CN114770469A - Lightweight exoskeleton device for lead clothes support - Google Patents
Lightweight exoskeleton device for lead clothes support Download PDFInfo
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- CN114770469A CN114770469A CN202210373448.2A CN202210373448A CN114770469A CN 114770469 A CN114770469 A CN 114770469A CN 202210373448 A CN202210373448 A CN 202210373448A CN 114770469 A CN114770469 A CN 114770469A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
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- G—PHYSICS
- G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
- G21F—PROTECTION AGAINST X-RADIATION, GAMMA RADIATION, CORPUSCULAR RADIATION OR PARTICLE BOMBARDMENT; TREATING RADIOACTIVELY CONTAMINATED MATERIAL; DECONTAMINATION ARRANGEMENTS THEREFOR
- G21F3/00—Shielding characterised by its physical form, e.g. granules, or shape of the material
- G21F3/02—Clothing
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/10—Energy storage using batteries
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Abstract
The invention discloses a light exoskeleton device for supporting a lead garment, which belongs to the technical field of interventional medicine and comprises an upper supporting part and a lower supporting part, wherein the upper supporting part is connected with the lower supporting part through a waist supporting frame; the upper supporting part comprises a shoulder supporting plate, a back fixing plate, an upper body fixing belt, a back supporting plate and a waist supporting frame, the lower supporting part comprises a waist and leg connecting joint, a thigh supporting plate, a knee joint connecting piece, a shank supporting component and a foot supporting component, the lower end of the waist and leg connecting joint is integrally connected with the thigh supporting plate, and the thigh supporting plate, the knee joint connecting piece, the shank supporting component and the foot supporting component are sequentially connected. The technical scheme shifts the weight of the lead coat, reduces unnecessary load and physical consumption of medical workers, and has the characteristics of practicability, wearing portability, light weight, joint flexibility and the like; each joint is spliced by adopting a small and exquisite and flexible connecting component, so that the motion amplitude of each joint is increased, and the flexibility of the whole device is improved.
Description
Technical Field
The invention belongs to the technical field of interventional medicine, relates to a human body exoskeleton device, and particularly relates to a light exoskeleton device for supporting a lead garment.
Background
Interventional therapy is an emerging discipline integrating medical imaging and clinical treatment, and minimally invasive treatment is carried out by utilizing modern high-tech means. Interventional therapy can be conducted by guiding special precise instruments such as catheters and guide wires into a human body under the guidance of Digital Subtraction Angiography (DSA) X-ray equipment, and diagnosis or local treatment is performed on a lesion part in the human body. With this, the working time of the interventionalist is also significantly prolonged.
When carrying out intervention operation, medical personnel need expose in the radiation field, lead to that each position of medical personnel's health can receive different degree X line irradiation, cause the injury to the health, and the radiation ray becomes the health threat that medical personnel kept away from everyday. In order to protect the health of interventional therapy medical personnel and effectively block radiation rays, the most common protection measure is to wear a lead protective garment (called a lead garment for short). The average weight of the lead clothes is about 10-20kg, great physical strength is needed to finish a series of fine operations while the lead clothes are worn, generally, the intervention operation is performed for one hour in short time and five or six hours in long time, so that an interventional doctor is in a state of load bearing operation for a long time, and the spine, muscles, bone joints (particularly knee joints, shoulder blades, waist parts) and the like are strained and even damaged.
Clinical research and research find that no mature solution exists at present for the lead garment support problem, the existing design mainly focuses on pursuing 0-gravity 0 radiation, but the portability is greatly reduced, and the technical scheme of conversion (such as left-right rotation, front-back pitching and the like) under different body positions is lacked, so that an operator cannot flexibly operate in case of rescue or complex operation.
Therefore, a light and practical lead clothes supporting system is needed to be invented, so that the weight of the lead clothes is transferred in the operation process on the premise that the operation of an interventional doctor is not influenced and the activity is convenient, the load which needs to be born by the body of the operator is reduced, and the fatigue is relieved.
