Abstract
The invention relates to a prosthetic device for a lower extremity comprising a prosthetic food and a lower leg part secured to the prosthetic foot, as well as a device for manually adjusting an orientation of the lower leg part relative to the prosthetic foot, wherein an inertial angle sensor is arranged on the prosthetic device, which detects the orientation of the lower leg part in the space and which is coupled to an output device which in turn outputs the orientation of the lower leg part in the space or the reaching of a previously determined orientation with an output signal in a manner that can be perceived by a user.
Claims
1. A prosthetic device for a lower extremity, comprising a prosthetic foot and a lower-leg part fastened to the prosthetic foot, and a device for manually adjusting an orientation of the lower-leg part relative to the prosthetic foot, characterized in that an inertial angle sensor is arranged on the prosthetic device, serves to detect the orientation of the lower-leg part in space and is coupled to an output device which outputs, in a manner identifiable by a user by way of an output signal, the orientation of the lower-leg part in space or the attainment of an orientation defined in advance.
2. The prosthetic device of claim 1, wherein the inertial angle sensor and the output device are combined as a module and integrated in the prosthetic device or are detachably fastened thereto.
3. The prosthetic device of claim 1, wherein the inertial angle sensor is arranged on the lower-leg part or wherein the prosthetic device has a prosthesis component arranged proximal to the lower-leg part, and the inertial angle sensor is arranged on said prosthesis component.
4. The prosthetic device of claim 1, wherein a load sensor is arranged on the prosthetic device and is coupled to the output device in such a way that the output signal is output if a load is detected.
5. The prosthetic device of claim 4, wherein the load sensor is designed as an axial force sensor, pressure sensor or torque sensor.
6. The prosthetic device of claim 1, wherein the output device is designed to output an optical, acoustic and/or tactile output signal.
7. The prosthetic device of claim 1, wherein the prosthetic foot is mounted so as to be pivotable in the sagittal plane.
8. The prosthetic device of claim 1, characterized by a deactivation device, which deactivates the inertial angle sensor and/or the output device or the connection between the inertial angle sensor and the output device after the orientation defined in advance has been attained.
9. An adjustment device for manually adjusting an orientation of a lower-leg part relative to a prosthetic foot of a prosthetic device of a lower extremity, wherein the adjustment device comprises an inertial angle sensor which detects the orientation of the lower-leg part in space and which is coupled to an output device which outputs, in a manner identifiable by a user by way of an output signal, the orientation of the lower-leg part in space or the attainment of an orientation defined in advance.
10. The adjustment device of claim 9, wherein the output device is designed to output an optical, acoustic and/or tactile output signal.
11. The adjustment device of claim 9, wherein a fastening device for securing to a prosthetic device is arranged or formed on the adjustment device.
12. A method for manually adjusting an orientation of a lower-leg part of a prosthetic device of a lower extremity relative to a prosthetic foot fastened to the lower-leg part, wherein an adjustment device with an inertial angle sensor is arranged on the prosthetic device, the inertial angle sensor detecting the orientation of the lower-leg part in space and being coupled to an output device, wherein a reference orientation of the lower-leg part in space is set for a user and the attainment of the reference orientation set in advance is output in a manner identifiable by a user by way of an output signal.
13. The method of claim 12, wherein the adjustment is performed in the case of an applied, or more particularly a loaded prosthetic device.
14. The method of claim 12, wherein the adjustment is carried out automatically for each change in prosthetic foot, for each change in heel height or following an activation signal.
Description
[0019] Exemplary embodiments of the invention are explained in more detail below on the basis of the attached figures, in which:
[0020] FIG. 1 shows a schematic illustration of an adjustment procedure;
[0021] FIG. 2 shows a prosthetic device with different shoes;
[0022] FIG. 3 shows a schematic illustration of a prosthetic device with a lower-leg socket;
[0023] FIG. 4 shows a variant of FIG. 3 with a prosthetic knee joint and a thigh socket;
[0024] FIG. 5 shows a schematic illustration with a separate output device; and
[0025] FIG. 6 shows a variant with an integrated output device.
