• 专利附录
  • 专利说明
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  • 类似技术
  • 同族专利
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    • 专利摘要:
    A load-sensing orthosis is proposed with a sensor that generates sensor signals and has sensor elements in pressure zones, and electronics for evaluating sensor signals, which are designed to indicate critical loads, with provision being made for the electronics that evaluate sensor signals to be designed to transmit characteristic values of the sensor elements to determine at least pressure load events detected by pressure zones, to form a sum value in which the characteristic values are weighted according to size in such a way that at least three different weights are used and to generate a warning signal when the sum value exceeds a certain size.
    公开号:CH715800B1
    申请号:CH00625/20
    申请日:2019-12-03
    公开日:2021-01-15
    发明作者:Werner Frank
    申请人:Golex AG；
    IPC主号:
    专利说明:

    The present invention relates to what is claimed in the preamble and thus relates to the detection of a load.
    After bone fractures and operations in the leg or foot area, complications often arise. For example, fractures do not heal, they have to be operated on again, endoprostheses do not grow in but loosen up, etc. Medical practice shows that after certain orthopedic interventions in around 10% of all patients new operations are only necessary because the patient is the critical point has overloaded.
    There are therefore already a large number of proposals as to how an overload can be recognized and warned of it.
    From the present inventor, for example, CH 704 972 is known, according to which the musculoskeletal system may only be partially loaded for several weeks in the postoperative course of the ankle, knee and hip. It was therefore proposed that the patient wear a special orthosis in which there is a measuring arrangement with which the force-time curves can be recorded for each step. It is suggested that load limits for a training mode and a maximum load value can be set using switches and, if the load is in the correct range, positive feedback in the form of a green LED and a warning through a red LED in the event that a set value is exceeded Combination with a sound signal or vibration takes place.
    From DE 37 14 218 A1 a therapeutic protection device against overloading the human musculoskeletal system is known, which is referred to as a so-called "foot sole scale", the use of only a few pressure sensors such as two pressure sensors in the ball area and one pressure sensor in the heel area in an insole is suggested. It is stated that the evaluation of a behavior profile improves the chances of recovery for the patient, and that a minimum load is able to stimulate the healing process through mechanical stimuli. It is also pointed out that a lower target load range can be specified at the beginning of the treatment. A load history of e.g. 2 weeks should be recorded.
    From DE 198 10 182 C1 a device for detecting an overload of the lower musculoskeletal system and / or the spine of a person is known, reference being made to endoprostheses and the fact that an as early as possible directed and metered load is beneficial to the healing process , but avoid overloading through hard bumps when running fast stairs or jumping. It is said that an overload is registered by the load-sensing arrangement when a predetermined load threshold value is exceeded or the load threshold value can also be selected so that the signal is triggered when the load is not yet damaging, another However, increasing the exposure would be harmful. It is also mentioned that load threshold values can be set individually, for example adapted to the respective osteological, muscular, neurological conditions and / or the ligament conditions of the person.
    From DE 295 12 711 U1 a measuring system for static and dynamic pressure distribution measurement on the soles of the feet is known. A data acquisition unit is proposed with which the pressure sensors on the force measuring pads can be queried and measurement data can be transmitted by radio. The measurement results should be displayed in the form of colored isobars or as pressure mountains, which means that “on the one hand, radio transmission is possible” and “the loads on the sole of the foot can be measured with a sufficiently high resolution”. For example, 64 pressure sensors are proposed, which should enable a fine resolution of 1/16 N / cm 2 and should be scanned with at least 40 Hz for slow and normal walking movements and 50 to 100 Hz for fast movements such as occur in sports medicine examinations.
    A pressure sensor, e.g. for an item of footwear, is known from DE 11 2013 002 836 corresponding to WO 2013/182 633. This is intended to provide pressure sensors whose pressure measuring cells have an enlarged dynamic range, with their electrical resistance decreasing more slowly with increasing pressure, but over a wider range.
    Reference is also made to DE 20 2017 000 608 U1, which already shows a load-sensing orthosis, which is used to warn of peak loads.
    [0010] WO 2015/145 273 A1 discloses a system for assessing the load on a lower extremity with an accelerometer in order to detect shock waves from individual footsteps. Shock wave data are to be generated and processed in order to support the user in minimizing stress in the future.
    DE 299 19 839 U1 is concerned with a system for recording pedaling forces, in which a patient should keep the load within medically recommended limits. It is true that the storage of a temporal course of the recorded values of the pedaling forces is mentioned and the generation of force-time diagrams, a particularly recommendable signal evaluation that is also battery-saving, cannot be found in the document. WO 01 / 39655A3 also relates to a shoe sensor arrangement for gait analysis.
    An object of the present invention is to provide a load-sensing orthosis which helps to avoid false alarms, and long-term operation of a load-sensing orthosis without changing batteries or recharging batteries is to be made possible.
    [0013] The solution to this problem is claimed in an independent form. Some preferred embodiments are given in the dependent claims.
    According to a first important aspect, a load-sensing orthosis with a sensor generating sensor signals, which has sensor elements in pressure zones, and electronics evaluating sensor signals is therefore proposed, which is designed to indicate critical loads, the sensor signals evaluating electronics being designed for this purpose is to determine characteristic values for pressure load events detected at least in pressure zones by means of the sensor elements, to determine a total value in which the characteristic values are weighted according to size in such a way that at least three different weights are used, and to generate a warning signal when the total value exceeds a specified value .
    An orthosis designed in this way has the advantage that, on the one hand, a user can be reliably warned if the way he is using the orthosis is detrimental to health, but, on the other hand, at the same time it is avoided that a user is caused by largely singular events and after these have occurred, is also unsettled. Excessive pressure load events often occur, for example, when a user stumbles and has to catch himself, has to swerve unexpectedly, etc. This can be critical, especially for people who are not used to orthoses. In such situations, the generation of a warning signal requiring attention is absolutely counterproductive, because in such situations it is not important to warn the user about the situation known to him as critical, but to give him the opportunity to address the critical situation as well as possible and thus free of distraction clean up.