In order to solve the above problems, some new supporting devices are developed by those skilled in the art, for example, chinese patent application No. CN202110318176.1 discloses an exoskeleton assisting device for an interventional protective clothing and a control method thereof, which includes a waist support with a front opening; two ends of the adjustable fixing belt are respectively connected with two sides of the opening of the waist support; the back supporting device is vertically arranged, and one end of the back supporting device is hinged with the rear side of the waist support; the pair of shoulder supporting plates are positioned above the waist support and are symmetrically arranged at intervals; the other end of the back supporting device is respectively hinged with the corresponding shoulder supporting plates; the neck support is arranged between the shoulder supporting plates and is hinged with the other end of the back supporting device; a pair of hand power-assisted arms which are respectively hinged with the corresponding shoulder supporting plates and used for assisting the joints of the arms; and the leg power-assisting arms are hinged with the two sides of the waist support respectively and used for assisting leg joints. The technical scheme also provides a control method of the exoskeleton assisting device of the interventional protective clothing, which ensures that a user cannot fall down, can acquire the motion state of the user wearing the protective clothing, and determines the next motion state based on the BP neural network to assist the user in moving. However, the device must be supported by external power for the reason of weight to ensure the follow-up of each joint, so that for the user, the weight and the use cost of the device are further increased, the limb movement is not flexible due to the delay of the motor device in the use process, and certain safety risk exists in the use process of the mechanical device.
Disclosure of Invention
In order to solve the problems, the invention provides a light exoskeleton device for supporting a lead garment, which adopts a light structure without external power control, so that the whole device is lighter, more flexible and safer, and the effects of effectively transferring the weight of the lead garment and effectively reducing the body load of interventional therapy medical personnel are achieved.
The invention is realized by the following technical scheme.
A light exoskeleton device for lead clothes support comprises an upper support part and a lower support part, wherein the upper support part and the lower support part are connected through a waist support frame;
the upper supporting part comprises a shoulder supporting plate, a back fixing plate, an upper body fixing belt, a back supporting plate and a waist supporting frame, the shoulder supporting plate is connected with the back fixing plate, the back fixing plate supports the shoulder supporting plate, and the lower end of the back supporting plate is fixedly connected with the back supporting plate; the upper end of the back supporting plate is fixedly connected with the fixing plate, and the lower end of the back supporting plate is fixedly connected with the waist support; two ends of the upper body fixing strap are respectively connected with two sides of the back fixing plate and the back supporting plate; the waist support frame is connected with two sides of the lower section of the back splint;
the lower supporting part comprises a waist and leg connecting joint, a thigh supporting plate, a knee joint connecting piece, a shank supporting component and a foot supporting component, the upper end of the waist and leg connecting joint is connected with the waist supporting frame, the lower end of the waist and leg connecting joint is integrally connected with the thigh supporting plate, the lower end of the thigh supporting plate is connected with the shank supporting component through the knee joint connecting piece, and the lower end of the shank supporting component is connected with the foot supporting component.
Furthermore, the waist and leg connecting joint is positioned on the hip and comprises an inner supporting plate, an outer supporting plate, a waist supporting rotating piece and a spherical shaft, wherein the waist supporting rotating piece is positioned between the inner supporting plate and the outer supporting plate, the upper end of the waist supporting rotating piece is connected with the waist supporting frame through a waist supporting connecting piece, and the lower end of the waist supporting rotating piece is hinged with the inner supporting plate and the outer supporting plate through the spherical shaft.
Furthermore, the upper part of the thigh supporting plate is connected with the lumbar supporting frame through the lumbar supporting rotating piece and the lumbar supporting connecting piece, and the connection of the lumbar supporting rotating piece and the lumbar supporting connecting piece adopts a connection structure with adjustable height.
