Abstract:
The invention is directed to a prosthesis which includes first and second members pivotally coupled together and two links which are pivotally coupled together with one link being pivotally coupled to the first member and the other link being pivotally coupled the second member. A control mechanism is provided which is pivotally coupled to the first member and the pivotal connection of the two links to move the two links and hence the second member relative to the first member. The first member may be coupled to a person to allow the prosthesis to serve in one embodiment as an arm or as a portion of an arm and in another embodiment to serve as a leg or as a portion of a leg.

Description:
BACKGROUND OF THE INVENTION  
         [0001]    1. Field of the Invention  
           [0002]    The invention relates to prosthetic devices which can serve as arms and legs for people.  
           [0003]    2. Summary of the Invention  
           [0004]    The invention is directed to a prosthesis which comprises first and second members pivotally coupled together and two links which are pivotally coupled together with one link being pivotally coupled to the first member and the other link being pivotally coupled to the second member. Control means is provided which is pivotally coupled to the first member and to the pivotal connection of the two links to move the two links and hence the second member relative to the first member. The first member may be coupled to a person to allow the prosthesis in one embodiment to serve as an arm and in another embodiment to serve as a leg of a person.  
           [0005]    In another embodiment, the first member may be coupled to the upper portion on an arm to allow the prosthesis to serve as the lower portion of the arm. In still another embodiment, the first member may be coupled to the upper portion of a leg to allow the prosthesis to serve as the lower portion of the leg. 
       
    
    
     BRIEF DESCRIPTION OF THE DRAWINGS  
       [0006]    [0006]FIG. 1 is a side view of a prosthesis of the invention which can serve as a total replacement of a person&#39;s leg.  
         [0007]    [0007]FIG. 2 is an isometric view of the prosthesis of FIG. 1 showing a strap for securing the prosthesis to the waist of a person.  
         [0008]    [0008]FIG. 3 illustrates a device for rotating the lower portion of the prosthesis relative to the upper portion.  
         [0009]    [0009]FIG. 4 is a top view of the device of FIG. 3.  
         [0010]    [0010]FIG. 5 illustrates an apparatus for rotating the lower foot relative to the lower portion of the prosthesis.  
         [0011]    [0011]FIG. 6 is a side view of the prosthesis of FIG. 1 showing the lower portion rotated about 90 degrees relative the upper portion.  
         [0012]    [0012]FIG. 7 is an isometric view of the prosthesis of FIG. 6.  
         [0013]    [0013]FIG. 8 is a side view of the prosthesis of FIG. 1 showing the lower portion rotated to an acute angle relative to the upper portion.  
         [0014]    [0014]FIG. 9 is an isometric view of the prosthesis of FIG. 8 illustrating a system for actuating the pistons of the cylinders coupled to the device.  
         [0015]    [0015]FIG. 10 is a side view of a prosthesis of the invention which serves as a replacement of a portion of a person&#39;s leg wherein a portion of the thigh has been amputated.  
         [0016]    [0016]FIG. 11 is an isometric view of the prosthesis of FIG. 10 showing a socket for connecting the upper portion of the prosthesis to a person&#39;s thigh and a system for rotating the lower portion of the prosthesis relative to the upper portion.  
         [0017]    [0017]FIG. 12 is a side view of the prosthesis of FIGS. 10 and 11 with the lower portion rotated about 90 degrees relative to the upper portion and also a device for connecting the prosthesis to the thigh of a person.  
         [0018]    [0018]FIG. 13 is an isometric view of the prosthesis of FIG. 12.  
         [0019]    [0019]FIG. 14 is a side view of the prosthesis of FIG. 10 with the lower portion rotated to a position which forms an acute angle relative to the upper portion.  
         [0020]    [0020]FIG. 15 is an isometric view of the prosthesis of FIG. 14 and a system for actuating the pistons of the cylinders coupled to the device.  
         [0021]    [0021]FIG. 16 is a side view of a prosthesis of the invention which can serve as a total replacement of a person&#39;s arm.  