[0026] FIG. 1 shows three positions or states in which a prosthetic device may be found during the use. In the left-hand illustration of FIG. 1, the prosthetic device is shown with a prosthetic foot 10 and a lower-leg part 20. A prosthetic knee joint which is connected to a thigh socket (not illustrated) is arranged at the proximal end of the lower-leg part 20. The prosthetic device is secured to a thigh stump by way of the thigh socket. In the illustrated exemplary embodiment, an inertial angle sensor 30, which is also referred to as inertial measurement unit or IMU and which may be constructed as an assembly made of one or more gyroscopes, optionally complemented by acceleration sensors, is arranged on the lower-leg part 20. The orientation shown in the left-hand illustration of FIG. 1 is stored as a reference orientation, with the respective longitudinal extents of the prosthetic foot 10 and of the lower-leg part 20 lending themselves as reference variables. The stored reference orientation is the so-called reference setup of the prosthetic device, which is set, stored and documented by an orthopedic technician. Storage may be implemented in a memory device which can be part of a control device for controlling a damping device in the prosthetic knee joint. Likewise, the inertial angle sensor 30 may be part of the control device for the prosthetic knee joint. The prosthesis setup is the spatial assignment of the individual prosthesis components to one another. What is sought after in the reference setting is that all prosthesis components are aligned optimally with respect to one another so that the prosthesis user can draw the greatest possible use from the prosthetic device. Since the prosthetic device is generally worn with a shoe 11, it is necessary to set the prosthesis setup when the shoe 11 is worn. As a rule, the shoe 11 is a model as usually worn by the user. If the shoe model is changed and if the shoe 11 has a different heel height, as illustrated in the middle illustration of FIG. 1, there is a change in the prosthesis setup and, in particular, in the orientation of the lower-leg part 20. In the middle illustration of FIG. 1, it is possible to identify that the longitudinal extent of the lower-leg part 20 is inclined forward on account of the different heel height, there likewise being a change in the inclination of the prosthetic foot 10. The inertial angle sensor 30 or the IMU 30 detect the inclination and the orientation of the lower-leg part 30 in space, either following the activation of a checking mode by the user or automatically. Since the orientation of the lower-leg part 30 no longer corresponds to the reference orientation, the signal that the alignment and the prosthesis setup are no longer correct is output via an output device (not illustrated). Subsequently, e.g., a locking of a pivot axis, about which the prosthetic foot 10 can be pivoted relative to the lower-leg part 20, is unlocked or released and the lower-leg part 20 is pivoted until the reference orientation has been resumed. As soon as this is the case, the output device provides an appropriate signal to the user, who can reactivate the locking device and lock the pivot axis. The correct relative spatial position is detected by way of the IMU or the inertial angle sensor 30 and indicated by an optical, acoustic and/or tactile signal. Alternatively, the respectively adopted relative spatial position angle or the distance from the reference angle or from the reference orientation can be indicated by way of the output device. The lower-leg part 20 is back in the original reference orientation in the right-hand illustration, as indicated by the dashed line.
[0027] FIG. 2 shows the relevant components of the prosthetic device in individual depictions. The left-hand illustration shows a prosthetic foot 10 in a shoe 11 with a heel 12. The prosthetic foot 10 has a pivoting device 15, about which the lower-leg part 20 in the form of a lower-leg tube can be pivoted about a pivot axis. An inertial angle sensor 30 is fastened to the lower-leg part 20. The second illustration from the left shows an alternative shoe 11 with a higher heel 12. In the third illustration from the left, the prosthetic foot 10 has been inserted into the alternative shoe 11. On account of the different heel drop between the two shoe models it is necessary to pivot the lower-leg part 20 counter to the opposite direction, that is to say to the back. To this end, the lower-leg part 20 is pivoted backward in the direction of the arrow, and the pivoting procedure or the relative spatial position orientation of the lower-leg part 20 is checked by the inertial angle sensor 30. As soon as the correct alignment of the lower-leg part 20 in space has been attained, in particular when the patient uniformly loads both the supported side and the unsupported side, an optical, acoustic and/or tactile signal is output by way of an output device 40, said signal indicating that the correct orientation has been attained. Then, the user locks the pivoting device 15 in relation to an unwanted displacement of the prosthetic foot 10 relative to the lower-leg part 20. Subsequently, the power supply to the output device 40 can be interrupted in order to save power. The inertial angle sensor 30 can continue to be used for the provision of sensor data.
