filters 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
    • A61F2/50Prostheses not implantable in the body
    • A61F2002/5066Muscles
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61FFILTERS 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
    • A61F2/00Filters 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
    • A61F2/50Prostheses not implantable in the body
    • A61F2002/5093Tendon- or ligament-replacing cables
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61FFILTERS 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
    • A61F2/00Filters 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
    • A61F2/50Prostheses not implantable in the body
    • A61F2/60Artificial legs or feet or parts thereof
    • A61F2/66Feet; Ankle joints
    • A61F2002/6614Feet
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61FFILTERS 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
    • A61F2/00Filters 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
    • A61F2/50Prostheses not implantable in the body
    • A61F2/68Operating or control means
    • A61F2002/6818Operating or control means for braking
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61FFILTERS 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
    • A61F2/00Filters 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
    • A61F2/50Prostheses not implantable in the body
    • A61F2/68Operating or control means
    • A61F2002/6872Operating or control means attached and mechanically operated by remaining muscle

Definitions

  • the invention relates to an artificial joint, in particular an artificial hand, consisting of a plurality of articulated members, at least one traction means movable by means of an actuator being provided for bending and for stretching the member.
  • Such an artificial joint is known for example from DE-AS 22 45 503.
  • tension bands which are fixed at the ends of the link tips, is already described therein, an actuating device for bending and a further actuating device for stretching and thus for resetting the link against the bending movement being provided in each case.
  • this hand has an angled drawstring through which the thumb can be brought to a base support in different angular positions.
  • a special arrangement is intended to ensure that the thumb can be moved in three swivel positions, so that the tip of the thumb can optionally be brought into contact with each individual finger or fingertip and thus very different gripping positions can be achieved.
  • US 50 80 682 already shows an artificial hand that can be used as a prosthesis.
  • the traction devices intended for bending and stretching the links are fixed at the tips of the outer links and are tightened by guides.
  • EP 01 58 659 also discloses the use of elastic materials in an artificial hand, with additional guides for the traction means being connected to spring elements.
  • the object of the present invention is therefore to design an artificial joint of the type mentioned at the outset in such a way that both a high load capacity for transmitting large forces and a large number of degrees of freedom for different gripping functions can be achieved.
  • an artificial joint in which the individual links are connected to one another by an elastic connecting element in such a way that a joint gap between the links can be reduced by introducing a tensile force into at least one of the pulling means of the link.
  • a large number of degrees of freedom can be achieved with a low tensile force, for example for largely forceless flexing of the link, by means of the connecting element, which not only serves to implement a multi-joint, but also, due to its elastic properties, a torsion about the longitudinal axis of the joint Limbs and a visco-elastic stretching of the joint (extension) in the direction, for example the fingertip, permitted.
  • the joint gap and thereby the number of degrees of freedom are simultaneously reduced, as a result of which the joint is stiffened. This allows large loads to be held with restricted mobility.
  • the properties of the artificial joint that can be achieved in this way which is primarily intended for prostheses, but is also fundamentally suitable for technical applications, therefore combine to a previously unknown extent both a high degree of mobility through a large number of degrees of freedom and a high load capacity depending on the tensile forces introduced.
  • An embodiment of the present invention has been found to be particularly promising, in which the joint gap can be fixed independently of a bent or extended position of the link.
  • the movement into the bent or the extended position is generally initiated by the fact that the tensile forces assigned to the movement differ from one another.
  • a desired position of the link can therefore be set by both large and low tensile forces, provided that they are in equilibrium. By adjusting this level of equilibrium, therefore, the position of the limb is not changed, but rather the joint gap and thus the rigidity and the number of degrees of freedom, regardless of the joint position and the relative position of the limbs to one another.
  • the number of degrees of freedom is determined by the gap width of the joint gap.
  • the joint also has a reduced number of degrees of freedom as the gap width of the joint gap decreases.
  • a reduced gap width which is achieved by introducing an increased tensile force, simultaneously leads to a gradual reduction in the number of degrees of freedom and to an increase in the rigidity.
  • a modification of the invention in which the joint gap is reduced to zero when a predetermined tensile force is reached also proves to be particularly promising, with adjacent joint surfaces of the members lying flat against one another.
  • the joint gap is therefore eliminated from a predetermined tensile force, so that the adjacent convex and concave joint surfaces lie against one another and the force is thereby transmitted directly from one link to the adjacent link without the joint being loaded in the process.
  • the articulated surfaces can also lie against one another in a form-fitting manner, so as to specify a defined, stable articulated position when the maximum tensile force is introduced.
  • the connecting element consists of a viscoelastic material, in particular of silicone.
  • the rheological properties also yield a resilience and toughness, which, in particular, instantaneous force introductions are damped and therefore cannot lead to damage to the joint. At the same time, the tensile mechanical behavior of the joint is improved when stressed.
  • the traction means are made of nylon. As a result, high tensile forces can be transmitted with a low susceptibility to wear.
  • nylon has optimal sliding properties, so that the actuating forces to be applied by the actuator are comparatively low.
  • Other suitable traction devices can also be implemented using steel wire and natural tendon material.
  • the traction means could be wound up for shortening by means of a spindle or could have a hydraulic or pneumatic drive.
  • an embodiment of the present invention in which the actuator is designed as a linear drive is particularly promising.
  • the space requirement is comparatively small and at the same time the positioning is improved by an exactly reproducible adjusting movement.
  • the actuator can also be accommodated inside the prosthesis having the artificial joint, whereby the wearing comfort can be significantly improved.
  • the joint has a base support which carries the links and which has a plurality of base elements which are unaffected by the movement of the links and can be placed against one another by the traction means.
  • the reinforcing effect of the joint can be used not only with the individual links of the joint, but also with the basic elements of the base support, which has a high degree of flexibility in the unloaded state and a high degree of dimensional stability when the tensile force is introduced.
  • Another particularly expedient embodiment of the present invention is also created in that the limbs can be individually manufactured in accordance with the dimensions of the existing limbs of the patient. As a result, the properties and the visual appearance of the joint can be adapted to the patient's remaining joint. The functionality for the patient can thereby be significantly improved.
  • the links can be produced using the rapid prototyping method, in particular using a laser sintering method.
  • the links can be produced in a relatively short time.
  • the required properties of the limb can be individually manufactured according to the patient's wishes.
  • biocompatible materials can be used.
  • the joint has components of living tissue.
  • These joint components for example grown outside of the body and brought into the desired shape by means of a carrier material, enable a high degree of compatibility with the existing limbs and also have properties that cannot be achieved with materials that are foreign to the body.
  • the muscle power of the body's own muscle fibers can be used by means of the actuator.
  • the size of the actuator can be considerably reduced by essentially serving to transmit a pulse, while the actual application of force is achieved by the remaining or the body's own muscle fibers.
  • the invention permits various embodiments. To further clarify its basic principle, one of these is shown in the drawing and is described below. This shows in an extended position in
  • FIG. 1 shows a side view of two links of a joint according to the invention
  • FIG. 1 shows an artificial joint 1 according to the invention, in particular an artificial hand, foot, knee, hip or shoulder joint, in an essentially force-free, stretched position.
  • Two sections 2, 3 of the joint 1, which are only shown in sections and can be seen, are connected to one another by a viscoelastic connecting element 4. Due to the low introduction of force in the position shown, there is a joint gap 7 between adjacent joint surfaces 5, 6 of the links 2, 3, the gap width b of which reaches its maximum.
  • the links 2, 3 can therefore not only be pivoted relative to one another about an axis perpendicular to the plane of the representation, but also twisted about a longitudinal axis or pivoted about further axes, the mobility being determined by the elastic properties of the connecting element 4 is.
  • a stretched position of the links 2, 3 suitable for the transmission of large forces is shown in a reduced representation of the joint 1 in FIG. 2.
  • the tensile forces introduced by means of traction means 8, 9, which are only indicated, omit in this position the joint gap 7 shown in FIG. 1, so that the adjacent articular surfaces 5, 6 of the links 2, 3 lie flat against one another.
  • even large holding forces can be transmitted without problems, with the degrees of freedom of the joint 1 being reduced at the same time.