         [0022]    [0022]FIG. 17 is an isometric view of the prosthesis of FIG. 16.  
         [0023]    [0023]FIG. 18 is a side view of the prosthesis of FIG. 16 with the lower portion rotated to a position of about 90 degrees relative to the upper portion.  
         [0024]    [0024]FIG. 19 is an isometric view of the prosthesis of FIG. 16.  
         [0025]    [0025]FIG. 20 is a side view of the prosthesis of FIG. 16 with the lower portion rotated to a position which forms an acute angle relative to the upper portion.  
         [0026]    [0026]FIG. 21 is an isometric view of the prosthesis of FIG. 20 with a system for actuating the pistons of the cylinders coupled to the device.  
         [0027]    [0027]FIG. 22 is an apparatus for rotating the prosthesis relative to its upper connecting portion.  
         [0028]    [0028]FIG. 23 is a top plan view of FIG. 22.  
         [0029]    [0029]FIG. 24 illustrates a system for strapping the prosthesis of FIG. 16 to a person.  
         [0030]    [0030]FIG. 25 is a front view of the system of FIG. 24.  
         [0031]    [0031]FIG. 26 is an apparatus for rotating the lower hand portion of the prosthesis of FIG. 16.  
         [0032]    [0032]FIG. 27 is a view of FIG. 26 as seen along lines  27 - 27 .  
         [0033]    [0033]FIG. 28 is a side view of a prosthesis of the invention which serves as a replacement of a portion of a person&#39;s arm wherein the arm between the shoulder and the elbow has been amputated.  
         [0034]    [0034]FIG. 29 is an isometric view of the prosthesis of FIG. 28.  
         [0035]    [0035]FIG. 30 is a side view of the prosthesis of FIG. 28 wherein the lower portion has been rotated about 90 degrees relative to the upper portion.  
         [0036]    [0036]FIG. 31 is an isometric view of the prosthesis of FIG. 30.  
         [0037]    [0037]FIG. 32 is a side view of the prosthesis of FIG. 28 wherein the lower portion has been rotated to position to form an acute angle relative to the upper portion.  
         [0038]    [0038]FIG. 33 is an isometric view of the prosthesis of FIG. 28 in the position of FIG. 32 and also showing a system for actuating the pistons of the cylinders coupled to the device. 
     
    
     DESCRIPTION OF THE PREFERRED EMBODIMENT  
       [0039]    Referring now to FIGS.  1 - 9  of the drawings, there will be described a prosthesis  121  which may be used as a total leg replacement. The device  121  comprises a first or upper portion  123  having an upper end  123 U and a lower end  123 L and a second or lower portion  125  having an upper portion  125 U and a lower end  125 L. The upper end  123 U is pivotally coupled to two plates  127 A and  127 B by a pin  129  which in turn are connected to a connecting portion  131 L of an upper connecting member  131  comprising the lower portion  131  L which is rotatably coupled to an upper portion  131 U by a pin  133 . Bearings(not shown) may be located between the members  131 U and  131 L the upper portion  131 U can be fixedly located in a socket  135  secured to a flexible belt  137  by screws (not shown) which belt is adapted to fit around a person&#39;s waist secured thereto by VELCRO® belts  139 , or by belts that have buckles and tongues(not shown), and flexible straps  141 ,  143 ,  145 . The straps  141 , 143  may be coupled around a person&#39;s shoulder-neck on each side and the strap  145  may extend around the person&#39;s crotch. Although not shown, the straps  141 , 143 , 145  may have tightening means such as buckles.  
         [0040]    Two spaced apart L shaped rods  147  are connected to the member  131 U and extend downward. An exterior pin  151  is connected to member  131 L and extends outward between rods  147  to limit rotational movement of member  131 L relative to member  131 U.  
         [0041]    The lower end  125 L of member  125  is pivotally coupled to the plates  152 A and  152 B of member  152  by way of a pin  153 . The foot  156 , fixed to member  152 , rotates about pin  153  only.  
         [0042]    The lower end  123 L of member  123  is pivotably coupled to the upper end  125 U of member  125  by a pin  161 .  
