Orthopedic joint device and method for controlling same

Patent metadata

Field	Value
Publication number	US-11534317-B2
Application number	US-201414902537-A
Country	US
Kind code	B2
Filing date	Jul 2, 2014
Priority date	Jul 3, 2013
Publication date	Dec 27, 2022
Grant date	Dec 27, 2022

Abstract

Systems and methods for controlling an orthopedic joint device of a lower extremity, the orthopedic joint device comprising an upper part, a lower part mounted in articulated fashion to the upper part, and a conversion device arranged between the upper and lower parts. The conversion device provides for, during pivoting of the upper part relative to the lower part, mechanical work from a relative movement between the upper and lower parts to be converted and stored in at least one energy store and supplied back to the joint device with a time offset in order to assist the relative movement. The stored energy is converted back and the supply of mechanical work takes place in a controlled manner during the assistance of the relative movement.

First claim

The invention claimed is:

1. A method for controlling a semi-active orthopedic joint device of a lower extremity, comprising:
providing the semi-active orthopedic joint device with an upper part, a lower part mounted to the upper part in an articulated manner, a conversion device arranged between the upper and lower parts and including a spring, an adjustable thrust rod, and a limit stop connected to the upper part and arranged to be contacted by the thrust rod, and a motor operably connected to the spring;
pivoting the upper part relative to the lower part, mechanically converting with the conversion device mechanical work from the relative movement between the upper and lower parts to energy, and storing the energy in the spring, wherein pivoting the upper part relative to the lower part tensions the spring, moves the adjustable thrust rod, and contacts the limit stop with the adjustable thrust rod;
re-supplying the energy from the spring to the joint device in a time-offset manner in order to assist relative movement of the upper and lower parts; and
reconverting the stored mechanical work in a controlled manner to assist relative movement of the upper and lower parts, the motor being operable to supply energy to or remove energy from the spring to control an amount of energy available from the spring to assist relative movement of the upper and lower parts.

2. The method as claimed in claim 1 , wherein the supply of mechanical work is modified by energy being externally supplied to, or removed from, the spring.

3. The method as claimed in claim 1 , comprising:
determining that the stored mechanical work is insufficient to assist relative movement of the upper and lower parts; and
filling the spring using the motor to a minimum level based upon the stored mechanical work being insufficient to assist relative movement of the upper and lower parts.

4. The method as claimed in claim 1 , wherein a release device is assigned to the spring, the release device being operable to release energy from the spring.

5. The method as claimed in claim 1 , wherein the mechanical work is supplied in a manner dependent on at least one of:
an angular position of the upper part relative to the lower part;
a position of at least one of the upper part and the lower part in space;
an angular velocity of at least one of the upper part and the lower part;
a relative velocity between the upper part and the lower part;
a load situation;
an acceleration of at least one of the upper part and the lower part.

6. The method as claimed in claim 1 , wherein the spring is configured to store energy, and the energy is supplied or removed in a manner dependent on at least one of:
an angular position of the upper part relative to the lower part;
a position of at least one of the upper part and the lower part in space;
an angular velocity of at least one of the upper part and the lower part;
a relative velocity between the upper part and the lower part;
a load situation;
an acceleration of at least one of the upper part and the lower part.

7. The method as claimed in claim 1 , comprising:
determining that the conversion device is not active due to the relative movement between the upper part and the lower part and;
charging the spring using the motor based upon the conversion device not being active due to the relative movement between the upper part and the lower part.

8. The method as claimed in claim 1 , wherein the relative movement is influenced by a damper device.

9. The method as claimed in claim 1 , wherein re-supplying the energy from the at least one spring to the joint device occurs after initiation of the relative movement.

10. The method as claimed in claim 1 , wherein the motor is operable to adjust when the rod contacts the limit stop during relative movement between the upper and lower parts, thereby controlling an amount of energy stored in the spring.

11. A semi-active orthopedic joint device of a lower extremity, comprising:
an upper part;
a lower part mounted to the upper part in an articulated manner;
a conversion device arranged between the upper and lower parts, the conversion device including a spring, an adjustable thrust rod, and a limit stop, the limit stop connected to the upper part and arranged to be contacted by the thrust rod, the conversion device being operable to mechanically convert mechanical work from relative movement between the upper and lower parts to energy stored in the spring, the conversion device being operable to re-supply the energy to the joint device in a time-offset manner in order to assist the relative movement; and
a motor operably connected to spring, the motor being operable to supply energy to or remove energy from the spring to control an amount of energy available from the spring to assist relative movement of the upper and lower parts, wherein pivoting the upper part relative to the lower part tensions the spring, moves the adjustable thrust rod, and contacts the limit stop with the adjustable thrust rod.

12. The semi-active orthopedic joint device as claimed in claim 11 , further comprising a separate damper device arranged between the upper part and the lower part.

13. The semi-active orthopedic joint device as claimed in claim 12 , wherein the separate damper device is adjustable.

14. The semi-active orthopedic joint device as claimed in claim 11 , wherein the conversion device is adjustably coupled to at least one of the upper part and the lower part in order to displace an engagement position or an adjustment travel.

15. The semi-active orthopedic joint device as claimed in claim 11 , wherein at least one of the conversion device and the spring has a combination of at least two springs, the at least two springs being effective over different angular ranges of the joint device.

16. The semi-active orthopedic joint device as claimed in claim 15 , wherein the at least two springs have different spring constants.

17. The semi-active orthopedic joint device as claimed in claim 11 , wherein the conversion device re-supplies the mechanical work to the joint device after initiation of the relative movement.

18. A semi-active orthopedic joint system of a lower extremity comprising:
an upper part;
a lower part movable relative to the upper part about a rotation joint;
a conversion device arranged between the upper part and the lower part and across the rotation joint, the conversion device including at least one spring, an adjustable thrust rod, and a limit stop, the limit stop connected to the upper part and arranged to be contacted by the thrust rod, the conversion device being operable to mechanically convert mechanical work from a first relative movement between the upper and lower parts to energy stored in the at least one spring, and re-supply the energy from the at least one spring to the joint system in a time-offset manner in order to assist a second relative movement between the first and second parts; and
a motor operable to supply energy to or remove energy from the at least one spring to control an amount of energy available from the at least one spring to assist the second relative movement, wherein pivoting the upper part relative to the lower part tensions the spring, moves the adjustable thrust rod, and contacts the limit stop with the adjustable thrust rod.

19. The semi-active orthopedic joint device as claimed in claim 18 , wherein the at least one spring includes at least two springs.

20. The semi-active orthopedic joint device as claimed in cla

Assignees

• Ottobock Se & Co Kgaa

Inventors

• Mosler Luder
• Pusch Martin
• Pappe Alexander
• Will Christian

Classifications

• A61F2002/5072

  having spring elements · CPC title

• A61F2/604 Primary

  Joints for artificial legs (A61F2/605, A61F2/64, A61F2/6607 take precedence) · CPC title

• A61F2002/5073

  Helical springs, e.g. having at least one helical spring · CPC title

• A61F2005/0155

  with actuating means · CPC title

• A61F2/74

  fluid {, i.e. hydraulic or pneumatic} · CPC title