    By not evaluating an individual event, but rather cumulative values from the events, this is significantly facilitated, which is particularly true when, as provided, the characteristic values of pressure load events are weighted. As a rule, this will mean that a critical high load that is permanently observed leads to the generation of warning signals, whereas singular, even high events are registered, but do not have to lead to warnings immediately. By using more than three different weightings, a sufficiently fine division of the influence of a short-term overload or short-term high load is possible despite the low effort. In a preferred embodiment, it is preferred in the case of the load-sensing orthosis if the electronics evaluating sensor signals are further designed to classify the characteristic values by comparison with a plurality of threshold values, in particular for each step, and to use the classification for weighting in such a way that stronger characteristic values become larger Weights are obtained.
    So it is not simply an “too high / uncritical” assessment carried out, but it is analyzed more precisely how critical a momentary pressure load actually affects. The warning signal will therefore typically be a warning signal; but it could also represent an incentive signal for repeated correct stress. The size that the sum value must exceed so that the notification signal is generated is typically adjustable, but could also be implemented in advance in a fixed and unchangeable manner.
    Typical walking patterns lead to a pressure load in the foot area in which the different areas of the foot are repeatedly and comparatively heavily loaded in a certain sequence. These stress patterns can be used very well to recognize steps, sometimes even in such a way that it can be recognized whether a person is running horizontally, upwards or downwards and / or climbing or descending stairs. In addition, it is also possible to identify the swing phase of a leg during movement and times when a person is, for example, standing or sitting quietly can be recognized. It is possible and sensible to record the time course of sensor signals with such a high temporal resolution that such events can be distinguished from one another or at least some of the named events can be identified. It should be noted that an evaluation of sensor signal pressure curves is possible leg by leg, i.e. it can be carried out completely independently of one another for the left and right foot, but that a joint evaluation can also be carried out, because when walking typically one leg is during the Swing phase is not loaded, while the opposite foot is more heavily loaded at these times, in such a way in the otherwise healthy user that a rolling movement takes place over the sole of the foot, which is why it is advantageous if sensor elements are provided in several pressure zones.
    The step detection helps in particular to repeatedly distinguish between excessive loads in standard situations such as walking movements and excessive peak loads caused by singular events. This can also be used in the weighting, because possibly even a load that slightly exceeds the sensible target load when walking has a stronger effect than individual high singular loads.
    It should also be emphasized that in the typical and advantageous implementation, not only can the limits or thresholds of the sum values from which a notification signal is generated, but also the weighting can advantageously be adjusted. In this way, it can be ensured that loads on certain foot zones are rated as particularly critical, which is particularly advantageous for certain treatments, such as after metatarsal fractures. A more precise adaptation to the respective requirements of the patient can take place here by appropriate evaluation or weighting of the pressure zones.
    It should also be noted that the warning signals can also be output in an easily understandable form if a warning must be output, for example because a certain load is critical, but not yet highly dangerous. In such a case, a green light can be displayed as long as the total value has not yet exceeded a 1st threshold; the green light can be implemented as a green LED that is excited or as a green area on a display such as the display area of a smartwatch or a smartphone. Then, when the total value exceeds a 1st threshold, a yellow light can be displayed instead, again for example by energizing a yellow LED or by showing a yellow area on a display. As soon as the total value also exceeds a second threshold. which is greater than the 1st threshold, a red light is then preferably displayed instead, again for example by an LED or a luminous area on a display. It should be mentioned that the LEDs or surfaces can be arranged spatially like a traffic light. The user is thus given the opportunity to check his running behavior at any time with a quick glance and, in particular, to recognize that it is functioning properly even if no warnings have to be issued.
    It should be noted that the warning signal generation can not only be triggered when the sum value exceeds a critical value for the health of the user in a disadvantageous manner, but that, if necessary, a warning signal generation can also take place when repeated and a correct load was determined in the manner weighted according to the invention. Initially, this makes sense for a large number of patients because many healing processes are actually favored by regular, albeit comparatively low, stress. In the case of a traffic light arrangement as described above, a yellow light could accordingly also be displayed as long as a user hardly moves or moves only to an insufficient extent; if he takes up sufficient movement and has reached a predetermined number of steps in a certain period of time without overloading himself, the display could change to green; Where an advance warning is required, a yellow-red display would be possible, for example by simultaneously energizing two display fields or two LEDs, and as soon as a highly critical load situation with frequently excessive overload is detected, an exclusively red display can appear.
    A warning signal generation that reinforces the correct behavior of a patient can also take place, for example, where patients are to be trained in a gait that is more favorable to them in the long term; It should be mentioned, for example, that patients with cerebral palsy perform a rolling movement of the foot known as a "stepper gait", which in the long term leads to considerable problems. In this regard, it should be mentioned that children who walk on their forefoot for a long period of time are referred to as "habitual tiptoe walkers". If this habit persists over a longer period of time, structural changes in the growing skeleton can occur; In addition, the gait pattern has a stigmatizing effect with increasing age. Toe-walking persists in only about 20 percent of those affected beyond the age of 10; Nevertheless, it makes sense to treat affected children at an early stage, as treatments that start earlier lead to greater treatment success. Treatment is difficult, however, as children can at least for a short time willingly suppress the gait disorder and show a gait pattern with initial heel contact, which makes it difficult to objectify the pathology and prevents clear criteria for assessing or classifying the gait disorder. This is also reflected in therapy concepts that lack a clear recommendation and therefore currently rely on stretching exercises, gait training, insoles or orthotics, as well as surgical lengthening of the calf muscles or the injection of botulinum toxin A.
