Finger motion rail, support therefor and therapy device comprising same and operating method

Abstract

A finger motion rail is provided for a therapy device for carrying out passive and/or actively-assisted motion of the fingers and thumb of the hand. The therapy device has an upper shell, to which a kinematic motion mechanism of the finger motion rail for each selected finger is connected, each mechanism has a motion drive that is in control engagement with a control system. The kinematic motion mechanism of the finger motion rail, which mechanism has a carriage that moves in a rail provided around the metacarpophalangeal joint and a pivoting lever, is located at the side of each finger for the passive and/or actively-assisted motion of the selected fingers. This allows an individual finger motion rail with the kinematic motion mechanism to be provided for each selected finger, the rail being located at the side of each finger, thus permitting each selected finger to bend and/or stretch without constraint.

Claims

1. A therapy device for performing a sustained, passive and/or actively assisted motion of fingers or a thumb of a hand of a patient, the therapy device comprising: a support having an upper shell and a control system; at least one finger motion rail having a kinematic motion mechanism for a finger or the thumb and being connected to said upper shell, said kinematic motion mechanism having a motion drive being in control engagement with said control system; said kinematic motion mechanism having a rail, a carriage that moves in said rail and configured for being disposed around a metacarpophalangeal joint and at least one pivoting lever, said kinematic motion mechanism having at least one lever mechanism, said at least one pivoting lever configured for being disposed laterally alongside a finger or the thumb for the passive and/or actively assisted motion of the finger or the thumb; said motion drive providing motorized driving of said carriage, and said motion drive providing motorized driving of said at least one pivoting lever via said at least one lever mechanism; and said at least one finger motion rail disposed adjustably and lockably on said upper shell for the passive and/or actively assisted motion of a respective finger.

2. The therapy device according to claim 1, wherein said at least one pivoting lever includes: a first pivoting lever for securing a distal phalanx; and a second pivoting lever, said first pivoting lever is pivotably connected to said second pivoting lever, and said second pivoting lever is pivotably connected to said carriage.

3. The therapy device according to claim 2, wherein said carriage moves on an orbit which is defined by a shape of said carriage and/or of said rail.

4. The therapy device according to claim 2, wherein: said kinematic motion mechanism has a connection means; and said lever mechanism has at least two joint connections which pivotably connect said lever mechanism to said carriage, said rail, said first pivoting lever, said second pivoting lever or said connection means.

5. The therapy device according to claim 4, wherein a configuration of said joint connections is constructed that, during a movement of said carriage, a force transmission to said first pivoting lever, to said second pivoting lever and/or to said connection means takes place.

6. The therapy device according to claim 2, further comprising: a first releasable securing and/or bearing means for releasably securing and/or bearing a proximal phalanx of the finger to be treated are arranged on said carriage; and/or a second releasable securing and/or bearing means for releasably securing and/or bearing a distal phalanx of the finger to be treated are disposed on said first pivoting lever.

7. The therapy device according to claim 6, wherein at least one mechanical component of said kinematic motion mechanism and/or one of said first and second releasable securing and/or bearing means have at least one sensor for measuring a force acting on the finger and/or exerted by the finger on the finger motion rail.

8. The therapy device according to claim 7, wherein said sensor exchanges control data with the control system and/or with said motion drive.

9. The therapy device according to claim 6, wherein said first pivoting lever and/or said second releasable securing and/or bearing means have at least one sensor for measuring a force acting on the finger and/or exerted by the finger on the finger motion rail.

10. The therapy device according to claim 2, wherein said motion drive provides the motorized driving of at least one of said first or said second pivoting levers via said at least one lever mechanism indirectly by connection to said carriage.

11. The therapy device according to claim 1, further comprising a releasable clamping holder, the finger motion rails can each be fixed on said upper shell, by said releasable clamping holder, such that the finger motion rails can be adjusted in terms of a position with respect to said upper shell when said clamping holder is opened.

12. The therapy device according to claim 1, further comprising first and second releasable securing means, on a basis of said first and second releasable securing means, said upper shell is configured to be fixable on a hand rest or is configured to be fixable on an actual patient; and wherein said upper shell is configured to be fixable on a basis of said first releasable securing means on the hand of the patient and/or on a basis of said second releasable securing means on a forearm of the patient.