         [0043]    Two pairs of links  171 A,  171 B and  173 A,  173 B are pivotably coupled to member  123  and member  125  respectively and to each other for causing rotational or pivotal movement of member  125  relative to member  123  when actuated by a cylinder and piston arrangement. Links  171 A and  171 B have ends  171 A 1  and  171 B 1  pivotably coupled to the member  123  by a pin  181 . Links  173 A and  173 B have ends  173 A 2  and  173 B 2  pivotably coupled to an upper end portion of member  125  by a pin  183 . The ends  171 A 2  and  171 B 2  of links  171 A and  171 B are pivotably coupled to the ends  173 A 1  and  173 B 1  by pins  185  and  187 .  
         [0044]    Two linear actuators (e.g. pneumatic or hydraulic cylinder)  191  and  193  have ends pivotably coupled to member  123  at a position between its two ends  123 U and  123 L by a pin  195 . Assume that the pneumatic cylinders are use. The cylinders  191  and  193  have pistons  191 P and  193 P with their ends pivotably coupled to the pins  185  and  187  respectively of the connections between links  171 A and  173 A and between links  171 B and  173 B respectively.  
         [0045]    A portable container  201  for containing air under pressure has a flexible tube  203  with a valve  205  coupled to cylinders  191  and  193  on one side of the heads of the pistons  191 P and  193 P and a flexible tube  207  with a valve  209  coupled to cylinders  191  and  193  on the other side of the heads of the pistons  191 P and  193 P. The valves  205  and  209  may be three way electrically controlled valves. A control system  211  has electrical leads  213  and  215  coupled to the valves  205  and  209  for opening one valve and closing and venting the other valve for retracting the pistons  191 P and  193 P or extending the pistons  191 P and  193 P for moving the member  125  relative to member  123 . Control of the unit  211  is carried out by movement of a dial  211 D.  
         [0046]    The units  201  and  211  may be carried by the person or carried by a wheeled cart of the like moved by the person. The container  201  may be re-pressurized by way of line  221  having a one way valve  223 .  
         [0047]    In using the member  121 , it will be attached to a person without a leg in a position to serve as the missing leg as discussed above using the belt  137 , straps  141 ,  143 ,  145 , and the socket  135 . The person may use the good leg for most of the walking effort and swing the prosthesis  121  about the pin  129  which has limited rotation about pin  133  to aid in the walking effort. Pivotal movement of the foot  156  with limited rotational movement about pin  153  also aids in the walking movement. The user may carry the source  201  and control  211  as mentioned above and with learned effort should be able to pivot or rotate the two members  123  and  125  about the pin  161  by properly moving the dial  211 D, also to aid in the walking effort. When sitting down, the user can move the dial  211 D to pivot the member  125  to positions shown in FIGS.  6 - 9  to move the member  125  to a comfortable position. When standing up, the user can use to dial  211 D to straighten and move the members  123  and  125  to a more comfortable walking position.  
         [0048]    The socket  135  and strap  137 , 141 , 143 , 145  are shown only in FIG. 2, however, it is to be understood that they will be employed in the prosthesis shown in all of FIGS.  1 - 9 . The source  201 , valves, and conduits and the control system  211  and its leads are shown only in FIG. 9, however, it is to be understood that they will be employed in the prosthesis shown in all of FIGS.  1 - 9 . The control unit  211  may have a battery to control the valves  205  and  209 . In the embodiment of FIGS.  1 - 9 , the members  123 ,  125 ,  171 A,  173 A,  171 B,  173 B,  131 ,  127 A,  127 B,  152 ,  156  and other components may be formed of a suitable material such as stainless steel or aluminum.  
