Abstract
A hollow tubulous composite structure and method for prosthetic limbs is described.
Claims
1. (canceled)
2. A prosthetic foot comprising: a heel coil spring that is a tubulous hollow molded carbon fiber helical coil spring having a helical path around a heel spring axis, the spring helical coil configured along a helical path with at least one complete 360 degree coils around the heel spring axis, the heel coil spring comprising fibers arranged along the path of the coil to provide bending strength and stiffness and bias oriented fibers extending around the entire circumference of the tubulous member to provide torsional strength to store, release and carry torsional and transverse shear loads, a forward coil spring that is tubulous hollow molded carbon fiber helical coil spring having a helical path around a forward spring axis, the spring helical coil configured along a helical path with at least one complete 360 degree coil around the forward spring axis, the forward tubulous hollow member comprising fibers arranged along the path of the coil to provide bending strength and stiffness and bias oriented fibers extending around the entire circumference of the tubulous member to provide torsional strength to store, release and carry torsional and transverse shear loads, a mounting element for securing the prosthetic foot to a lower limb prosthetic structure, the heel coil spring attached to the mounting element with the heel spring axis extending vertically downward, the forward spring attached to the mounting element and extending forward from the mounting element.
3. The prosthetic foot of claim 2 wherein the heel coil spring wherein spring helical coil is configured along a helical path with at least three complete 360 degree coils around the heel spring axis
4. The prosthetic foot of claim 2 wherein the fibers in the heel coil spring and in the forward coil spring are arranged in at least two plies that have different angular orientations with respect to the helical path
5. The prosthetic foot of claim 4 wherein the angular orientation of fibers in any ply of the at least two plies is a nominal degree angle of +45 degrees, −45 degrees, 90 degrees or 0 degrees.
6. The prosthetic foot of claim 2 wherein the forward spring axis of the forward coil spring extends vertically down from the mounting element.
7. The prosthetic foot of claim 2 wherein the forward spring axis of the forward coil spring extends laterally from the mounting element.
8. The prosthetic foot of claim 2 wherein the of the forward coil spring includes an integrated toe section.
Description
BRIEF DESCRIPTION OF DRAWINGS
[0036] FIG. 1 illustrates a double coil design inside a cutaway view of a cosmesis.
[0037] FIG. 2 illustrates another view of the double coil design.
[0038] FIG. 3 illustrates a foot design with four separate lightly curved tubulous limbs inside a cutaway view of a cosmesis.
[0039] FIG. 4 illustrates another view of the four limbed foot.
[0040] FIG. 5 illustrates a nested double coil foot design.
[0041] FIG. 6 illustrates a nested double coil foot design
[0042] FIG. 7 illustrates sulcated tubulous member.
[0043] FIG. 8 illustrates sulcated tubulous member.
[0044] FIG. 9 illustrates a nested double coil foot design
[0045] FIG. 10 illustrates a molding tool for the
[0046] FIG. 11 illustrates a single coil foot design
[0047] FIG. 12 illustrates a molding tool for the
[0048] FIG. 13 illustrates a single coil foot design
[0049] FIG. 14 illustrates sulcated tubulous member
[0050] FIG. 15 is a schematic illustrating a prior-art prosthetic foot construction.
[0051] FIG. 16 illustrates a double lumen variant of the tubulous coil member of FIG. 1.
[0052] FIG. 17 is a schematic illustrating the solid flat laminate typical of a prior-art prosthetic foot construction.
[0053] FIG. 18 is a schematic of tubulous composite member typical of the present invention.
[0054] FIG. 19 is a schematic illustrating a prior-art prosthetic foot construction.
[0055] FIG. 20 is a schematic illustrating a prior-art prosthetic foot construction.
[0056] FIG. 21 illustrates the method for projecting the longitudinal centerline path of a tubulous member onto a plane for calculating the angular sweep.
[0057] FIG. 22 illustrates the method for measuring the angular sweep of longitudinal centerline path of a tubulous member.
[0058] FIG. 23 illustrates the method for measuring the angular sweep of longitudinal centerline path of a tubulous member.
[0059] FIG. 24 illustrates the method for measuring the angular sweep of longitudinal centerline path of a tubulous member.
[0060] FIG. 25 shows schematics illustrating prior-art prosthetic foot constructions.
[0061] FIG. 26 shows schematics illustrating prior-art prosthetic foot constructions.
[0062] FIG. 27 shows schematics illustrating prior-art prosthetic foot constructions.