13. The therapy device according to claim 1, wherein said control system is mounted on said upper shell of said support.

14. The therapy device according to claim 1, wherein one or more of said at least one finger motion rail is adjustable and lockable parallel and/or perpendicular to an axis running from an elbow to a wrist of a patient.

15. The therapy device according to claim 1, wherein one or more of said at least one finger motion rail is attached to said upper shell by magnets or hook-and-loop fasteners.

16. The therapy device according to claim 1, further comprising mounting rails on said upper shell for mounting respective clamping holders.

Description

BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWING

(1) In the schematic drawings:

(2) FIG. 1a shows a plan view of a support with finger motion rails according to the invention for all five fingers of a hand, with a wired control connection between a control system and motion drives;

(3) FIG. 1b shows the support and finger motion rail from FIG. 1a, wherein the control connection between control system and motion drives is wireless;

(4) FIG. 2a shows a plan view of an individual finger motion rail from FIGS. 1a and 1b, arranged on the upper shell of a support and secured to the finger of a hand;

(5) FIG. 2b shows a side view of the finger motion rail from FIG. 2a secured to the finger of a hand;

(6) FIG. 3 shows a side view of a motion kinematic together with lever mechanism and joint connections in an extended state;

(7) FIG. 4 shows the motion kinematic from FIG. 3 in a partially flexed state;

(8) FIG. 5a shows a bottom view of a part of the motion kinematic from FIGS. 3 and 4;

(9) FIG. 5b shows a second pivoting lever together with connection means of the motion kinematic from FIG. 5a;

(10) FIG. 5c shows a perspective view of the underside of a preferred motion kinematic according to the invention;

(11) FIG. 6a shows a side view of an embodiment of a finger motion rail with motion kinematic and motion drive, wherein the motion drive is configured as a spindle drive;

(12) FIG. 6b shows a second embodiment of the finger motion rail from FIG. 6a, wherein the motion drive is configured as a worm drive arranged on the rail and having a correspondingly shaped carriage, which worm drive engages in a toothing formed on the carriage;

(13) FIG. 6c shows a further alternative embodiment of a finger motion rail in which the motion drive is configured as a worm drive arranged on the upper shell and having a correspondingly shaped carriage, which worm drive engages in a toothing formed on the carriage;

(14) FIG. 7 shows a therapy device comprising a support and five finger motion rails, wherein the finger motion rails for index finger, middle finger, ring finger and little finger are arranged relatively close to one another on the support and at the same height with respect to the hand/forearm axis; and

(15) FIG. 8 shows the therapy device from FIG. 7, wherein the finger motion rails for index finger, middle finger, ring finger and little finger are arranged relatively far apart from one another on the support and at a different height with respect to the hand/forearm axis.

DESCRIPTION OF THE INVENTION

(16) In the following description of preferred embodiments of the present invention, identical reference signs designate identical or comparable components.

(17) FIG. 1a and FIG. 1b each show a plan view of a support 1 with finger motion rails 2 according to the invention for all five fingers of a hand 3 and with a wired (FIG. 1a) and wireless (FIG. 1b) control connection between a control system 14 and motion drives 22.

(18) The therapy device shown serves to perform a sustained, passive and/or actively assisted motion of selected fingers of a hand 3. By way of the motion kinematics 21 of a finger motion rail 2, movement exercises can be performed on the respective finger that is to be moved, wherein the finger is flexed at the metacarpophalangeal joint 31, at the proximal interphalangeal joint 32 and at the distal interphalangeal joint 33.

(19) The therapy device moreover has a support 1 for one or, as shown here, several finger motion rails 2, and also an upper shell 10 which can be placed on the outer aspect of the forearm 4 and covers the wrist 30. As shown here, the upper shell 10 can be fixed by releasable securing means 12 and 13 advantageously to the forearm 4 and to the hand 3 of a patient. The wrist 30 of the patient is fixed by the upper shell 10, which prevents deflecting movements of the hand 3 via the wrist 30 and thus intensifies the treatment of the patient. However, a mobile fixing of the upper shell 10 can likewise be effected only on the forearm 4 or only on the hand 3. A temporary stationary fixing is also conceivable, for example on a hand rest to which the upper shell 10 can be fixed (not shown).