[0028] In FIG. 3, the prosthetic device with the prosthetic foot 10, the lower-leg part 20 and the inertial angle sensor 30 fastened thereto is shown in a schematic illustration. The prosthetic foot 10 is mounted on the lower-leg part 20 so as to be pivotable about an axis by way of the pivoting device 15. The lower-leg part 20 has a lower-leg socket and a lower-leg tube, on which the inertial angle sensor 30 is secured either permanently or in removable fashion. Moreover, a securing device 70 is provided on the lower-leg socket, it being possible to secure the output device 40 (not shown) or a module consisting of the inertial angle sensor 30 and the output device 40 to said securing device. The module, the output device 40 and/or the inertial angle sensor 30 are designed to be securable and attachable to the securing device 70 in preferably nondestructively detachable fashion. Securing can be implemented by way of interlocking elements such as screws, bolts, hooks or clip elements, or by way of a frictional connection by means of magnets or by means of a combination of interlocking elements and frictionally connected elements. The arrangement of the inertial angle sensor 30 or the IMU then can be implemented either integrated in, or detachably fastened to, a part of the ankle joint, which is securely connected to the lower-leg part 20. It is likewise possible to arrange the sensor 30 on a structural part of the lower-leg part 20, for example the lower-leg tube or in the lower-leg socket.
[0029] FIG. 4 schematically illustrates a prosthetic device, in the case of which a proximal prosthesis component 50 is arranged on the lower-leg part 20. By way of example, the proximal prosthesis component 50 is a thigh socket with a connecting tube to a prosthetic knee joint 25. In the illustrated exemplary embodiment, the inertial angle sensor 30 is arranged again on the lower-leg part 20, alternatively the inertial angle sensor 30 and optionally the output device 40, too, can be arranged integrated in, or detachably fastened to, the knee joint 25 or the thigh socket or a connecting part between the thigh socket and the prosthetic knee joint. Likewise, the inertial angle sensor 30 can be arranged on an upper part of a prosthetic knee joint. In conjunction with an angle sensor which records the angle between the lower-leg part 20 and the proximal component 50, the relative spatial position of the lower-leg part 20 can be detected from the relative spatial position of the proximal component 50. In the exemplary embodiment of FIG. 4, load sensors 60 are moreover provided and arranged on the prosthetic foot 10 and the pivoting device 15. By way of example, the load sensors 60 can be axial force sensors, pressure sensors and/or torque sensors for registering the respective load on the prosthetic device. The load sensors 60 or the load sensor 60 are/is coupled to a control device which is also coupled to the inertial angle sensor 30. In this way, it is possible to recognize, for example, whether or not there is an adjustment of the prosthesis setup in the case of a loaded prosthetic device. In the exemplary embodiment as per FIG. 4, the output device 40 is combined in a module with the inertial angle sensor 30 and secured to the lower-leg part 20.
[0030] In FIG. 5, the output device 40 is formed separately and spatially separated from the inertial angle sensor 30, for example in the form of a cellular telephone to which appropriate data can be transmitted wirelessly from the inertial angle sensor 30, optionally by way of a separate transmission device. The data transfer from the sensor system to the output device 40 can be implemented by radio, WLAN, Bluetooth, NFC or any other method of transfer. The output device may output acoustic feedback or a vibration signal in addition to an optical display in order to inform the user about the correct adjustment following a heel height change.
[0031] FIG. 6 illustrates a further variant of the invention, in which the output device 40 is arranged on the prosthetic socket 50 ss a proximal component. The output device 40 is integrated in the prosthetic socket 50. The inertial angle sensor 30 or the IMU is arranged on the lower-leg part 20. The transfer from the inertial angle sensor 30 to the output device 40 is implemented wirelessly. Following manual unlocking of the prosthetic foot 10 relative to the lower-leg part 20, the prosthetic foot 10 is placed on the floor, for example with a shoe, in particular with a shoe with a heel height that differs from that of a previously fitted shoe. Contact between the prosthetic foot 10 and the floor is ascertained by way of the force sensor 60. The lower-leg part 20 is pivoted about the ankle joint 15 until the previously set reference orientation of the lower-leg part 20 in space has been attained. To this end, provision can be made, for example, for the lower-leg part 20 to be situated within the sagittal plane or else within a defined angular range medially and laterally from the sagittal plane. Once the reference orientation of the lower-leg part 20 has been attained, the output device 40 outputs an optical, acoustic or tactile signal, which is implemented when the desired position is attained.