[0063] FIG. 28 shows schematics illustrating prior-art prosthetic foot constructions.
[0064] FIG. 29 shows schematics of commercial products illustrating prior-art prosthetic foot constructions.
[0065] FIG. 30 shows schematics of commercial products illustrating prior-art prosthetic foot constructions.
[0066] FIG. 31 shows schematics of commercial products illustrating prior-art prosthetic foot constructions.
DETAILED DESCRIPTION
[0067] An embodiment is a prosthetic foot comprising a mounting element and a tubulous fiber composite member. The mounting element is securable to a lower limb prosthetic structure. The tubulous fiber composite member is attached to the mounting element, and is in the form an elongated hollow shape or shapes that follow a not-straight path corresponding to a longitudinal centerline of the shape.
[0068] The path sweeps an angular change between two points located on the path.
[0069] The angular change is measured by projecting the path onto a plane fixed in space with respect to the foot. Referring to FIG. 21, shown is an exemplary tubulous fiber composite member 2101, the path or longitudinal center line 2102, and a projection plane 2104 upon which the path is projected. The incremental angle swept 2103 by the path 2102 in this case between points A and B is 32 degrees. This is just the incremental angle swept over a portion of the path, not the total angle swept over the entire length of the particular tubulous member. The path can be projected upon any of the three primary planes defined by any two the three primary axes shown in FIG. 1, i.e. the vertical, lateral, or fore-aft axes.
[0070] In addition, where there are two or more hollow shapes, or there is branching from one to two or more paths, the angular change can be measured between any two points on the structure.
[0071] Reference is now made to FIG. 1. For the purposes of this description, the three principle axes of a prosthetic foot are referred to as the fore-aft axis running forward and backward through the middle of the foot in a horizontal orientation; the lateral axis oriented side-to-side, 90 degrees to the fore-aft axis of the foot; the vertical axis oriented vertically.
[0072] The fiber composite shape is formed by fiber plies with fibers in each ply oriented in a particular direction. For sustaining loads that are subjected to the foot, there are plies oriented at +45 degrees, −45 degrees, and 0 degrees with respect to the direction of the path or longitudinal centerline. These degree values are nominal values, and actual orientations within plus or minus 20 degrees is acceptable for most shapes.
[0073] The tubulous fiber composite member can comprise one hollow shape or more than one hollow shape, i.e., there can be one or more separate paths. For example, composite member can comprise a shape or shapes over the heel 305, 306, and separate shape or shapes 303, 304, directed toward the toe of the foot (See FIGS. 3 and 4). One composite member 605 may optionally branch into “toes” 602, 603 (See FIG. 6). In addition, a member with a path 701 can diverge from one to two or more members and paths 702, 703, 704, and multiple paths can converge to fewer or one path. (See FIGS. 7 and 8). For each hollow shape, the hollow may be continuous or subdivided into multiple hollows. For example, in FIG. 16 is shown a shape with an internal wall 1602 extending generally along its path that subdivides the hollow into two hollow chambers 1603 and 1604, or lumens.
[0074] The composite member can have any suitable cross-section, such as, for example, circular, ovoid, polygonal, rectangular, and the cross-section can vary along the longitudinal center line both in size and shape. Examples of composite members are shown in the figures. FIG. 5 part 501 shows a composite member having a hollow shape configured as a helix with an axis parallel the vertical axis. FIG. 2 part 103 shows a composite member having a hollow shape configured as a tapered helix with an axis parallel the vertical axis.
[0075] Reference is now made to FIGS. 10 and 12. The composite members are preferably manufactured from materials containing long, commonly referred to as continuous, reinforcing fibers such as carbon, Kevlar, or fiberglass preimpregnated with curable resin, which are configured around an inflatable bladder or other device to form the core of the element, within a mold. Most commonly a bladder is used to apply the necessary laminate compaction pressure by being inflated and the mold is heated to a temperature sufficient to melt the resin and activate the curing process. This forms the composite fibers into a tubulous shape with a circular cross-section or other non-circular cross-sectional shape. This tubulous configuration permits the composite material to handle shear stresses very effectively. The result is a stiff tubular frame that is extraordinarily light. The diameter of the composite tube, the cross-sectional shape of the tube, the thickness and number of layers of composite material utilized and the composition of the composite materials utilized may be altered to achieve optimum performance characteristics.