    With the orthosis according to the invention, such patients can be trained in a more favorable, normal running behavior, for which purpose the load-sensing orthosis according to the invention, with which a load is determined by pressure zone and a sum value is determined weighted for a large number of successive pressure load events, can be used. For example, a positive feedback signal can be output as a warning signal to a young patient who is training a healthier, normal gait. It should be noted that the size which the sum value must exceed in order to trigger a warning signal generation can vary depending on the progress of the training. At the beginning of a training session, a warning signal can be generated after just a few, possibly immediately consecutive steps with the correct load, such as 3-5 steps, whereas a warning signal is only generated after a longer training session when a larger number of steps such as 10, 20 , 50 or 100 steps with correct load or with only a few intermittently incorrect load steps during the step sequence. A corresponding adjustment as to when a positive advisory signal reinforcing the patient is output can be carried out by changing the specified variable, for example by a physiotherapist. The number of steps that must be completed without errors before a notification signal is generated can also be determined with regard to how precisely the individual steps correspond to a correct step, i.e. H. how exactly the pressure load determined on the foot corresponds to that of correct walking behavior. This is easily possible through the weighting. If necessary, the evaluation scheme can also be changed, for example so that an already accumulated value is always set back to zero when either a single misstep with incorrect rolling behavior or incorrect pressure load pattern has been recorded - in this case the necessary number begins one after the other Steps to be completed again without errors - or a positive warning signal that encourages the patient has been issued.
    At the same time, it can be detected whether the loads in the individual pressure zones correspond only approximately or very well to a correct gait; this can be taken into account by weighting in the total value.
    For a later training phase, a counter for incorrect and a counter for correct loads can be implemented, both of which are compared with threshold values. In such cases, especially in patients with very advanced training, mechanical support can be largely or completely dispensed with; the orthotic effect of ensuring a correct foot position when walking results accordingly from the acoustic, optical or tactile feedback to the user by means of the notification signal. In typical cases, however, the orthosis will be a mechanically supporting orthosis which is designed to mechanically support an extremity, in particular a foot and / or ankle and / or lower leg, in such a way that an anatomically correct position is held or assumed. As far as such counters are concerned, it should also be mentioned that the recording of correct steps on the one hand and overloading steps on the other hand can be advantageous in order to determine whether enough positive stimuli are generated for a favorable healing process. It should be mentioned that other threshold values can possibly be used for particularly heavy, for example obese, patients.
    In a particularly preferred variant, it is also evaluated whether very high values occur in quick succession or repeatedly, but in individual short episodes that are far apart in time. It can be the case that a person carries purchases home and is significantly overburdened, which leads to a high temporal density of very large parameters, or that individual steps are occasionally taken, which also leads to higher loads, especially for people who are not yet experienced enough in the use of walking aids (crutches), whereby the overload events when climbing stairs occur less often in succession than those caused by carrying shopping.The time density of characteristic values above certain threshold values can be taken into account, for example, by letting pressure load contributions to the total value subside, by calculating a sliding mean value or by allowing such pressure load events to subside more quickly or alone, which are no longer purely beneficial for healing, but at most on their own as not yet have to be assessed as critical - for example, the absolutely uncritical contributions and the individually still uncritical contributions could subside, while highly critical ones do not subside. For example, a total value can be calculated in which the individual contributions to the total are not only weighted according to the size of the characteristic values, but the age is also taken into account for each characteristic value. As far as the decay is concerned, the contribution of a characteristic value to the total value can, for example, decrease linearly over time, in particular to 0 for very old characteristic values, or to a fixed, low value, so that overloads during the immediately preceding steps, for example the immediately preceding 5 , 10 or 20 steps are weighted twice as high as the 5, 10 or 20 steps before the immediately preceding ones; the 5, 10 or 20 steps before that can again be weighted half as high, and so on, which continues until a weighting has dropped to just one percent, 5 percent, 10 percent or the like based on the importance of the steps taken immediately before . The importance of overloads that was very far in the past for the total value diminishes accordingly. It should be mentioned that minor overloads can subside faster than higher overloads or that particularly high overloads do not have to subside at all. It should be mentioned that other decay behaviors than those explicitly mentioned can also be implemented. It will be apparent from the above disclosure that the decay is a process implemented by digital data processing, in particular by suitable multiplication operations acting on characteristic values, and in this respect is in particular to be carried out and implemented explicitly. It should also be noted that the fading takes place in addition to the weighting of the characteristic values. This is particularly important where the decay behavior is influenced by the weighting, because pressure events of different weighting are supposed to decay at different speeds.
    In a particularly preferred variant, at least 4, preferably at least 5, threshold values are used for the weighting. In addition to the "uncritical" threshold and the "extremely critical" threshold, which should be selected for pressure loads that lead to a considerable increase in the risk of healing within a very short time, i.e. within a few steps, threshold values can be used, for example, for only slightly exceeding the target load and a distinction can be made for pressure loads that are significant, but not yet directly direct consequences of individual episodes. If, for example, a healing-promoting load is 10 kg and a known excessive load is 30 kg, intermediate thresholds can be selected at around 17 kg and 25 kg; if the required resolution is more precise, the threshold values can be set in 5 kg increments or finer. The weighting is preferably carried out at least linearly for the slight excess load, preferably more than linearly, i.e. roughly quadratic, so that a value of 1 is added to the sum for a simple excess, a value of 2 for a slightly higher excess and a value of 2 for a particularly large excess a value of 3 or 5 is added to the total. It is pointed out, however, that one or the very large value does not necessarily have to make a much larger contribution.