(20) On the upper shell 10, finger motion rails 2 can in particular be adjusted and locked parallel to an axis running from the elbow to the wrist 30. In this way, the support 1 is advantageously individually adjustable to fingers of different length of a patient or from patient to patient. By their configuration on the upper shell 10, the finger motion rails 2 can moreover be adjusted on the upper shell 10 perpendicular to an axis running from the elbow to the wrist 30. In this way, the support 1, in particular the upper shell 10, can be adjusted individually to different widths of hands 3 or a patient or from patient to patient (see also FIG. 7 and FIG. 8 for an explanation of this).

(21) The advantageously individual adjustability of the individual finger motion rails 2 can be permitted in different ways. Securing of the finger motion rails 2 on the upper shell 10 can be effected in particular by hook-and-loop fasteners or magnets, wherein the adjustment of the position of the finger motion rails 2 on the upper shell 10 results from the fact that the finger motion rails 2 can be secured to the upper shell 10 at different locations.

(22) In addition, in a further embodiment, adjustability and assembly of the finger motion rails 2 on the upper shell 10 can be permitted by the fact that the finger motion rails 2 are secured by a clamping holder 11 on rails 111 which are mounted on the upper shell 10. When the clamping holder 11 is opened, the position of the finger motion rails 2 can be adjusted, whereas the finger motion rails 2 are preferably immovable when the clamping holder 11 is closed (cf. also FIG. 8).

(23) A control system 14, which preferably comprises control electronics, can be arranged on the upper shell 10 and is in control connection to the various finger motion rails 2, in particular with the motion drives 22 thereof, for the individual fingers. This control connection can be provided by wires, as can be seen in FIG. 1a, but it can also be wireless, in particular via Bluetooth or another wireless data transmission method (FIG. 1b).

(24) FIG. 2a and FIG. 2b show a plan view (FIG. 2a) and a side view (FIG. 2b) of an individual finger motion rail 2 from FIGS. 1a and 1b which is arranged on the upper shell 10 of a support 1 and which is secured to the finger of a hand 3.

(25) It will be seen that the two pivoting levers 213; 214, connected pivotably to each other, and the carriage 211, connected to the second pivoting lever 214 and running in a rail 212, are advantageously arranged for the flexion movements of the fingers in a functional position laterally alongside the finger that is to be treated. The first pivot axis 23 between the first pivoting lever 213 and the second pivoting lever 214 preferably coincide approximately with the anatomical joint axis of the distal interphalangeal joint 33 or can be brought into coincidence with each other by the individual adjustability and lockability; similarly, the second pivot axis 24 between the second pivoting lever 214 and the carriage 211 is preferably approximately coincident with the anatomical joint axis of the proximal interphalangeal joint 32 or can be brought into coincidence with each other by the individual adjustability and lockability. The carriage 211 can advantageously move on an orbit whose center point 25 is approximately coincident with the anatomical joint axis of the distal interphalangeal joint 33 or can be brought into coincidence with each other by the individual adjustability ad lockability. The rail 212 is arranged pivotably and lockably on the upper shell 10, as a result of which the positions of the motion kinematics 21 can be adapted to the individual shapes of the hands 3. By virtue of this arrangement, a large part of the force transmitted to the finger can be used for performing the motion exercises. Forces acting otherwise are taken up by the finger and do not contribute to improving the state of the patient or can even lead to a deterioration of the state.

(26) The orbit on which the carriage 211 moves about the metacarpophalangeal joint 31 can result from the shape of the carriage 211 and/or from the shape of the rail 212. The arrangement of motion kinematics 21 laterally and directly alongside a metacarpophalangeal joint 31, as in the case of the proximal interphalangeal joint 32 and distal interphalangeal joint 33, is not possible insofar as the metacarpophalangeal joint 31 of another finger is already located there. This portion of the motion kinematics 21 is formed by the combination of rail 212 and carriage 211 and extends on an orbit laterally with respect to the metacarpophalangeal joint 31.

(27) In order to transmit the pivoting movement from the motion kinematics 21 to the patient's finger that is to be treated, the first pivoting lever 213 can advantageously be secured to the distal phalanx 331 with a second releasable securing and/or bearing means 27, and the carriage 211 can be secured on the metacarpophalangeal joint with a first releasable securing and/or bearing means 26. The releasable securing and/or bearing means 26 and 27 for securing and/or bearing the fingers, and the releasable securing means 12 and 13 for securing the support 1 on the forearm 4 and/or on the hand 3, can advantageously be used universally for different sizes of the body part that is to be secured.