[0076] Many variations are possible in the manufacturing process of hollow composite tubing. For example, disentegratable core material may be used inside an inflatable bladder to rigidize the bladder, making it easier to place fiber materials on the bladder. The entire assembly, consisting of fiber overwrapping the bladder with an internal core may then be placed inside the mold, the mold can then be closed and heated, and air or other gas is used to pressure the bladder internally, compacting and applying pressure to the fiber resin composite structure. In addition, fiber material may also be placed directly on the tool mold cavity surfaces. Some fiber material could be placed in the tool and some material placed on the bladder.
[0077] Pre-impregnated fiber material is generally used, which has uncured epoxy resin already impregnated into the fiber. Dry fiber can also be used, such as woven or braided material. If dry materials are used, liquid epoxy resin can be injected during cure using an external pump or a transfer device inside the tool which forces a volume of resin to be moved from a precharged reservoir in the tool into the part during cure. Inflation of the internal pressure bladder can be coordinated with the resin injection in this case.
[0078] A preferred construction of composite fiber tubing utilizes unidirectional fiber oriented along the wire sections, at 0°, consisting of roughly 25% to 75% of the total laminate thickness. Additional layers of fiber are oriented at ±45° and at 90° to the wire center line. The fibers may also be oriented at other angles corresponding to the principle directions of stress within the structure. The use of ±45° fiber in the hollow tubing wall allows the springs to efficiently store, release and carry torsional and transverse shear loads. Prior art dynamic response prosthetic feet produced in autoclaves lack this ability and their geometries are significantly restricted.
[0079] The use of ±45° and optionally 90° fiber orientation in the composite fiber tubing walls sections also greatly strengthens the resistance to delamination type forces. In sum, the use of hollow composite tubular walled wire sections containing ±45° and optionally 90° fiber in the cross section walls allows the spring to become a torsional spring in some or all areas rather than a pure flexural spring as in prior art dynamic response feet. The ability to carry torsional loads allows a more complex geometry, which in turn allows designs to be developed with longer wire lengths. This allows greater compliance in the foot while reducing or maintaining stresses at the previous level. This allows greater compliance while minimizing breakage and delamination problems. The use of hollow cross sections also removes inefficient material from the prosthetic foot, reducing the weight of the foot. If a wide flat cross section is desired, multiple hollow cavities extending the length of the section may be utilized in what is referred to as a multi-celled hollow structure.
[0080] It will also be understood that the hollow tubulous elements may be filled with various other materials as deemed necessary to enhance the performance of the foot.
[0081] A helical structure of the spring allows the efficient storage of torsional loads over a relatively long wire length. The cross section of the wire in the loops of the heel spring may also vary to alter the compression profile of the spring.
[0082] Apart from changing composition of composite materials utilized, such as utilizing fiberglass for lower modulus and higher flexibility in portions of the composite frame, the fiber orientation may also be changed to provide additional strength in certain directions. For instance, the fibers are preferably aligned at about a 45 degree angle to the axis of the tubing to manage the torsional load in the helical spring portions of the frame. By utilizing helical spring elements additional effective length is added to the springs while providing relatively lower profile for the dynamic responsiveness or energy sharing capacity of the foot.
[0083] Refer now to FIGS. 1 and 2. It illustrates a double coil design inside a cutaway view of a cosmesis. The three principle directions or axes of the foot geometry system are shown. Both coils have their primary axis oriented vertically. The aft coil is a tapered helix several coils long 103, while the forward coil 102 is only one coil long and constant taper. The primary axis of forward coil may alternatively be rotated 90 degrees to be oriented in the lateral axis. The foot is typically covered with a cosmesis 101, normally a flexible rubber with a color to match the amputee's skin color. The cosmesis typically provides the structural interface between the shoe and the internal foot structure. Sometimes additional foot plates are added to the bottom of the foot structure to interface structurally between the cosmesis and the foot structure. In this embodiment the forward coil and aft coils would be made separately, and joined together somewhere along the side piece 201. The upper square piece is typically titanium and connects to a standardized pyramid adapter connection to the rest of the prosthesis connected to the patient's residual limb. The upper connector piece 105 is made of aluminum in this embodiment and the carbon fiber members are bonded into receptacles provided in it.
[0084] Refer now to FIGS. 3 and 4. It illustrates a foot design with four separate lightly curved tubulous limbs inside a cutaway view of a cosmesis. This embodiment illustrates a foot design much simpler geometrically than the double coil design shown in FIGS. 1 and 2. However, the most of the advantages of the hollow tubulous member feet of the present invention are still obtained. Four receptacles 307, 401 are provided in the upper connector piece 302 for connecting to the four hollow tubes 303, 304, 305, 306. Sometime the hollow spaces in the tube might be filled with epoxy or other material to enhance various characteristics.