Abstract

The invention relates to an artificial joint (1), in particular an artificial hand, comprising several bodies (2, 3), connected to each other by means of joints. The individual bodies (2, 3) are connected to each other by means of an elastic connecting element (4) such as to swivel about several axes. A tensile force is introduced by means of a tractive mechanism (8, 9) for the respective retraction and extension of each body (2, 3). According to the invention, a high loading for the transfer of large forces at any joint position and a number of degrees of freedom for various gripping functions may be achieved, whereby the joint gap (7), between adjacent joint surfaces (5, 6), may be reduced where necessary, by means of the tractive mechanism (8, 9), such that the desired number of degrees of freedom can be achieved with a simultaneous stiffening of the joint (1).

Description

Künstliches Gelenk Artificial joint
Die Erfindung betrifft ein künstliches Gelenk, insbesondere einer künstlichen Hand, bestehend aus mehreren, gelenkig miteinander verbundenen Gliedern, wobei jeweils mindestens ein mittels eines Stellgliedes bewegliches Zugmittel zum Beugen und zum Strecken des Gliedes vorgesehen ist.The invention relates to an artificial joint, in particular an artificial hand, consisting of a plurality of articulated members, at least one traction means movable by means of an actuator being provided for bending and for stretching the member.
Ein solches künstliches Gelenk ist beispielsweise durch die DE-AS 22 45 503 bekannt. Darin wird bereits der Einsatz von Zugbändern beschrieben, die an den Enden der Gliederspitzen fixiert sind, wobei jeweils eine Betätigungseinrichtung zum Beugen und eine weitere Betätigungseinrichtung zum Strecken und damit zum Rückstellen des Gliedes entgegen der Beu- gebewegung vorgesehen ist. Zusätzlich weist diese Hand ein Winkelzugband auf, durch welches der Daumen in unterschiedliche Winkelstellungen zu einem Grundträger gebracht werden kann. Durch eine spezielle Anordnung soll dadurch erreicht werden, dass der Daumen in drei Schwenklagen bewegbar ist, so dass dieser mit seiner Spitze wahlweise mit jedem einzelnen Finger bzw. jeder einzelnen Fingerspitze in Berührung gebracht werden kann und damit sehr unterschiedliche Greifpositionen erreicht werden können.Such an artificial joint is known for example from DE-AS 22 45 503. The use of tension bands, which are fixed at the ends of the link tips, is already described therein, an actuating device for bending and a further actuating device for stretching and thus for resetting the link against the bending movement being provided in each case. In addition, this hand has an angled drawstring through which the thumb can be brought to a base support in different angular positions. A special arrangement is intended to ensure that the thumb can be moved in three swivel positions, so that the tip of the thumb can optionally be brought into contact with each individual finger or fingertip and thus very different gripping positions can be achieved.
Weiterhin zeigt auch die US 50 80 682 bereits eine künstliche Hand, die als Prothese genutzt werden kann. Die zum Beugen und Strecke der Glieder bestimmten Zugmittel sind an den Spitzen der äußeren Glieder fixiert und werden durch Führungen gestrafft. Die EP 01 58 659 offenbart darüber hinaus auch den Einsatz elastischer Materialien bei einer künstlichen Hand, wobei zusätzlich Führungen der Zugmittel mit Federelementen verbunden sind.Furthermore, US 50 80 682 already shows an artificial hand that can be used as a prosthesis. The traction devices intended for bending and stretching the links are fixed at the tips of the outer links and are tightened by guides. EP 01 58 659 also discloses the use of elastic materials in an artificial hand, with additional guides for the traction means being connected to spring elements.
Durch die DE-OS-15 66 311 ist außerdem eine künstliche Hand für Prothesen mit bioelektrischer Steuerung bekannt, die auch für Manipulatoren einsetzbar ist und elastische Übertragungsstangen aufweist. Die den jeweiligen Gliedern zugeordneten Stellglieder werden dabei durch ein von dem abgeschnittenen Muskel abgegriffenes Leistungspotential gesteuert.From DE-OS-15 66 311 an artificial hand for prostheses with bioelectric control is also known, which can also be used for manipulators and has elastic transmission rods. The actuators assigned to the respective links are controlled by a performance potential tapped from the cut muscle.
Weitere künstliche Gelenke sind durch die US 25 53 827, US 42 46 661 , US 46 23 354, US 49 55 918 und die DE-OS 21 43 850 bekannt.Further artificial joints are known from US 25 53 827, US 42 46 661, US 46 23 354, US 49 55 918 and DE-OS 21 43 850.
Alle bisher bekannten Gelenke haben jedoch den gemeinsamen Nachteil, dass sie die beiden Hauptzielsetzungen, einerseits hinsichtlich der gewünschten Beweglichkeit mit einer Vielzahl von Freiheitsgraden, die bei gesunden Gliedmaßen die Fingerfertigkeit gewährleistet, und der andererseits gewünschten hohen Belastbarkeit zur Übertragung großer Kräfte, nur in sehr eingeschränktem Maße miteinander in Einklang bringen können. Die bei natürlichen Gliedmaßen bekannten Eigenschaften lassen sich jedoch bisher durch künstliche Gelenke nicht annähernd realisieren. Die Einschränkungen, die der Träger einer derartigen Pro- these hinnehmen muss, sind daher erheblich und schränken dadurch die Ausführungen manueller Tätigkeit deutlich ein.All previously known joints, however, have the common disadvantage that they only have a very limited effect on the two main objectives, on the one hand with regard to the desired mobility with a large number of degrees of freedom, which ensures dexterity for healthy limbs, and on the other hand the desired high resilience for transmitting large forces Being able to reconcile dimensions. However, the properties known for natural limbs have so far not been able to be achieved by artificial joints. The restrictions that the wearer of such a prosthesis has to accept are therefore considerable and thus significantly limit the execution of manual work.