(28) For the intended flexion movement of the fingers, the carriage 211, the second pivoting lever 214 and the first pivoting lever 213 are advantageously in drive engagement with the motion drive 22, such that the carriage 211 and the two pivoting levers 213 and 214 can be actively pivoted in accordance with the natural flexion movement of the fingers. In order to transmit the pivoting movement from the motion drive 22 to the carriage 211, the motion drive 22 is connected to the carriage 211. In a first embodiment, the motion drive 22 can preferably be configured as a spindle drive, of which the spindle is advantageously operatively connected to the carriage 211 of the finger motion rail 2.

(29) In order to transmit the pivoting movement from the motion drive 22 to the two pivoting levers 213 and 214, at least one lever mechanism 215, 216 is preferably provided according to the invention.

(30) FIG. 2a moreover shows that, in particular to perform an actively assisted flexion and/or extension movement, preferably the second securing means 27 can comprise a sensor 28 for measuring the force acting on the respective finger and/or exerted on the finger motion rail 2 by the respective finger. For this purpose, six-axis force sensors are suitable, such as are disclosed in DE 100 32 363 A1.

(31) FIG. 3 and FIG. 4 each show a side view of a motion kinematic 21 together with lever mechanism 215, 216 and joint connections 217, 218, 220, 221 in an extended state (FIG. 3) and a partially flexed state (FIG. 4).

(32) The lever mechanism 215, 216 is preferably accommodated at least partially inside the outer contour of the pivoting lever (cf. FIGS. 5a and 5c). The lever mechanism 215, 216 and the pivoting levers 213, 214 are adapted by their structure to the force that is needed to move the respective finger that is to be treated. This means that, at a constant uptake of force from the motion drive 22, the motion kinematic 21 makes available different forces for the motion therapy. A more or less extended finger requires little force in order to be flexed, whereas a considerably flexed finger requires much more force in order to be further flexed. The motion kinematic 21 is adapted approximately to these differences. With a finger more or less extended, a lower force is exerted on the finger than in the case of a more or less flexed finger.

(33) To illustrate this, FIGS. 5a to 5c show parts of the motion kinematics 21 of a finger motion rail 2 from different viewing angles and in an enlarged representation.

(34) FIG. 5a shows a bottom view of a part of the motion kinematics 21 from FIGS. 3 and 4. It reveals in particular the interaction of the first pivoting lever 213 and second pivoting lever 214, and also of the carriage 211 with the first lever mechanism 215 and the second lever mechanism 216.

(35) For the intended flexion movement of the fingers, the carriage 211, the second pivoting lever 214 and the first pivoting lever 213 can advantageously be in drive engagement with the motion drive 22, such that the two pivoting levers 213 and 214 are actively pivoted via the carriage 211 in accordance with the natural flexion movement of the fingers. In order to transmit the pivoting movement from the motion drive 22 to the carriage 211, the motion drive 22 is connected to the carriage 211. In order to transmit the pivoting movement from the motion drive 22 to the two pivoting levers 213 and 214, at least one lever mechanism is provided, preferably two lever mechanisms 215, 216 are provided.

(36) A first lever mechanism 215 can advantageously be pivotably connected to the rail 212 via a joint connection 217 and to the second pivoting lever 214 via a second joint connection 218, in particular via a connection 219.

(37) FIG. 5b shows an enlarged representation of a second pivoting lever 214 and connection means 219 from FIG. 5a. As can be seen here, the second pivoting lever 214 and the connection means 219 can be formed in one piece. Alternatively to this, the second pivoting lever 214 and the connection means 219 can also be two separate components and in particular can be rigidly connected to each other, for example welded to each other.

(38) The arrangement of the joint connections 217 and 218 is preferably configured in such a way that, in the motorized driving of the carriage 211 by the motion drive 22, the second pivoting lever 214 can also be motor-driven by the motion drive 22 via the lever mechanism 215. A second lever mechanism 216 can furthermore be pivotably connected to the carriage 211 via a first joint connection 220 and to the first pivoting lever 213 via a second joint connection 221. The arrangement of the joint connections 220 and 221 is preferably configured in such a way that, in the motorized driving of the carriage 211 by the motion drive 22, the first pivoting lever 213 can also be motor-driven by the motion drive 22 via the lever mechanism 216.