         [0049]    Referring now to FIGS.  10 - 15  the prosthetic device  121 A is the same as that of FIGS.  1 - 9  except that the member  123 A is shorter than member  123  and the cylinders  191  and  193  are pivotally coupled to pivot pin  129 . The device  121 A will be used to replace a lower leg where the upper leg has been amputated between the hip and the knee. In FIGS.  10 - 15  like components are the same as those in FIGS.  1 - 9 . The device  121 A also comprises members  125 ,  131 U,  131 L,  152 ,  156 , cylinders  191 ,  193  and pistons  191 P and  193 P which are the same as those of FIGS.  1 - 9 ; source  201 , control unit  211 , valves  205 ,  209  which are the same as those of FIGS.  1 - 9  all of which operate the same as the corresponding members of FIGS.  1 - 9 . In this respect by controlling unit  211  to control the cylinders-pistons  191 ,  191 P and  193 ,  193 P, the lower member  125  can be moved to the positions shown in FIGS.  10 - 15 . The socket  135  will not be employed. Instead, a longer and larger diameter socket  135 A will be used. It will be secured to the member  131 U and the amputated thigh  231  will be inserted into the other end of the socket  135 A and secured in place by straps  233  as shown in FIG. 12.  
         [0050]    The members  131 U and  131 L will have the rotational limitation stops  147  and  151  as shown in FIGS.  2 - 5 .  
         [0051]    Referring now to FIGS.  16 - 27 , there will be described a prosthesis  321  for use as a total arm replacement. The device  321  comprises a first of upper portion  323  having an upper end  323 U and a lower end  323 L and a second or lower portion  325  having an upper portion  325 U and a lower end  325 L. The upper end  323 U is pivotally coupled to two plates  327 A and  327 B by a pin  329  which in turn are connected to a connecting portion  331 L of an upper connecting member  331  comprising the lower portion  331 L which is rotatably coupled to an upper portion  331 U by a pin  333 . Bearings(not shown) may be located between the members  331 U and  331 L.  
         [0052]    The upper portion  331 U can be fixedly located in a socket  335  secured to a shoulder pad device  337  having a connecting member  338  extending from the pad  337  down to the strap  137  as shown in FIGS. 24 and 25. The strap  137  is the same as strap  137  of FIG. 2 except the socket  135  is not used.  
         [0053]    Two spaced apart L shaped rods  347  are connected to the member  331 U and extend downward. An exterior pin  351  is connected to member  331 L and extends outward between rods  347  to limit rotational movement of member  331 L relative to member  331 U.  
         [0054]    The lower end  325 L of member  325  is pivotally coupled to the plates  352 A and  352 B of member  352  by way of a pin  353 . Rotatably coupled to the lower end of member  352  by way of a pin  354  is a member  355  which is connected to a hand type device  356 . The member  352  has two spaced apart L shaped rods  347  coupled thereto and member  354  has an exterior pin  351  which extends outward between rods  347  to limit rotational movement of the hand member  355  relative to member  352 .  
         [0055]    The lower end  323 L of member  323  is pivotally coupled to the upper end  325 U of member  325  by a pin  361 .  
         [0056]    Two pairs of links  371 A,  371 B and  373 A,  373 B are pivotally coupled to a knob  323 K of member  323  and member  325  respectively and to each other for causing pivotal or rotational movement of member  325  relative to member  323  when actuated by a cylinder and piston arrangement. Links  371 A and  371 B have ends  371 A 1  and  371 B 1  pivotally coupled to the member  321  by a pin  381 . Links  373 A and  373 B have ends  373 A 2  and  373 B 2  pivotally coupled to an upper end portion of member  325  by a pin  383 . The ends  371 A 2  and  371 B 2  of links  371 A and  371 B are pivotally coupled to the ends  373 A 1  and  373 B 1  respectfully by pins  385  and  387 .  
         [0057]    Two pneumatic cylinders  391  and  393  have ends pivotally coupled to member  323  at a position between its two ends  323 U and  323 L by a pin  395 . The cylinders  391  and  393  have pistons  391 P and  393 P with their ends pivotally coupled to the pins  385  and  387  respectively of the connections between links  371 A and  373 A and between links  371 B and  373 B respectively.  