Aufgabe der vorliegenden Erfindung ist es daher, ein künstliches Gelenk der eingangs genannten Art derart auszuführen, dass dadurch sowohl eine hohe Belastbarkeit zur Übertra- gung großer Kräfte, als auch eine Vielzahl von Freiheitsgraden für unterschiedliche Greiffunktionen realisierbar ist.The object of the present invention is therefore to design an artificial joint of the type mentioned at the outset in such a way that both a high load capacity for transmitting large forces and a large number of degrees of freedom for different gripping functions can be achieved.
Diese Aufgabe wird erfindungsgemäß mit einem künstlichen Gelenk gemäß den Merkmalen des Patentanspruchs 1 gelöst. Die Unteransprüche betreffen besonders zweckmäßige Wei- terbildungen der Erfindung.This object is achieved with an artificial joint according to the features of claim 1. The subclaims relate to particularly expedient further developments of the invention.
Erfindungsgemäß ist also ein künstliches Gelenk vorgesehen, bei dem die einzelnen Glieder durch ein elastisches Verbindungselement derart miteinander verbunden sind, dass ein Gelenkspalt zwischen den Gliedern durch Einleitung einer Zugkraft in zumindest eines der Zugmittel des Gliedes verringerbar ist. Hierdurch werden die jeweiligen Freiheitsgrade, welche die Beweglichkeit der Glieder bestimmen, nicht etwa unveränderlich vorgegeben, son- dem werden durch die Einleitung der Zugkraft bestimmt. Dadurch können bei einer geringen, beispielsweise zum weitgehend kraftlosen Beugen des Gliedes eingeleiteten Zugkraft eine große Zahl von Freiheitsgraden mittels des Verbindungselementes realisiert werden, welches dabei nicht nur der Realisierung eines Mehrgelenkes dient, sondern durch seine elasti- sehen Eigenschaften auch eine Torsion um die Längsachse der Glieder sowie eine viskoe- lastische Dehnung des Gelenkes (Extension) in Richtung, beispielsweise der Fingerspitze, gestattet. Sobald vergleichsweise große Zugkräfte, beispielsweise zum Halten schwerer Lasten, eingeleitet werden, wird zugleich der Gelenkspalt und dadurch die Anzahl der Freiheitsgrade verringert, wodurch eine Versteifung des Gelenkes eintritt. Hierdurch können bei ein- geschränkter Beweglichkeit große Lasten gehalten werden. Die so erreichbaren Eigenschaften des künstlichen Gelenkes, welches zwar vornehmlich für Prothesen gedacht, jedoch grundsätzlich auch für technische Anwendungen geeignet ist, vereinen daher in bisher unbekanntem Maße sowohl ein hohes Maß an Beweglichkeit durch eine Vielzahl von Freiheitsgraden, als auch eine hohe Belastbarkeit in Abhängigkeit von den eingeleiteten Zugkräften.According to the invention, therefore, an artificial joint is provided in which the individual links are connected to one another by an elastic connecting element in such a way that a joint gap between the links can be reduced by introducing a tensile force into at least one of the pulling means of the link. As a result, the respective degrees of freedom, which determine the mobility of the limbs, are not given unchangeably, but that are determined by the introduction of the tractive force. As a result, a large number of degrees of freedom can be achieved with a low tensile force, for example for largely forceless flexing of the link, by means of the connecting element, which not only serves to implement a multi-joint, but also, due to its elastic properties, a torsion about the longitudinal axis of the joint Limbs and a visco-elastic stretching of the joint (extension) in the direction, for example the fingertip, permitted. As soon as comparatively large tensile forces, for example for holding heavy loads, are introduced, the joint gap and thereby the number of degrees of freedom are simultaneously reduced, as a result of which the joint is stiffened. This allows large loads to be held with restricted mobility. The properties of the artificial joint that can be achieved in this way, which is primarily intended for prostheses, but is also fundamentally suitable for technical applications, therefore combine to a previously unknown extent both a high degree of mobility through a large number of degrees of freedom and a high load capacity depending on the tensile forces introduced.
Dabei erweist sich eine Ausführungsform der vorliegenden Erfindung als besonders erfolgversprechend, bei welcher der Gelenkspalt unabhängig von einer gebeugten oder gestreckten Stellung des Gliedes festlegbar ist. Die Bewegung in die gebeugte oder die gestreckte Stellung wird grundsätzlich dadurch eingeleitet, dass die jeweils der Bewegung zugeordne- ten Zugkräfte voneinander abweichen. Eine gewünschte Stellung des Gliedes kann daher sowohl durch große, als auch durch geringe Zugkräfte eingestellt werden, sofern diese im Gleichgewicht sind. Durch die Anpassung dieses Gleichgewichtsniveaus wird daher nicht die Stellung des Gliedes, wohl aber der Gelenkspalt und damit die Steifigkeit und die Anzahl der Freiheitsgrade, unabhängig von der Gelenkstellung und der relativen Stellung der Glieder zueinander, verändert.An embodiment of the present invention has been found to be particularly promising, in which the joint gap can be fixed independently of a bent or extended position of the link. The movement into the bent or the extended position is generally initiated by the fact that the tensile forces assigned to the movement differ from one another. A desired position of the link can therefore be set by both large and low tensile forces, provided that they are in equilibrium. By adjusting this level of equilibrium, therefore, the position of the limb is not changed, but rather the joint gap and thus the rigidity and the number of degrees of freedom, regardless of the joint position and the relative position of the limbs to one another.
Grundsätzlich wird durch die Spaltbreite des Gelenkspaltes die Anzahl der Freiheitsgrade bestimmt. Besonders günstig ist es hingegen auch, wenn das Gelenk mit abnehmender Spaltbreite des Gelenkspaltes zugleich eine verringerte Anzahl von Freiheitsgraden aufweist. Hierdurch führt eine verminderte Spaltbreite, die unter Einleitung einer erhöhten Zugkraft erreicht wird, zugleich zu einer stufenweisen Verringerung der Anzahl der Freiheitsgrade und zu einer Erhöhung der Steifigkeit.Basically, the number of degrees of freedom is determined by the gap width of the joint gap. On the other hand, it is also particularly favorable if the joint also has a reduced number of degrees of freedom as the gap width of the joint gap decreases. As a result, a reduced gap width, which is achieved by introducing an increased tensile force, simultaneously leads to a gradual reduction in the number of degrees of freedom and to an increase in the rigidity.