    The load-sensing orthosis can easily be made inexpensive because a specific adaptation to different patients is generally unnecessary. It is sufficient that only a few pressure zones are evaluated in an area-integrative manner or over certain area averages, a standard sensor for practically all patients, at least all patients in a size group. This makes it possible, for example, to design insoles that only have to be adapted to one shoe size and use for the left or right shoe, with even standardization to one of several shoe size groups being easily possible.
    In a corresponding insole or the like, or in an orthosis using these, no more than four, preferably no more than just three, in particular only two pressure zones need to be provided. As a rule, it will be sufficient if one pressure zone is arranged below the heel and a second pressure zone at the ball of the foot. Two individual sensors or small sensor fields can be provided on the ball in order to be able to take measurements at different points on the ball, that is to say closer to the outer instep on the one hand and closer to the inner instep on the other. Where more than two pressure zones are provided, pressure zones can be provided on the outer instep in the middle between the heel and ball of the foot as well as near the arch of the foot, especially for people with poor arching, which can be helpful, especially for patients with previous loads, in order to maintain a critical gait pattern or to recognize the stress patterns that are particularly critical for the use of certain prostheses or endoprostheses.
    It will be preferred to provide no more than four, in particular no more than three, in particular one or two sensor elements per pressure zone. The reduction in the number of sensor elements not only reduces the structural effort, but also helps to ensure that the amount of data to be evaluated remains small; Due to the proposed weighting of the characteristic values and the formation of total values, this reduction of evaluated information is not critical for the detection of critical loads. The electronic evaluation required in view of the small number of sensor elements, in particular by analog / digital conversion, is advantageously particularly inexpensive and can therefore be easily accomplished with not only inexpensive but also energy-saving integrated circuits. The formation of total values and weighting is, even if a decay is taken into account, moving averages are formed, etc., regularly energetically very uncritical, because there are even where step patterns have to be recognized and there are several digital values per step, for example between 16 and 512 values are to be evaluated for each half step, it is sufficient to determine the parameter value determined from one step, which is possible through maximum consideration, area integration close to or around the maximum, etc., and then only very few values have to be considered, which also slowly, namely at most must be processed at about the speed of the sequence of steps. The required clock rate of a data processing arrangement is therefore particularly low, which is known to reduce energy consumption.
    It is not only possible, but even favorable, even if possibly not mandatory, to arrange the pressure sensor or the individual sensor elements in an insole that uniformizes loads or dampens pressure peaks. This has the advantage that, with regard to data evaluation, the effort for averaging can be reduced by the fact that fewer values have to be considered, and that furthermore the dynamics to be considered in the analog / digital conversion need to be lower and differences from user to user are lower fail. An equalization through the insoles distributes pressure both spatially and, because it absorbs stress, over time.
    Although it is possible to install the sensors in standard insoles, dedicated insoles can also be used for the respective patient, for example to compensate for flat feet, arched and arched feet positions, etc. Since the insole evens out the pressure peaks and at least partially distributes uprising forces spatially, the exact position of the sensors is comparatively uncritical and, in particular, can be easily calibrated with minimal effort, if necessary, so that use in specialist orthopedic companies is easily possible. So there is typically an elastic shock absorption in the sole that balances pressure loads.
    It is preferred if the evaluation electronics have two areas, namely on the one hand sensor-related circuits in which the pressure signals from the sensor elements are conditioned, digitized and, if necessary, partially evaluated, for example by (weighted) summation, and then via an especially wireless interface fed by a separate receiver. The division in such a way that a considerable preliminary evaluation takes place locally on foot has the advantage that the energy-intensive data transmission is only required rarely and for little data. In particular, it is not necessary to transmit data regularly as long as it is not critical. Rather, intermediate storage close to the sole of the foot is easily possible, since the evaluated or pre-evaluated data require little memory.
    [0035] It is also possible to supply electronic parts close to the sensor by means of energy harvesting. This is promoted by the fact that the data rates are low, the number of sensors is low and, moreover, data only have to be transmitted relatively rarely. Means known per se can therefore be provided in order to carry out energy harvesting, for example from the movement of the user.
    It is also possible to carry out a calibration in order to infer an actually given real load from the characteristic values obtained for each pressure zone. Such a calibration can be carried out statically, because a stance load is easily linked to the dynamic loads that occur when walking. If necessary, a permissible target value or, in the case of healing processes, a target value curve for permissible maximum loads or characteristic value thresholds can also be specified together with a calibration. Obviously, such setpoint curves can also be set independently of the calibration.
    It should be mentioned that in addition to the load-sensing orthotics, insoles for this or, for example, for footwear to be worn post-operatively as such should also enjoy protection; In this case, the insole will then comprise the sensor elements and at least a part of the electronics and / connections evaluating the sensor signals for the transmission of sensor signals or conditioned sensor signals. Furthermore, an insole part, for example a layer to be built into an insole with the sensor elements and at least part of the electronics and / or connection exiting the sensor signals, can be provided for the transmission of sensor signals or conditioned sensor signals for e.g. orthopedic shoemakers. Protection is also claimed for this.
    The invention is described below only by way of example with reference to the drawing. This is represented by: FIG. 1 a load-sensing orthosis according to the present invention; FIG. 2 shows a horizontal section through a sensor insole; FIG. 3 an electronic evaluation system for the sensor from FIG. 2; FIG. 4 shows a unit for generating the warning signals; Figure 5a-c an illustration of the calibration of a foot sole sensor for a load-sensing orthosis according to Figure 1.
    According to Figure 1, a load-sensing orthosis 1, generally designated 1, comprises a pressure sensor 2 which generates sensor signals and has sensor elements 2a, 2b, 2c (see FIG. 2) in pressure zones, indicated by dashed circles I and II, and a sensor signal evaluating Electronics 3 for this, which are designed to indicate loads that are critical for the orthotic user, the electronics 3a, 3b (see FIG. 4) evaluating sensor signals being designed to determine characteristic values of pressure load events recorded by pressure zone by means of sensor elements 2a, 2b, 2c to form a sum value in which the characteristic values are weighted according to size in such a way that at least 3 different weightings are used, and to generate a warning signal when the sum value exceeds a certain value.