         [0058]    A portable container  401  for containing air under pressure has a flexible tube  403  with a valve  405  coupled to cylinders  391  and  393  on one side of the heads of pistons  391 P and  393 P and a flexible tube  407  with a valve  409  coupled to cylinders  391  and  393  on the other side of the heads of the pistons  391 P and  393 P. The valves  405  and  409  may be three way electrically controlled valves. A control system  411  has electrical leads  413  and  415  coupled to the valves  405  and  409  for opening one valve and closing and venting the other valve for retracting the pistons  391 P and  393 P or for extending the pistons  391 P and  393 P for moving the member  325  relative to member  323 . Control of the unit  411  is carried out by movement of a dial  411 D.  
         [0059]    The members  401  and  411  may be carried by the person or carried by a wheeled cart of the like moved by the person. The container  401  may be re-pressurized by way of line  421  having a one way valve  423 .  
         [0060]    In using the member  321 , it will be attached to a person without an arm in a position to serve as the missing arm as discussed above using the socket  335  and straps  137 ,  337  and  338 . The person may swing the prosthesis about the pin  329  which has limited rotation about pin  333 . The user may carry the source  401  and control  411  as mentioned above and with learned effort should be able to pivot the two members  323  and  325  about the pin  361  by properly moving the dial  411 D.  
         [0061]    The socket  335  and straps  137 , and  337 ,  338  are shown only in FIGS. 24 and 25, however it is to be understood that they will be employed in the prosthesis shown in all of FIGS.  16 - 27 . The source  401  and valves and conduits and the control system  411  and its leads are shown only in FIG. 21, however, it is to be understood that they will be employed in the prosthesis shown in all of FIGS.  16 - 27 . The control unit  411  may have a battery to control the valves  405  and  409 . In the embodiment of FIGS.  16 - 27 , the members  323 ,  325 ,  371 A,  373 A,  371 B,  373 B,  331 ,  327 A,  327 B,  352 ,  355 ,  356  and other components may be formed of a suitable material such a stainless steel or aluminum.  
         [0062]    Referring now to FIGS.  28 - 33 , the prosthetic device  321 A is the same as that of FIGS.  16 - 21 ,  26 , and  27 , except the member  323 A is shorter than member  323  and the knob  323 K is removed and the upper end  323 U and cylinders  391  and  393  are pivotally coupled to the two plates  327 A and  327 B of member  331 L by way of pin  395 . The member  331  L is pivotally coupled to member  331 U by a pin  333 . Thus in FIGS.  28 - 33 , members  331 L and  331 U are the same as members  331 L and  331 U of FIG. 22 except the exterior pin  351  and L shaped rods  347  are removed and the pin  395  is used in place of pin  329  to pivotally couple the upper end  323 U and the two cylinders  391  and  393  to the two plates  327 A and  327 B of member  331 L. The device  323 A will be used to replace a lower arm where the upper arm has been amputated between the shoulder and the elbow. In FIGS.  28 - 33 , like components are the same as those in FIGS.  16 - 21 ,  26 ,  27 . The device  323 A also comprises members  325 ,  352 ,  355 ,  356 , which are the same as those of FIGS.  16 - 21 ,  26 , and  27 ; links  371 A,  373 A,  371 B,  373 B which are the same as those of FIGS.  16 - 21 ,  26 , and  27 ; cylinders  391 ,  393  and pistons  393 P and  393 P which are the same as those of FIGS.  16 - 21 ,  26 , and  27 ; source  401 , control unit  411 , valves  405 , 409  which are the same as those of FIGS.  16 - 21 ,  26 , and  27  all of which operate the same as the corresponding members of FIGS.  16 - 21 ,  26 , and  27 . In this respect by controlling unit  411  to control the cylinders-pistons  391 , 391 P and  393 ,  393 P, the lower member  325  can be moved to the positions shown in FIGS.  28 - 33 . The socket  335  and belt straps  337 ,  338 ,  137  will not be employed. Instead, a longer and larger diameter socket  335 A will be used. It will be secured to the member  323 A and the amputated upper arm will be inserted into the other end of the socket  335 A and secured in place by straps  433  as shown in FIG. 33.  
         [0063]    The members  352  and  355  will have the rotational limitation stops  347  and  351  as shown in FIGS. 26 and 27.