Als besonders erfolgversprechend erweist sich auch eine Abwandlung der Erfindung, bei welcher der Gelenkspalt bei Erreichen einer vorbestimmten Zugkraft zu null reduziert ist, wobei benachbarte Gelenkflächen der Glieder flächig gegeneinander liegen. Bei Erreichen einer vorbestimmten Zugkraft entfällt daher der Gelenkspalt, so dass die benachbarten konvexen und konkaven Gelenkflächen gegeneinander liegen und dadurch die Kraftübertragung unmittelbar von einem Glied aμf das benachbarte Glied erfolgt, ohne dass dabei das Gelenk belastet wird. Die Gelenkflächen können hierzu auch formschlüssig gegeneinander liegen, um so eine definierte, stabile Gelenkstellung bei Einleitung der maximalen Zugkraft vorzugeben.A modification of the invention in which the joint gap is reduced to zero when a predetermined tensile force is reached also proves to be particularly promising, with adjacent joint surfaces of the members lying flat against one another. When reached The joint gap is therefore eliminated from a predetermined tensile force, so that the adjacent convex and concave joint surfaces lie against one another and the force is thereby transmitted directly from one link to the adjacent link without the joint being loaded in the process. For this purpose, the articulated surfaces can also lie against one another in a form-fitting manner, so as to specify a defined, stable articulated position when the maximum tensile force is introduced.
Dabei erweist es sich in der Praxis als besonders zweckmäßig, wenn das Verbindungselement aus einem viskoelastischen Material, insbesondere aus Silikon, besteht. Hierbei wird durch die rheologischen Eigenschaften zusätzlich zu den elastischen Eigenschaften eine Nachgiebigkeit und Zähigkeit erreicht, durch die insbesondere schlagartige Krafteinleitungen gedämpft werden und daher nicht zu einer Schädigung des Gelenkes führen können. Gleichzeitig wird das zugmechanische Verhalten des Gelenkes bei Beanspruchung verbessert.In practice, it proves particularly expedient if the connecting element consists of a viscoelastic material, in particular of silicone. In addition to the elastic properties, the rheological properties also yield a resilience and toughness, which, in particular, instantaneous force introductions are damped and therefore cannot lead to damage to the joint. At the same time, the tensile mechanical behavior of the joint is improved when stressed.
Dabei ist es besonders günstig, wenn die Zugmittel aus Nylon bestehen. Hierdurch können hohe Zugkräfte bei einer zugleich geringen Verschleißanfälligkeit übertragen werden. Zudem weist Nylon optimale Gleiteigenschaften auf, so dass die von dem Stellglied aufzubringenden Betätigungskräfte vergleichsweise gering sind. Weitere geeignete Zugmittel sind auch durch Stahldraht und natürliches Sehnenmaterial realisierbar.It is particularly advantageous if the traction means are made of nylon. As a result, high tensile forces can be transmitted with a low susceptibility to wear. In addition, nylon has optimal sliding properties, so that the actuating forces to be applied by the actuator are comparatively low. Other suitable traction devices can also be implemented using steel wire and natural tendon material.
Das Zugmittel könnte zur Verkürzung mittels einer Spindel aufgewickelt werden oder einen hydraulischen oder pneumatischen Antrieb aufweisen. Besonders erfolgversprechend ist hingegen eine Ausgestaltung der vorliegenden Erfindung, bei welcher das Stellglied als ein Linearantrieb ausgeführt ist. Hierdurch ist der Platzbedarf vergleichsweise gering und zugleich wird die Positionierung durch eine exakt reproduzierbare Stellbewegung verbessert. Das Stellglied kann dadurch auch im Inneren der das künstliche Gelenk aufweisenden Prothese untergebracht werden, wodurch der Tragkomfort wesentlich verbessert werden kann.The traction means could be wound up for shortening by means of a spindle or could have a hydraulic or pneumatic drive. In contrast, an embodiment of the present invention in which the actuator is designed as a linear drive is particularly promising. As a result, the space requirement is comparatively small and at the same time the positioning is improved by an exactly reproducible adjusting movement. As a result, the actuator can also be accommodated inside the prosthesis having the artificial joint, whereby the wearing comfort can be significantly improved.
Eine andere besonders praxisnahe Ausgestaltung der Erfindung ist dann erreicht, wenn das Gelenk einen die Glieder tragenden Grundträger aufweist, welcher mehrere von der Bewegung der Glieder unbeeinflußte und durch die Zugmittel gegeneinander anlegbare Grundelemente aufweist. Hierdurch kann der Verstärkungseffekt des Gelenkes nicht lediglich bei den einzelnen Gliedern des Gelenkes, sondern auch bei den Grundelementen des Grund- trägers genutzt werden, der dadurch im unbelasteten Zustand ein hohes Maß an Flexibilität und bei Einleitung der Zugkraft eine hohe Formsteifigkeit aufweist. Eine andere besonders zweckmäßige Ausgestaltung der vorliegenden Erfindung wird auch dadurch geschaffen, dass die Glieder entsprechend den Abmessungen der vorhandenen Gliedmaßen des Patienten individuell herstellbar sind. Hierdurch können die Eigenschaften sowie das optische Erscheinungsbild des Gelenkes dem verbliebenen Gelenk des Patienten angepasst werden. Die Funktionalität für den Patienten kann dadurch wesentlich verbessert werden.Another particularly practical embodiment of the invention is achieved if the joint has a base support which carries the links and which has a plurality of base elements which are unaffected by the movement of the links and can be placed against one another by the traction means. As a result, the reinforcing effect of the joint can be used not only with the individual links of the joint, but also with the basic elements of the base support, which has a high degree of flexibility in the unloaded state and a high degree of dimensional stability when the tensile force is introduced. Another particularly expedient embodiment of the present invention is also created in that the limbs can be individually manufactured in accordance with the dimensions of the existing limbs of the patient. As a result, the properties and the visual appearance of the joint can be adapted to the patient's remaining joint. The functionality for the patient can thereby be significantly improved.