    In the exemplary embodiment shown, the load-sensing orthosis 1 is an orthosis that can be used here, for example, after a tibia fracture, in which the bones are held in the correct position relative to one another after the fracture so that they grow together again correctly. During the healing process, the user is able to walk with the orthosis 1, but he must ensure that he does not overload the healing fracture while walking. Therefore he will typically support himself with walking aids such as crutches or the like in order to keep the load on the healing leg low. Depending on the progress of healing, the maximum permissible load will increase again over time, until the user can fully load his leg again and no longer needs the load-sensing orthosis. Up to this point in time, on the one hand, regular, but low exposure is advisable according to medical knowledge to promote the healing process; At the same time, overloads must be avoided.
    Such overloads can occur because the user systematically ignores the weakness of the healing site and uses a walking aid such as a cane on one side instead of on both sides as recommended by the doctor because he is carrying heavy things or the like. But it can also be the case that he stumbles during normal, careful walking and has to catch himself with his weak leg, which can also lead to pressure loads that are critical.
    The pressure sensor 2 is now incorporated with the sensor elements 2a to 2c arranged in pressure zones I and II in an insole for the load-sensing orthosis. The insole can be a standard insole which is constructed with a shock-absorbing foam or polymer material, if necessary has warming coatings on the foot, and is made breathable in a manner known per se to reduce foot sweat and the like.
    It should be noted in particular that the sensor elements 2a to 2c and the part 3a of the evaluating electronics to be provided in the insole and the connecting lines for them and / or the connections and / or the power supplies take up little space and in particular only a small area the insole cover or take. In addition, it is possible to arrange the individual, slightly larger-area components, namely the sensor elements 2a, 2b, 2c and the part 3a of the evaluating electronics, spaced from one another and to arrange only very thin and flexible lines between them. This improves the breathability of a corresponding insole because the affected area, which is not available for breathability through the components, remains small. The use of flexible films also as a carrier for integrated circuits provided in the insole is disclosed as possible and preferred.
    In addition, it is possible to arrange the sensor elements below a cover and damping layer facing the foot, in particular, as shown in FIG. 1, directly facing a harder, i.e. less elastic, sole area of the orthosis. This is advantageous because it avoids an uncomfortable pressure load for the user due to the somewhat harder sensor elements compared to the (sole) environment. The sensor therefore does not impair the feeling of walking.
    Moreover, it is possible to use a lower sole layer in which the corresponding sensor elements and the corresponding part 3a of the evaluating electronics are provided, and to individually build an insole adapted to a foot over this lower or lowest insole layer. The fact that, in such a situation, the sensor elements etc. do not ultimately need to lie directly on the outer surface, but can still be covered at the bottom for their protection, is disclosed as advantageous.
    Regardless of the possibility of producing individually customized insoles by hand, in particularly advantageous embodiments a standardized insole is used, which only needs to be differentiated according to left or right foot and a shoe size or shoe size group. In addition, especially when very large numbers are produced overall, differences can be made in order to provide more sensitive or less sensitive sensor elements for lighter or heavier users of the same or different shoe sizes; It should be mentioned that, instead of sensor elements with different sensitivity, cover layers or lower layers which distribute pressure to different degrees can also be used.
    The pressure zones I and II are selected so that the load that occurs when the user walks and stands on the heel or ball of the foot can be optimally recorded. The sensor 2c can be arranged, for example, at the point where a large number of healthy users experience the greatest stress in the heel area on average when they are standing or walking. The greatest stress in the state for a large number of users can already be determined, for example, using conventional blueprint technology, with a user standing on a piece of copy paper colored blue on the underside, under which a white piece of paper is arranged. The highest loads for typical users can then be evaluated and averaged photogrammetrically or the like. Obviously, an evaluation with more modern means is also possible, although not absolutely necessary.Part 3a of the evaluating electronics, which is arranged on or in or on the insole, is designed and effective as follows: The signals received from the sensor elements 2a, 2b, 2c via lines 2a1, 2b1, 2c1 are transmitted from interfaces 3al, 3a2, 3a3 to signal conditioning stages 3a4, 3a5, 3a6, currently indicated here as amplifiers, where they are amplified and, if necessary, filtered, for example to reduce noise from high-frequency components, etc. Impedance matching can also take place, which is particularly advantageous where the sensor elements 2a to 2c are formed as resistance elements, the electrical resistance of which changes with the applied pressure. Corresponding sensor elements are known, but it should be pointed out that other, pressure-sensitive elements can also be used, such as strain measuring sensors, etc.
    The conditioned sensor signals are fed to an ADC 3a7, which optionally has enough inputs that can be converted from analog to digital in parallel; however, it is preferred to cycle or switch between different inputs. It should be noted that the conditioned sensor signals do not necessarily have to be fed individually to dedicated inputs of an analog-digital converter, but that it would also be possible to connect a multiplexer or the like upstream of the ADC 3a7. It should also be noted that conventional analog-to-digital converters are easily able to scan at several tens of kHz even if they are inexpensive analog-to-digital converters, even when cycling between different sensors should, in view of the rather slow movements, is usually more than sufficient, especially for physically impaired users. This applies even where there are brief peaks in stress, for example due to sudden violent stomping or the need to catch yourself stumbling. ADC accuracies of 8 bits, preferably 10 or 12 bits, are easily sufficient.