(39) FIG. 5c is a perspective bottom view illustrating the interaction of the motion kinematics 21 of a preferred finger motion rail 2 according to the invention. Here, the first lever mechanism 215 and the second lever mechanism 216 are advantageously accommodated at least partially inside the outer contour of the first pivoting lever 213 and second pivoting lever 214.

(40) FIGS. 6a to 6c are side views showing alternative embodiments of a finger motion rail 2 according to the invention with motion kinematics 21 and motion drive 22. It will be seen from FIG. 6a that the motion drive 22 is itself advantageously of a pivotable design or can be arranged pivotably on the upper shell 10. If the motion drive 22 is configured as a spindle drive as in the example shown here, then a pivotability or a pivotable arrangement of the motion drive 22 on the upper shell 10 can advantageously tolerate a movement of the spindle, advantageously operatively connected to the carriage 211 for force transmission, particularly if the connection point of spindle and carriage 211 has to follow the shape of the rail 212 and/or the shape of the carriage 211 during the operation of the therapy device. As an alternative to this, as shown in FIG. 6b and FIG. 6c, the motion drive 22 can also be configured as a worm drive which drives the carriage 211 by engagement of its worm head 222 in a toothing 223 formed on the carriage 211. The motion drive 22 can be arranged on the rail 212, as can be seen in FIG. 6b, or, as is shown in FIG. 6c, it can be arranged on the upper shell 10 of the support 1. In the latter case, it can be advantageous if the drive shaft of the motion drive 22 has bevel gears 221 for transmitting force to the carriage 211.

(41) FIG. 7 and FIG. 8 finally show alternative embodiments of a preferred therapy device according to the invention comprising a support 1 and five finger motion rails 2.

(42) FIG. 7 shows an embodiment in which the finger motion rails 2 for index finger, middle finger, ring finger and little finger are arranged relatively close to one another on the support 1 and at the same height with respect to the “hand 3/forearm 4” axis. Here, the finger motion rails 2 for passive and/or actively assisted motion of the respective finger are advantageously arranged adjustably and lockably on the upper shell 10, in particular magnetically or by a hook-and-loop fastener.

(43) As an alternative or addition to the above, FIG. 8 shows an adjustable and lockable securing of the finger motion rails 2 on the upper shell 10 by means of rails 111 and clamping holders 11. This can advantageously permit an individual adjustment to fingers of different lengths. The spacing of the finger motion rails 2 from one another is wider in this example, as may be expedient for a comparatively wider finger spacing and/or for a comparatively broader hand 3.

(44) The present invention makes available a finger motion rail 2, having dedicated motion kinematics 21 for each selected finger, which is for the first time arranged laterally of the finger that is to be treated. A therapy device is thus created which is able to perform the movements in a manner adapted to each finger and thus more ergonomically and more effectively. Therefore, a great improvement is achieved over the prior art, in which the motion kinematics can still only be adapted inadequately to the different shapes of the fingers.

LIST OF REFERENCE SIGNS

(45) 1 support 10 upper shell 11 clamping holder for fixing the finger motion rail 2 111 rail 12 first securing means for fixing the upper shell 10 on the hand 3 13 second securing means for fixing the upper shell 10 on the forearm 4 14 control system

(46) 2 finger motion rail 21 motion kinematic 211 carriage 212 rail 213 first pivoting lever 214 second pivoting lever 215 first lever mechanism 216 second lever mechanism 217 first joint connection of the first lever mechanism 215 218 second joint connection of the first lever mechanism 215 219 connection means 220 first joint connection of the second lever mechanism 216 221 second joint connection of the second lever mechanism 216 22 motion drive 221 bevel gear 222 worm head 223 toothing 23 first pivot axis between first pivoting lever 213 and second pivoting lever 214 24 second pivot axis between second pivoting lever 214 and carriage 211 25 center point of the orbit 26 first securing and/or bearing means for securing to the carriage 211 27 second securing and/or bearing means for securing to the first pivoting lever 213 28 sensor

(47) 3 hand 30 wrist 31 metacarpophalangeal joint 311 proximal phalanx 32 proximal interphalangeal joint 321 middle phalanx 33 distal interphalangeal joint 331 distal phalanx

(48) 4 forearm