Hierzu ist es in der Praxis besonders vorteilhaft, wenn die Glieder im Rapid-Prototyping- Verfahren, insbesondere durch ein Laser-Sinter-Verfahren, herstellbar sind. Dadurch können die Glieder in relativ kurzer Zeit hergestellt werden. Die jeweils erforderlichen Eigenschaften des Gliedes können nach den Wünschen des Patienten individuell hergestellt werden. Dabei können insbesondere biokompatible Materialien eingesetzt werden.For this purpose, it is particularly advantageous in practice if the links can be produced using the rapid prototyping method, in particular using a laser sintering method. As a result, the links can be produced in a relatively short time. The required properties of the limb can be individually manufactured according to the patient's wishes. In particular, biocompatible materials can be used.
Eine andere besonders erfolgversprechende Abwandlung wird dadurch erreicht, dass das Gelenk Bestandteile von lebendem Gewebe aufweist. Diese beispielsweise außerhalb des Körpers gezüchteten und mittels eines Trägermaterials in die gewünschte Form gebrachten Gelenkbestandteile ermöglichen ein hohes Maß an Verträglichkeit mit den vorhandenen Gliedmaßen und weisen zudem Eigenschaften auf, die mit körperfremden Materialien nicht erreichbar sind.Another particularly promising modification is achieved in that the joint has components of living tissue. These joint components, for example grown outside of the body and brought into the desired shape by means of a carrier material, enable a high degree of compatibility with the existing limbs and also have properties that cannot be achieved with materials that are foreign to the body.
Besonders günstig ist es auch, wenn mittels des Stellgliedes die Muskelkraft körpereigener Muskelfasern nutzbar ist. Hierdurch kann das Stellglied hinsichtlich seiner Baugröße erheblich verringert werden, indem dieses im wesentlichen der Übertragung eines Impulses dient, währen die eigentliche Krafteinleitung durch die verbliebenen bzw. körpereigenen Muskelfasern erreicht wird.It is also particularly favorable if the muscle power of the body's own muscle fibers can be used by means of the actuator. As a result, the size of the actuator can be considerably reduced by essentially serving to transmit a pulse, while the actual application of force is achieved by the remaining or the body's own muscle fibers.
Die Erfindung lässt verschiedene Ausführungsformen zu. Zur weiteren Verdeutlichung ihres Grundprinzips ist eine davon in der Zeichnung dargestellt und wird nachfolgend beschrieben. Diese zeigt jeweils in einer gestreckten Stellung inThe invention permits various embodiments. To further clarify its basic principle, one of these is shown in the drawing and is described below. This shows in an extended position in
Fig.1 eine Seitenansicht von zwei Gliedern eines erfindungsgemäßen Gelenkes;1 shows a side view of two links of a joint according to the invention;
Fig.2 die in Figur 1 gezeigten Glieder in einer verkleinerten Darstellung, in einer zur Über- tragung großer Kräfte bestimmten Stellung. Figur 1 zeigt ein erfindungsgemäßes künstliches Gelenk 1 , insbesondere eines künstlichen Hand-, Fuß, Knie-, Hüft- oder Schultergelenkes, in einer im wesentlichen kraftfreien, gestreckten Stellung. Zu erkennen sind zwei lediglich abschnittsweise dargestellte Glieder 2, 3 des Gelenkes 1 , welche durch ein viskoelastisches Verbindungselement 4 miteinander ver- bunden sind. Aufgrund der in der dargestellten Stellung geringen Krafteinleitung ist zwischen benachbarten Gelenkflächen 5, 6 der Glieder 2, 3 ein Gelenkspalt 7 vorhanden, dessen Spaltbreite b dabei ihr Maximum erreicht. In dieser Stellung können die Glieder 2, 3 daher nicht nur um eine Achse senkrecht zu Darstellungsebene relativ zueinander verschwenkt werden, sondern zusätzlich auch um eine Längsachse tordiert bzw. auch um weitere Achsen verschwenkt werden, wobei die Beweglichkeit durch die elastischen Eigenschaften des Verbindungselements 4 bestimmt ist.2 shows the links shown in FIG. 1 in a reduced representation, in a position intended for the transmission of large forces. FIG. 1 shows an artificial joint 1 according to the invention, in particular an artificial hand, foot, knee, hip or shoulder joint, in an essentially force-free, stretched position. Two sections 2, 3 of the joint 1, which are only shown in sections and can be seen, are connected to one another by a viscoelastic connecting element 4. Due to the low introduction of force in the position shown, there is a joint gap 7 between adjacent joint surfaces 5, 6 of the links 2, 3, the gap width b of which reaches its maximum. In this position, the links 2, 3 can therefore not only be pivoted relative to one another about an axis perpendicular to the plane of the representation, but also twisted about a longitudinal axis or pivoted about further axes, the mobility being determined by the elastic properties of the connecting element 4 is.
Eine zur Übertragung großer Kräfte geeignete gestreckte Stellung der Glieder 2, 3 zeigt eine verkleinerte Darstellung des Gelenkes 1 in Figur 2. Durch die mittels lediglich andeutungs- weise dargestellten Zugmittel 8, 9 eingeleiteten Zugkräfte entfällt in dieser Stellung der in Figur 1 gezeigte Gelenkspalt 7, so dass die benachbarten Gelenkflächen 5, 6 der Glieder 2, 3 flächig gegeneinander liegen. Hierdurch können auch große Haltekräfte bei zugleich verringerten Freiheitsgraden des Gelenkes 1 problemlos übertragen werden. A stretched position of the links 2, 3 suitable for the transmission of large forces is shown in a reduced representation of the joint 1 in FIG. 2. The tensile forces introduced by means of traction means 8, 9, which are only indicated, omit in this position the joint gap 7 shown in FIG. 1, so that the adjacent articular surfaces 5, 6 of the links 2, 3 lie flat against one another. As a result, even large holding forces can be transmitted without problems, with the degrees of freedom of the joint 1 being reduced at the same time.