    The digital signals from the analog-to-digital converter 3a7 are fed to a microcontroller 3a8, the output of which is in turn fed to an I / O interface 3a9. The microcontroller 3a8 is assigned a non-volatile read-only memory ROM 3a10 and a memory for random access RAM 3al 1. The corresponding parts are supplied by a power supply 3a12, as indicated by the dashed lines leading from the power supply 3a12 to the individual units 3a1 to 3a11.The battery does not need to store energy directly on a circuit board or a flexible film close to the other components. Depending on how long the battery is to supply the circuits with power, it can be advantageous to arrange a somewhat larger energy storage arrangement, for example a button cell, somewhat remotely, in particular in an easily exchangeable manner, and / or energy harvesting can be provided To provide an arrangement that gains energy from the step movements, in a manner sufficient to supply the arrangement.
    It should be mentioned that the microcontroller 3a8 has conventional circuits such as, for example, a timer for recording a current time, so that data or characteristic values related to printing events can be stored with time measures.
    In the ROM 3a10 program modules are stored which, when processed on the microcontroller 3a8, allow steps to be identified in the progression of the signals received from the ADC, and pressure load events step by step or time period at least on the sensor elements 2a, 2b for the pressure zone I or 2c for the pressure zone 11 can be seen. Furthermore, information can be stored in the ROM 3a10 in order to cause the microcontroller 3a8 to examine the digitized characteristic values for each step or for each time period, in particular when standing for each time period, for peak values and to determine these.
    The ADC 3a7 only needs approximately one sampling frequency of, for example, 100 Hz per sensor, which is easily sufficient, especially in the case of physically impaired people, to record 15-30 values per step without problems. This allows several values to be considered averaged when determining the peak value, for example around an approximate peak in order to reduce noise effects, sampling-related effects, etc. For example, 3-6 values can be summarized and the peak load can be recorded. The microcontroller 3a8 can also be programmed to determine a mean value of the two sensor elements 2a, 2b belonging to the pressure zone I, either before the peak value calculation and / or after the peak value calculation. This can be done either by a common evaluation of the sensor element signals, which means, contrary to what is shown, common signal conditioning and signal conversion, or a pressure peak is determined separately for each sensor element 2a, 2b in order to then offset the pressure peaks with one another, for example by averaging. The latter has the advantage that critical or atypical loads can be recognized even better. It should be mentioned that instead of averaging pressure peaks, the time average values of the pressure loads detected in each sensor element can be offset, in particular averaged, via the sensor elements of a pressure zone.
    Furthermore, the microcontroller 3a8 can be designed or programmed to correct the ADC values that are obtained as output signals from the analog-digital converter. Indeed, it will be evident that it is desirable to be able to offer inexpensive sensors; however, this can have the consequence that the reproducibility of data decreases. Precisely because overloads are to be reliably avoided, it is then advantageous to more precisely record a pressure load that actually occurs.
    For example, depending on the exact position of the foot, ball of the foot, etc., a different load can occur on each of the sensor elements 2a, 2b despite the same force of impact on the ground. This can be compensated by the user loading the load-sensing orthosis with a defined force after inserting the insole. Such a force can be assessed well by standing on a bathroom scale or the like. It turns out that repeated occurrences with the same force for one and the same user lead to reproducibly identical magnitudes of the pressure load events, but that differences are observed from user to user, partly with regard to the overall size of the respective events, and partly with regard to the distribution of the pressure load on the various sensor elements. It is understandable that this has to do with standing and walking habits and, for example, the shape of the foot, for example due to corneal hardening in the ball of the foot, etc. It is therefore sufficient to calibrate with static forces or loads, even though an overload is to be expected when walking due to the dynamic forces that occur.
    It is therefore advantageous to first record measured values and to use them to calibrate the pressure event signals from the sensor elements. This allows the characteristic values to be weighted more precisely, in particular for particularly light people and / or for people with atypical foot shapes.
    The arrangement is therefore designed to be switched into a calibration mode, in which the pressure sensor signals are stored, and then actually reached a calibration mode via an operating device such as a cell phone, see FIG. 4, and the I / O interface 3a9 to receive the associated load value via the interface 3a9. For this purpose, it is possible to determine individual values for individual pressure loads and to use these individual values to calibrate the entire curve, as indicated in FIG. In this case, a standard calibration curve is shown in FIG. 5a, which shows the resistance profile as a function of a load on the pressure sensor; In Figure 5b it is shown that a measured value for a certain user with a measured load of 10 kg shows significantly lower resistance values than expected according to the standard curve, and in Figure 5c a correspondingly corrected calibration curve is shown, which was determined from a corresponding calibration table.
    Such a calibration can be carried out as follows: First, a load is determined which is not critical for the user, with which a healing leg can be loaded for any length of time. Then the user steps on a sufficiently sensitive scale with only the leg on which the orthosis is located, whereby he loads the corresponding leg more and more until the specified load is reached. (The load displayed on the scales will obviously consist of the load caused by the orthosis on the one hand and the leg standing up in the orthosis on the other hand; if necessary, a load that is higher by the weight of the orthosis can be selected on the scales or it becomes a Pre-measurement of the orthotic weight made.). As soon as the desired load is reached on the scales, a calibration can be triggered. This can be done by the user himself by using a smartphone or the like with a suitable app, or by an assistant. It should be mentioned that, if necessary, a scale could also trigger a corresponding signal.
    From the calibration at a fixed weight value, a sensor value can then be used to infer the actual load. A user-specific calibration table (or, as shown, calibration curve) can be determined with a known general calibration curve, which on the one hand includes the actual sensor signal values for a known load, and at least one user-specific calibration value.It should be mentioned that, as a rule, recording a single user-specific calibration value is sufficient because the load distribution does not change significantly with increasing loads in the load area that is critical for healing.
    The calibration or a calibration table can be stored in RAM 3a11. It is therefore possible to relate the electronic measurement signals with very little effort at best to loads actually occurring for a specific user. It is useful here that, as a rule, with just a few sensor elements, the load pattern determined on the foot of one and the same user remains the same even with different loads and scales well with the overall load.