[0085] Refer now to FIGS. 5 and 11. They illustrate the use of straight helical tubulous composite members 501, 502, 1101; and a separately formed base plate 501, 1102. The base plates could be either a flat solid composite laminate, or a hollow partially tubulous structure. Foot 510 in FIG. 5 uses two coils 501, 502 which are nested inside each other. Foot 1110 uses only one coil member 1101.
[0086] Refer now to FIGS. 9, 10 and 12. FIG. 9 illustrates a foot 903 constructed with two separately molded tubulous members 901, 902. The heel member 902 is a straight helical path, while the forward member 901 is a helical path integrated with a toe section. FIG. 10 illustrates the molding tooling 1010 used for manufacturing the forward member 901. The external molding tooling 1001 and 1002 contain and enclose all the mold components and have surfaces which form about half of the external surface of forward member 901. There are several internal mold components which fit inside the mold 1003, 1004, 1005, 1006, 1008 and form the other approximately half of the external surface of the forward member 901. There is also an internal core piece 1007 which facilitates removal of the internal mold components from the molded forward member 901. Likewise, FIG. 12 illustrates the molding tooling 1210 used for manufacturing the heel member 902. The external molding tooling 1201 and 1202 contain and enclose all the mold components and have surfaces which form about half of the external surface of heel member 902. There are several internal mold components which fit inside the mold 1203, 1204, 1205 1207 and form the other approximately half of the external surface of the heel member 902. There is also an internal core piece 1207 which facilitates removal of the internal mold components from the molded heel member 902.
[0087] Refer now to FIG. 6. Foot 610 illustrates the use of tubulous composite member 605 that bifurcates into two separate members 602 and 603 to form toe pieces for the forward section. This foot 610 also uses a nested coil for the aft heel member 601.
[0088] Refer now to FIG. 14 which illustrates a tubulous composite member 1401 which is very thin and wide and traces a fairly long sulcated path. This member illustrates the range of cross sections contemplated by the present invention. This single cavity inside this particular tubulous member, a lumen, might be replaced with several lumens to aid shear transfer from the upper to lower surfaces.
[0089] Refer now to FIGS. 21-24. These illustrate the various ways of measuring the amount of curving in a particular tubulous composite member. As noted above in the description of FIGS. 1 and 2, the range of geometries and complexity of the geometric shapes that individual tubulous members can have as described in the present invention can vary widely from the members 102, 103, 201 of the complex geometry of foot 100 in FIGS. 1 and 2; to the relatively simpler geometries of the members 303, 304, 305, 306 of foot 300 in FIGS. 3 and 4. The wide and thin tubulous member of FIG. 14 also illustrates this range of geometries. The amount of and type of curves in these various members, which are all part of the present invention, can be described with several parameters. All these measurements and descriptions pertain to the centerline along the longitudinal lengthwise path of the tubulous member. These measurements also refer to values calculated from projections of the paths onto one of the three primary planes. The three following angular measurements have been used and are expressed in degrees arc: [0090] The “Total Angle Swept by Path” 2202, 2301, 2401 illustrated. In the case of FIG. 22, this is a sum of all the angular changes 2205, 2206, 2207, 2208 swept by the path and is always greater than zero, or equal to zero only in the case of a straight tube. [0091] The “Incremental Angle Swept over portion of path” 2205, 2206, 2207, 2208 is also shown in FIG. 22. Each of these separately is a positive value. [0092] The “Net Angle Swept over total path” for the member is the angular misalignment of between the beginning of a member and the end of a member as projected onto a principle plane.
[0093] Other generic descriptors of these geometric paths include: [0094] The shape of the path may be “fully three dimensional” which implies that it has significant curvatures in two separate principle planes. A path shape with all curves constrained to one principle plane would not be “fully three dimensional”. [0095] Path shapes with “reverse curves” are those where the centerline first curves in one direction and then at some later point curves significantly in the opposition direction.
[0096] All publications, patents, and patent documents are incorporated by reference herein as though individually incorporated by reference. Numerous alterations of the structure herein disclosed will suggest themselves to those skilled in the art. However, it is to be understood that the present disclosure relates to the preferred embodiment of the invention which is for purposes of illustration only and not to be construed as a limitation of the invention. All such modifications which do not depart from the spirit of the invention are intended to be included within the scope of the appended claims.