Claims

Patentansprüche claims
1. Künstliches Gelenk (1), insbesondere einer künstlichen Hand, bestehend aus mehreren, gelenkig miteinander verbundenen Gliedern (2, 3), wobei jeweils mindestens ein mittels eines Stellgliedes bewegliches Zugmittel (8, 9) zum Beugen und zum Strecken des Gliedes (2, 3) vorgesehen ist, dadurch gekennzeichnet, dass die einzelnen Glieder (2, 3) durch ein elastisches Verbindungselement (4) derart miteinander verbunden sind, dass ein Gelenkspalt (7) zwischen den Gliedern (2, 3) durch Einleitung einer Zugkraft in zumindest eines der Zugmittel (8, 9) des Gliedes (2, 3) verringerbar ist.1. Artificial joint (1), in particular an artificial hand, consisting of a plurality of articulated members (2, 3), at least one traction means (8, 9) movable by means of an actuator for bending and stretching the member (2 , 3) is provided, characterized in that the individual links (2, 3) are connected to one another by an elastic connecting element (4) in such a way that a joint gap (7) between the links (2, 3) by introducing a tensile force in at least one of the traction means (8, 9) of the link (2, 3) can be reduced.
2. Künstliches Gelenk (1) nach Anspruch 1 , dadurch gekennzeichnet, dass der Gelenkspalt (7) unabhängig von einer gebeugten oder gestreckten Stellung des Gliedes (2, 3) festlegbar ist.2. Artificial joint (1) according to claim 1, characterized in that the joint gap (7) can be fixed independently of a bent or extended position of the link (2, 3).
3. Künstliches Gelenk (1) nach den Ansprüchen 1 oder 2, dadurch gekennzeichnet, dass das Gelenk (1) mit abnehmender Spaltbreite (b) des Gelenkspaltes (7) zugleich eine verringerte3. Artificial joint (1) according to claims 1 or 2, characterized in that the joint (1) with decreasing gap width (b) of the joint gap (7) at the same time a reduced
Anzahl von Freiheitsgraden aufweist.Number of degrees of freedom.
4. Künstliches Gelenk (1) nach zumindest einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass der Gelenkspalt (7) bei Erreichen einer vorbestimmten Zugkraft zu null reduziert ist, wobei benachbarte Gelenkflächen (5, 6) der Glieder (2, 3) flächig gegeneinander liegen. 4. Artificial joint (1) according to at least one of the preceding claims, characterized in that the joint gap (7) is reduced to zero when a predetermined tensile force is reached, adjacent joint surfaces (5, 6) of the links (2, 3) flat against one another lie.
5. Künstliches Gelenk (1) nach zumindest einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass das Verbindungselement (4) aus einem viskoelastischen Material, insbesondere aus Silikon, besteht.5. Artificial joint (1) according to at least one of the preceding claims, characterized in that the connecting element (4) consists of a viscoelastic material, in particular silicone.
6. Künstliches Gelenk (1) nach zumindest einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass die Zugmittel (8, 9) aus Nylon bestehen.6. Artificial joint (1) according to at least one of the preceding claims, characterized in that the traction means (8, 9) consist of nylon.
7. Künstliches Gelenk (1) nach zumindest einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass das Stellglied als ein Linearantrieb ausgeführt ist.7. Artificial joint (1) according to at least one of the preceding claims, characterized in that the actuator is designed as a linear drive.
8. Künstliches Gelenk (1) nach zumindest einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass das Gelenk (1) einen die Glieder (2, 3) tragenden Grundträger aufweist, welcher mehrere von der Bewegung der Glieder (2, 3) unbeeinflusste und durch die Zugmittel (8, 9) gegeneinander anlegbare Grundelemente aufweist.8. Artificial joint (1) according to at least one of the preceding claims, characterized in that the joint (1) has a base support the links (2, 3), which is influenced by several of the movement of the links (2, 3) and by the traction means (8, 9) have base elements which can be placed against one another.
9. Künstliches Gelenk (1) nach zumindest einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass die Glieder (2, 3) entsprechend den Abmessungen der vorhandenen Gliedmaßen des Patienten individuell herstellbar sind.9. Artificial joint (1) according to at least one of the preceding claims, characterized in that the limbs (2, 3) can be individually manufactured in accordance with the dimensions of the existing limbs of the patient.
10. Künstliches Gelenk (1) nach zumindest einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass die Glieder (2, 3) im Rapid-Prototyping-Verfahren, insbesondere durch ein Laser-Sinter-Verfahren, herstellbar sind.10. Artificial joint (1) according to at least one of the preceding claims, characterized in that the links (2, 3) can be produced in the rapid prototyping method, in particular by a laser sintering method.
11. Künstliches Gelenk (1) nach zumindest einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass das Gelenk (1) Bestandteile von lebendem Gewebe aufweist.11. Artificial joint (1) according to at least one of the preceding claims, characterized in that the joint (1) has components of living tissue.
12. Künstliches Gelenk (1) nach zumindest einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass mittels des Stellgliedes die Muskelkraft körpereigener Muskelfasern nutzbar ist. 12. Artificial joint (1) according to at least one of the preceding claims, characterized in that the muscle power of the body's own muscle fibers can be used by means of the actuator.
PCT/DE2003/002719 2002-08-12 2003-08-12 Artificial joint WO2004019831A2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AU2003266119A AU2003266119A1 (en) 2002-08-12 2003-08-12 Artificial joint

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE10237373.6 2002-08-12
DE10237373A DE10237373A1 (en) 2002-08-12 2002-08-12 Artificial joint

Publications (2)

Publication Number Publication Date
WO2004019831A2 true WO2004019831A2 (en) 2004-03-11
WO2004019831A3 WO2004019831A3 (en) 2004-09-30

Family

ID=31197032

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/DE2003/002719 WO2004019831A2 (en) 2002-08-12 2003-08-12 Artificial joint

Country Status (3)

Country Link
AU (1) AU2003266119A1 (en)
DE (1) DE10237373A1 (en)
WO (1) WO2004019831A2 (en)