    Furthermore, the arrangement is designed to receive a maximum value for the load via the interface 3a9 and to store it in the RAM 3a11. It should be mentioned that it is preferred and possible, instead of a fixed time value that is defined as the absolute upper limit of a load, to set an upper time limit course that specifies how the maximum permissible load capacity should increase over days and / or weeks. It should also be mentioned that the lower threshold values can either be derived from the specified upper limit of a load, for example by percentage reduction by 10%, 20%, 30% or 25% and 50% or by e.g. 1/5, 1/4, 1/3 and 1/2, or that suitable additional threshold values can also be stored, which offers the advantage that better adaptation to specific patients is possible. This enables, in particular, a more precise adaptation of the further threshold values to the maximum load as a function of the respective intervention, i.e. the specific break, specific operation, etc.
    The microcontroller 3a8 is further designed to store the recorded peak values of the pressure load in the RAM 3a11, if necessary averaged over the pressure peak and spatially over the pressure zone, preferably together with time information; In addition, individual values, in particular episodically, as well as particularly large individual peak events are stored. At the same time, the events are already evaluated in the bottom to determine whether they individually or collectively indicate a critical load or overload. This can be done where a complete evaluation according to the invention is not to be carried out, for example in order to keep the computing effort close to the sole lower, for example in such a way that only a conservative estimate is made, for example with equal weightings for all loads exceeding one of the thresholds or a total value formation without Taking into account a decay behavior is made.
    The arrangement is designed to transmit the data by radio, in particular by Bluetooth, to a smartphone, a smartwatch or the like. Mobile device. For this purpose, connections are established in the usual way, etc. This is done either at the request of the mobile device or actively from the insole, in particular if the event memory there is already largely full or if particularly critical or many almost critical events are observed.
    It should also be noted that the mobile device on the one hand can output a notification signal to the patient of the load-sensing orthosis; it should be noted that such a signal output does not have to be carried out directly by the mobile device. For example, it is possible that the load-sensing orthosis itself only communicates with the user's smartphone (although in preferred variants, in particular, communication can also be established with devices that are used by doctors, physiotherapists, orthopedic shoemakers, etc. for initial or repeated setting of limit values and weightings are used), but that the smartphone itself can in turn be connected to other devices, for example a notification signal transmitter, such as a smartwatch with a vibration alarm that gives the user a tactile notification signal on the wrist. Alternatively and or additionally, it is also possible for signals from the mobile device such as the smartphone to be forwarded to a control center. This does not necessarily have to be done in real time, especially not where only a statistical evaluation is to take place, for example to gain additional knowledge about general healing processes of patient cohorts or to check at longer intervals such as daily or weekly whether a patient is moving sufficiently , overloaded, and so on. Central configuration or reconfiguration can then also be carried out remotely, so that the patient himself is relieved of such configuration tasks, but his aids are nevertheless adapted to a period of time that has passed since an intervention or accident or observed diagnostic successes . The data that arise when there are large numbers of patients then also help to determine typically still permissible loads, limit values and so on. Where currently more or less cautiously acceptable limit values have to be estimated by a treating physician or physiotherapist, a value that better takes into account experience with other patients can be suggested or specified using a database, for example a value that is used in patients of similar age or similar physical condition Constitution and comparable injuries were not critical and did not lead to problems, not even taking into account that the limit values were occasionally exceeded. It should be noted that remote configuration can be carried out both by medically trained staff such as doctors or physiotherapists and, if necessary, by machine, provided that there are no obstacles to approval. It is easy to understand that special features can also be taken into account with remote configuration, such as an adjustment of the limit load in very heavy patients.
    It should also be pointed out that, based on the analysis of the load data, not only can warning signals be generated, but that it is also possible, if necessary, to recognize the extent to which a patient needs further training. For example, events in which the patient is walking up or down stairs can be easily identified. It is known that climbing stairs is a particularly common problem; therefore, climbing stairs is trained separately in many cases. If, as is possible with the use of the load-sensing orthosis, it is determined that problems are occurring especially when using the stairs, the patient can be asked, for example, to exercise specific training on climbing stairs. In principle, this is possible, for example, by transmitting load data to a control center and analyzing it there - preferably automatically. The result of an automatic analysis can then be shown to an experienced professional, such as a physiotherapist, who then contacts the patient if necessary and arranges (follow-up) training. If necessary, this can also be done fully automatically. An alternative to transferring data to a control center and analyzing the data in the control center is to carry out an analysis locally, for example on the user's smartphone, and then, if the analysis shows that a patient has particular problem areas, for example insufficient climbing stairs, if necessary the patient is given the suggestion or opportunity to contact a physiotherapist for follow-up training, to watch training videos or the like. Such a local evaluation is clearly particularly advantageous where patients are particularly concerned about the protection of their data.
    It should also be pointed out that with the load-sensing orthosis according to the present invention, data has already been collected which show that even in those patients for whom the doctor's critical load was not exceeded more often than in other patients, However, although very high loads have regularly occurred below the maximum permissible exposure determined by the doctor, problems have been observed. This shows, on the one hand, that an orthosis of the present invention that is frequent, high, albeit not yet critical, can contribute to significantly reducing follow-up treatments and at the same time being able to better specify limit loads.
    The evaluation unit in the mobile radio device is now designed to generate a sum value upon receipt of data, in which the characteristic values from the unit 3a are weighted according to size in such a way that at least 3 different weightings are used and to generate a warning signal, if the total value is too large. The evaluating electronics 3b in the mobile radio device (FIG. 4) are designed to compare the characteristic values obtained with threshold values and, if necessary, to classify them. In particular, this can be done step by step.
