The Mdial system for reconstruction of paraplegic locomotion - its development and refinement using virtual axis and motor power assist

用于重建截瘫运动的 Mdial 系统 - 使用虚拟轴和电机动力辅助进行开发和完善

• 批准号: 10838044
• 负责人: SAITOH Eiichi
• 金额: $ 1.86万
• 依托单位: Fujita Health University
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (C)
• 财政年份: 1998
• 资助国家: 日本
• 起止时间: 1998 至 1999
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-10838044/
• 关键词: paraplegic walk; orthosis; medial single hip joint; powered orthosis; rehabilitation; 対麻痺走行

We have been developing the orthotic system called the medial system for reconstruction of paraplegic standing and walking. This system consists a medial single hip joint (MSH) and bilateral knee-ankle-foot orthoses and overcomes the orthotic demerits of bulkiness and tightness in daily using.1. For refinement of this stem we developed a new hip joint having virtual axis by sliding mechanism. This modified MSH system was compared to the original MSH system in the gait function of 5 paraplegic patients. Cadence, stride, and velocity with the modified MSH system were always higher than with the original MSH system. The preferable height of the virtual axis was 60mm over the perineum in all patients except for one. In walking with the modified MSH we identified reduced pelvic rotation, whereas larger stride.2. For overcoming the passivity problem of orthotic approach, we added motor power assist to the modified MSH system. Simple On/Off switching for control was adopted. In all of investigated three paraplegic cases, HR change in walking was smaller with powered orthosis than with non-powered one, however velocity was slower with powered orthosis than with non-powered one. For solving a problem of low velocity walking, we improved hip joint angular velocity from 15 to 50 degrees per second.3. For further refinement of the modified MSH, we added hinge mechanism to the joint permitting abduction and adduction ranging of 10 degrees. With this mechanism patients seemed to turn easier than without it.

我们一直在开发一种矫正系统叫做内侧系统用来重建瘫痪患者的站立和行走能力。该系统由内侧单髋关节（MSH）和双侧膝-踝-足矫形器组成，克服了矫形器在日常使用中笨重和紧绷的缺点。为了改进这一系统，我们开发了一种新型的通过滑动机构具有虚拟轴的髋关节。将改进的MSH系统与原始MSH系统在5例截瘫患者的步态功能中进行了比较。改良后的MSH系统的步速、步幅和速度均高于原MSH系统。除1例外，所有患者的虚拟轴高度均为会阴上方60mm。在使用改良的MSH行走时，我们发现骨盆旋转减少，而步幅增大。为了克服矫形入路的无源性问题，我们在改进的MSH系统中加入了电机助力。采用简单的开/关开关控制。在所有调查的3例截瘫患者中，有动力矫形器的步行心率变化比无动力矫形器小，但速度比无动力矫形器慢。为了解决低速行走的问题，我们将髋关节的角速度从每秒15度提高到每秒50度。为了进一步完善改良后的MSH，我们在关节上增加了铰链机构，允许外展和内收10度。有了这种机制，病人似乎比没有这种机制更容易康复。

项目成果

才藤栄一: "対麻痺歩行装具の開発と現状 労災リハビリテーション工学センター講習会記録集"労災リハビリテーション工学センター. 19 (1999)

斋藤荣一：“截瘫行走矫形器的发展与现状：工业事故康复工程中心研讨会记录”工业事故康复工程中心19（1999）。

Saitoh E: "Critical Review of Orthotic Approaches for Paraplegic Walk"A Instruction Course of Orthotic Approaches for Paraplegic Walking, Rosai Rehabilitation Engineering Center, Aichi (Japanese). 2-20 (1999)

Saitoh E：“截瘫行走矫形方法的批判性评论”截瘫行走矫形方法的指导课程，爱知县 Rosai 康复工程中心（日语）。

皿井正子・他: "対麻痺者歩行のための内側股継手仮想軸について" リハビリテーション医学. 35・2. 972-972 (1998)

Masako Sarai 等：“关于截瘫患者行走的内侧髋关节的虚拟轴”康复医学 35・2（1998）。

Saitoh E,et al.: "A Power-Assisted Modified Medial Single Hip Joint for Paraplegic Walking"Proceedings of World Congress of International Society for Prosthetics and Orthotics. "IX". 355-356 (1998)

Saitoh E 等人：“用于截瘫行走的动力辅助改良内侧单髋关节”国际假肢和矫形学会世界大会论文集。

Sarai S, et al.: "A Modification of Medial Single Hip Joint using Virtual Axis for Paraplegic Walking."Japanese J.Rehabilitation Medicine. 35(2)(Japanese). 972 (1998)

Sarai S 等人：“使用虚拟轴对截瘫行走的内侧单髋关节进行修改。”日本 J.Rehabilitation Medicine。