Cited By (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8597362B2 (en) 2009-08-27 2013-12-03 Cotera, Inc. Method and apparatus for force redistribution in articular joints
US8845724B2 (en) 2009-08-27 2014-09-30 Cotera, Inc. Method and apparatus for altering biomechanics of the articular joints
US9044270B2 (en) 2011-03-29 2015-06-02 Moximed, Inc. Apparatus for controlling a load on a hip joint
US9468466B1 (en) 2012-08-24 2016-10-18 Cotera, Inc. Method and apparatus for altering biomechanics of the spine
US9610103B2 (en) 2001-03-28 2017-04-04 Moximed, Inc. Bone fixated, articulated joint load control device
US9655648B2 (en) 2007-05-01 2017-05-23 Moximed, Inc. Femoral and tibial base components
US9668868B2 (en) 2009-08-27 2017-06-06 Cotera, Inc. Apparatus and methods for treatment of patellofemoral conditions
US9700419B2 (en) 2007-05-01 2017-07-11 Moximed, Inc. Extra-articular implantable mechanical energy absorbing systems and implantation method
US9814579B2 (en) 2007-05-01 2017-11-14 Moximed, Inc. Unlinked implantable knee unloading device
US9861408B2 (en) 2009-08-27 2018-01-09 The Foundry, Llc Method and apparatus for treating canine cruciate ligament disease
US9907645B2 (en) 2007-05-01 2018-03-06 Moximed, Inc. Adjustable absorber designs for implantable device
US10010421B2 (en) 2007-05-01 2018-07-03 Moximed, Inc. Extra-articular implantable mechanical energy absorbing systems
US10327816B2 (en) 2007-05-01 2019-06-25 Moximed, Inc. Adjustable absorber designs for implantable device
US10349980B2 (en) 2009-08-27 2019-07-16 The Foundry, Llc Method and apparatus for altering biomechanics of the shoulder
US10383736B2 (en) 2007-05-01 2019-08-20 Moximed, Inc. Femoral and tibial base components

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102005020779B4 (en) * 2004-12-03 2009-11-05 Aequos Endoprothetik Gmbh Artificial joint element and a gripping tool equipped therewith
DE102005061313A1 (en) 2005-12-20 2007-08-16 Otto Bock Healthcare Ip Gmbh & Co. Kg hand prosthesis
DE102005061266A1 (en) * 2005-12-20 2007-08-16 Otto Bock Healthcare Ip Gmbh & Co. Kg Hand prosthesis and power transmission device
DE102005061312A1 (en) 2005-12-20 2007-08-16 Otto Bock Healthcare Ip Gmbh & Co. Kg hand prosthesis
US20110245928A1 (en) 2010-04-06 2011-10-06 Moximed, Inc. Femoral and Tibial Bases
EP2510906B1 (en) * 2009-07-02 2015-06-10 RSL Steeper Group Limited A prosthesis and a prosthetic device

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2425154A (en) * 1946-01-28 1947-08-05 Frank K Hibbard Artificial hand and control mechanism
DE823774C (en) * 1949-06-25 1951-12-06 Albert Schwarz Knee joint for thigh prostheses
DE2245503A1 (en) * 1970-07-31 1974-04-04 James Francis Mullen MECHANICAL HAND IMITATION OF THE HUMAN HAND
EP0358056B1 (en) * 1988-09-07 1993-10-20 Schütt & Grundei Orthopädietechnik GmbH Knee joint for a leg prosthesis
DE19627994A1 (en) * 1995-07-13 1997-01-30 Herbert Ganter Leg prosthesis system with controlled movement - has mechanical joint connected to shaft on stump with movement translated from muscles to prosthesis by system of wires
NL1003979C2 (en) * 1996-09-06 1998-03-09 Arie Van Wieringen Video Film Mechanical hand comprising thumb and four fingers fixed to base
US6379393B1 (en) * 1998-09-14 2002-04-30 Rutgers, The State University Of New Jersey Prosthetic, orthotic, and other rehabilitative robotic assistive devices actuated by smart materials

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US1501308A (en) * 1923-10-08 1924-07-15 Jr Frank Burney Artificial arm
DE497925C (en) * 1929-08-23 1930-05-15 Fritz Finkbeiner Artificial hand with flexible fingers
US2553827A (en) * 1948-10-27 1951-05-22 Northrop Aircraft Inc Artificial hand with articulated fingers and passively positioned thumb
US2556524A (en) * 1949-03-14 1951-06-12 William M Drennon Artificial hand
DE1566311A1 (en) * 1967-08-18 1970-11-26 Tsnii Protezirovanija I Protez Artificial hand for prostheses with bioelectrical control
US4246661A (en) * 1979-03-15 1981-01-27 The Boeing Company Digitally-controlled artificial hand
FR2557450B1 (en) * 1983-10-05 1986-05-02 Monestier Jacques IMPROVEMENTS ON TOTAL HAND PROSTHESES
US4623354A (en) * 1984-10-22 1986-11-18 Northwestern University Myoelectrically controlled artificial hand
US4946380A (en) * 1989-05-30 1990-08-07 University Of Southern California Artificial dexterous hand
US5080682A (en) * 1990-07-05 1992-01-14 Schectman Leonard A Artificial robotic hand

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2425154A (en) * 1946-01-28 1947-08-05 Frank K Hibbard Artificial hand and control mechanism
DE823774C (en) * 1949-06-25 1951-12-06 Albert Schwarz Knee joint for thigh prostheses
DE2245503A1 (en) * 1970-07-31 1974-04-04 James Francis Mullen MECHANICAL HAND IMITATION OF THE HUMAN HAND
EP0358056B1 (en) * 1988-09-07 1993-10-20 Schütt & Grundei Orthopädietechnik GmbH Knee joint for a leg prosthesis
DE19627994A1 (en) * 1995-07-13 1997-01-30 Herbert Ganter Leg prosthesis system with controlled movement - has mechanical joint connected to shaft on stump with movement translated from muscles to prosthesis by system of wires
NL1003979C2 (en) * 1996-09-06 1998-03-09 Arie Van Wieringen Video Film Mechanical hand comprising thumb and four fingers fixed to base
US6379393B1 (en) * 1998-09-14 2002-04-30 Rutgers, The State University Of New Jersey Prosthetic, orthotic, and other rehabilitative robotic assistive devices actuated by smart materials