    It is possible to always trigger a transmission of data only when a first threshold is exceeded as evidenced by a (pre) evaluation in the component near the sole of 3a and / or shows a (pre) evaluation overall on the part 3a near the sole of the foot that critical loads are repeatedly exceeded.
    An overall evaluation can also take place close to the sole, and suitable data can only be transmitted to the unit 3b when an acoustic or vibration signal, for example, is to be displayed to the user. Due to the lower data transfer effort, this regularly saves energy overall. However, it should be mentioned that for the sake of simplicity the entire electronics can be arranged directly on the orthosis. In such a case, an acoustic, vibratory and / or optical alarm can be generated on the orthosis and / or, in the event of an alarm, a preferably wireless transmission to an alarm transmitter, such as a smartphone or a smartwatch, can be triggered.
    With the invention, it is possible to ensure a high level of security with great comfort for the user in an energy-saving manner and with little effort.
    Thus, among other things, but not exclusively, a load-sensing orthosis with a standard sensor generating sensor signals, which has no more than four pressure zones and no more than four sensor elements per pressure zone, electronics evaluating sensor signals, and individual adaptation to the individual has been described above Patients, the sensor signal evaluating electronics being designed to indicate loads that are critical for the individual, the sensor signals evaluating electronics being designed to sample and weight the pressure load of the sensor elements at least by pressure zone, to run through a step identification, load peaks for each step by comparison to classify with a plurality of threshold values and to form a sum value in which load peaks are weighted in such a way that higher load peaks receive higher weightings and to generate a warning or warning signal when the S sum value exceeds a certain size, i.e. becomes too large.
    权利要求:
    Claims (11)
    [1]
    1. Load sensing orthosis (1) witha pressure sensor (2) which generates sensor signals and which has sensor elements (2a, 2b, 2c) in pressure zones (1,11),andelectronics (3) which evaluate sensor signals and are designed to indicate critical loads by generating a warning signal,characterized in thatthe electronics evaluating the sensor signals is designed to determine characteristic values for pressure load events detected at least by pressure zone by means of the sensor elements, to form a sum value in which the characteristic values are weighted according to size in such a way that at least three different weights are used and to generate the warning signal if the total value exceeds a specified value.
    [2]
    2. Load-sensing orthosis (1) according to the preceding claim, characterized in that the electronics (3) evaluating sensor signals are further designed so that the characteristic values are classified by comparison with a plurality of threshold values, preferably per walking step, and the classification in this way for the weighting, it is used that stronger weightings are obtained for larger parameters.
    [3]
    3. Load-sensing orthosis (1) according to claim 2, characterized in that the electronics (3) evaluating sensor signals are designed to take into account a time density of characteristic values above certain of the threshold values in the formation of the sum value,preferably by letting the contributions of pressure load events subside to a total value, particularly preferably by letting the contributions of pressure load events subside at different rates depending on the classification.
    [4]
    4. Load-sensing orthosis (1) according to one of the preceding claims,characterized in that no more than four, preferably only no more than three, in particular two pressure zones (1,11) are present.
    [5]
    5. Load-sensing orthosis (1) according to one of the preceding claims,characterized in that no more than four, in particular no more than two sensor elements are present per pressure zone, and very particularly preferably only one sensor element is present.
    [6]
    6. Load-sensing orthosis (1) according to one of the preceding claims,characterized in that the electronics have first and second circuits, the first circuits being arranged closer to the pressure sensor (2) than the second circuits and the first and second circuits being connected to one another via a wireless interface, and / or characterized in that the load-sensing Orthosis is designed so that at least circuits close to the sensor are supplied by energy harvesting.
    [7]
    7. Load-sensing orthosis (1) according to one of the preceding claims,characterized in that the electronics (3) evaluating sensor signals are further designed to obtain the characteristic values by A / D conversion of pressure load sensor element signals and to weight them at least for each pressure zone,preferably to summarize values weighted by pressure zone before determining the characteristic values,in whichpreferably a weighting is based on a recorded real load, in particular on a static real load.
    [8]
    8. Load sensing orthosis (1) according to one of the preceding claims, characterized in that an insole is provided which comprises the sensor elements and at least part of the electronics evaluating the sensor signals and / or connections for the forwarding of sensor signals or conditioned sensor signals.
    [9]
    9. A load-sensing orthosis (1) according to claim 8, characterized in that the pressure sensor (2) is arranged in the insole and the insole is an insole that balances loads and / or absorbs pressure peaks, in particular an insole adapted to the patient.
    [10]
    10. Load-sensing orthosis (1) according to claim 8 or 9, characterized in that the pressure sensor (2) generating sensor signals is part of the insole and this is designed for a specific shoe size or shoe size group.
    [11]
    11. Insole for an orthosis detecting foot loads (1) according to one of claims 8 to 10 with a pressure sensor (2) which generates sensor signals and which has sensor elements in pressure zones (1,11), and electronics (3) evaluating sensor signals for this purpose is designed to indicate critical loads by generating the notification signal, characterized in that the electronics evaluating the sensor signals are designed to determine characteristic values for pressure load events detected at least by pressure zone by means of the sensor elements, a sum value in which the characteristic values are weighted according to size in such a way that at least three different weightings are used to form and to generate the indication signal when the sum value exceeds a specified value.
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    同族专利:
    公开号 | 公开日
    WO2020115561A8|2021-07-15|
    US20220000392A1|2022-01-06|
    DE202019005701U1|2021-07-12|
    CA3122055A1|2020-06-11|
    EP3866688A1|2021-08-25|
    WO2020115561A1|2020-06-11|
    DE102018220853A1|2020-06-04|
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    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    DE102018220853.0A|DE102018220853A1|2018-12-03|2018-12-03|Load-sensing orthosis|
    PCT/IB2019/001419|WO2020115561A1|2018-12-03|2019-12-03|Load-detecting orthesis|
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