Cited By (30)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9610103B2 (en) 2001-03-28 2017-04-04 Moximed, Inc. Bone fixated, articulated joint load control device
US9943336B2 (en) 2001-03-28 2018-04-17 Moximed, Inc. Bone fixated, articulated joint load control device
US10383736B2 (en) 2007-05-01 2019-08-20 Moximed, Inc. Femoral and tibial base components
US11389298B2 (en) 2007-05-01 2022-07-19 Moximed, Inc. Extra-articular implantable mechanical energy absorbing systems
US10736746B2 (en) 2007-05-01 2020-08-11 Moximed, Inc. Extra-articular implantable mechanical energy absorbing systems
US10639161B2 (en) 2007-05-01 2020-05-05 Moximed, Inc. Extra-articular implantable load sharing systems
US10010421B2 (en) 2007-05-01 2018-07-03 Moximed, Inc. Extra-articular implantable mechanical energy absorbing systems
US9655648B2 (en) 2007-05-01 2017-05-23 Moximed, Inc. Femoral and tibial base components
US10327816B2 (en) 2007-05-01 2019-06-25 Moximed, Inc. Adjustable absorber designs for implantable device
US9700419B2 (en) 2007-05-01 2017-07-11 Moximed, Inc. Extra-articular implantable mechanical energy absorbing systems and implantation method
US10070964B2 (en) 2007-05-01 2018-09-11 Moximed, Inc. Extra-articular implantable mechanical energy absorbing systems and implantation method
US9814579B2 (en) 2007-05-01 2017-11-14 Moximed, Inc. Unlinked implantable knee unloading device
US10022154B2 (en) 2007-05-01 2018-07-17 Moximed, Inc. Femoral and tibial base components
US9907645B2 (en) 2007-05-01 2018-03-06 Moximed, Inc. Adjustable absorber designs for implantable device
US9861408B2 (en) 2009-08-27 2018-01-09 The Foundry, Llc Method and apparatus for treating canine cruciate ligament disease
US10695094B2 (en) 2009-08-27 2020-06-30 The Foundry, Llc Method and apparatus for altering biomechanics of articular joints
US10349980B2 (en) 2009-08-27 2019-07-16 The Foundry, Llc Method and apparatus for altering biomechanics of the shoulder
US9931136B2 (en) 2009-08-27 2018-04-03 The Foundry, Llc Method and apparatus for altering biomechanics of articular joints
US11730519B2 (en) 2009-08-27 2023-08-22 The Foundry, Llc Method and apparatus for force redistribution in articular joints
US9668868B2 (en) 2009-08-27 2017-06-06 Cotera, Inc. Apparatus and methods for treatment of patellofemoral conditions
US8597362B2 (en) 2009-08-27 2013-12-03 Cotera, Inc. Method and apparatus for force redistribution in articular joints
US9114016B2 (en) 2009-08-27 2015-08-25 Cotera, Inc. Method and apparatus for altering biomechanics of the articular joints
US9795410B2 (en) 2009-08-27 2017-10-24 Cotera, Inc. Method and apparatus for force redistribution in articular joints
US11517360B2 (en) 2009-08-27 2022-12-06 The Foundry, Llc Method and apparatus for treating canine cruciate ligament disease
US9278004B2 (en) 2009-08-27 2016-03-08 Cotera, Inc. Method and apparatus for altering biomechanics of the articular joints
US8845724B2 (en) 2009-08-27 2014-09-30 Cotera, Inc. Method and apparatus for altering biomechanics of the articular joints
US9044270B2 (en) 2011-03-29 2015-06-02 Moximed, Inc. Apparatus for controlling a load on a hip joint
US10898237B2 (en) 2012-08-24 2021-01-26 The Foundry, Llc Method and apparatus for altering biomechanics of the spine
US9468466B1 (en) 2012-08-24 2016-10-18 Cotera, Inc. Method and apparatus for altering biomechanics of the spine
US11241256B2 (en) 2015-10-15 2022-02-08 The Foundry, Llc Method and apparatus for altering biomechanics of the shoulder

Also Published As

Publication number Publication date
AU2003266119A8 (en) 2004-03-19
DE10237373A1 (en) 2004-03-04
WO2004019831A3 (en) 2004-09-30
AU2003266119A1 (en) 2004-03-19

Similar Documents

Publication Publication Date Title
WO2004019831A2 (en) Artificial joint
DE4340707C2 (en) manipulator
EP1447062B1 (en) Leg prosthesis
DE102008056520B4 (en) finger member
EP0612496B1 (en) Handle for medical instruments
EP1962733B1 (en) Hand prosthesis and force transmission device
EP2991591B1 (en) Artificial finger
DE102012002785B4 (en) orthosis
EP1827319B1 (en) Artificial joint element and gripping tool equipped with the same
DE102009037827A1 (en) Medical catheter instrument
EP2785278B1 (en) Implantable system having elastic components
WO2010037558A2 (en) Instrument for measuring the distraction pressure between vertebral bodies
EP2153793A2 (en) Manipulation device for a surgical instrument and surgical instrument
DE202009001951U1 (en) Medical instrument
DE4313903C1 (en) Surgical instrument with jaws
DE102007017417B4 (en) actuator
EP3454769A1 (en) Instrument, in particular medical endoscopic instrument
EP2339993A1 (en) Kit for constructing a spinal disk prosthesis, and system for constructing different spinal disk prostheses
DE69731774T2 (en) Manipulating pliers
DE102010053114B4 (en) hand prosthesis
DE102013111161B4 (en) hand prosthesis
DE102007035401A1 (en) Exoskeleton e.g. knee exoskeleton, arrangement for patient, has Bowden cable system coupled to circular arc joint, where circular arc joint causes displacement of joint components relative to each other when subjected to traction force
EP3681445B1 (en) Joint device
EP1792577A1 (en) Surgical rod element, stabilisation device, and method of manufacturing the element
DE102019130391A1 (en) ORTHOPEDIC EQUIPMENT

Legal Events

Date Code Title Description
AK Designated states

Kind code of ref document: A2

Designated state(s): AE AG AL AM AT AU AZ BA BB BG BR BY BZ CA CH CN CO CR CU CZ DK DM DZ EC EE ES FI GB GD GE GH GM HR HU ID IL IN IS JP KE KG KP KR KZ LC LK LR LS LT LU LV MA MD MG MK MN MW MX MZ NO NZ OM PH PL PT RO RU SC SD SE SG SK SL TJ TM TN TR TT TZ UA UG US UZ VC VN YU ZA ZM ZW

AL Designated countries for regional patents

Kind code of ref document: A2

Designated state(s): GH GM KE LS MW MZ SD SL SZ TZ UG ZM ZW AM AZ BY KG KZ MD RU TJ TM AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IT LU MC NL PT RO SE SI SK TR BF BJ CF CG CI CM GA GN GQ GW ML MR NE SN TD TG

121 Ep: the epo has been informed by wipo that ep was designated in this application
122 Ep: pct application non-entry in european phase
NENP Non-entry into the national phase

Ref country code: JP

WWW Wipo information: withdrawn in national office

Country of ref document: JP