Furthermore, the foot supporting component comprises a fixed foot front pad, a flexible foot rear pad, a first connecting piece, a spring cylinder, a third connecting piece and a second connecting piece, the outer side of the rear end of the fixed foot front pad is connected with the lower end of the shank supporting component, the front end of the flexible foot rear pad is connected with the tail of the fixed foot front pad, the rear end of the flexible foot rear pad is connected with the shank supporting component through the first connecting piece, the spring cylinder, the third connecting piece and the second connecting piece, and the tail end of the flexible foot rear pad is suspended and supported through the first connecting piece.
Furthermore, the foot supporting component is provided with a foot fixing ring, the foot fixing ring is positioned on the fixed foot front pad, and the sole is fixed on the foot supporting component through the foot fixing ring.
Furthermore, thigh supporting plate inboard is equipped with thigh solid fixed ring, thigh solid fixed ring installation department is equipped with first adjustment tank, and thigh solid fixed ring can be adjusted from top to bottom in first adjustment tank.
Furthermore, a shank fixing ring A is arranged on the inner side of the shank support component and is positioned on the shank lower support plate, a second adjusting groove is formed in the mounting position of the shank fixing ring A, and the shank fixing ring A can be adjusted up and down in the second adjusting groove.
Furthermore, a lower leg fixing ring B is further arranged below the lower leg fixing ring A, and the position of the lower leg fixing ring B can be adjusted up and down.
Furthermore, the shank support assembly comprises an outer knee support plate and a lower shank support plate, the upper end of the outer knee support plate is hinged with the knee joint connecting piece, and the lower end of the outer knee support plate is connected with the lower shank support plate; the connecting length of the lower end of the knee outer supporting plate and the lower leg supporting plate at the connecting position can be adjusted by selecting different connecting holes, so that the length of the whole lower leg supporting assembly is adjusted.
Furthermore, the upper body fixing band is an annular fixing device and is made of elastic materials.
The beneficial effects of the invention are:
this technical scheme a lightweight ectoskeleton device for plumbous clothing supports, main aim at shifts the weight of plumbous clothing itself, alleviates medical personnel's unnecessary heavy burden and physical demands, compromises characteristics such as practicality, dress portability, lightweight, joint flexibility, security in the design theory.
This technical scheme has adopted passive revolution mechanic, and each joint department adopts small and exquisite nimble adapting unit to splice for the activity angle increase of each joint, the motion amplitude increases, and whole device flexibility obtains promoting, and the security is also higher. The method has the following specific beneficial effects:
firstly, the shoulder supporting plates are arranged on the shoulders, so that the appearance is attractive, and the force of the shoulders can be transmitted to the waist through the back fixing plate and the back supporting plate;
the waist is supported by the waist support frame, and the connecting joints of the waist and the lower legs are provided with spherical shafts, so that the waist support rotating piece and the thigh support plate can rotate back and forth and can bear a certain range of left and right rotation, the mobility is increased, and the body can rotate conveniently when an interventional doctor operates left and right;
the connection between the waist support rotating piece and the waist support connecting piece and the connection between the lower supporting plate of the crus and the outer supporting plate of the knees adopt adjustable connection structures, so that the height adjustment of the hip joint and the crus supporting component is realized, and the problem of improper size caused by the body size, height and the like of an interventionalist is solved;
the back fixing plate and the back supporting plate adopt human engineering structures, are better attached to the spine and play a role in supporting, so that the forward tilting and backward tilting actions of an operator cannot influence the supporting function of the shoulder supporting plate;
the rear part of the sole is provided with a flexible foot rear cushion which is supported by a spring cylinder, so that the comfort of the foot supporting component can be greatly improved, the function of force conversion can be realized, and the function of ensuring the body balance of an operator can be realized;
each part of the device adopts a structural design which is attached to the human body as much as possible, so that a good weight reduction effect can be achieved on the premise of meeting the comfort level of a wearer, and the aim of light weight is further achieved through material optimization;
the annular fixing belts are also arranged at the parts of the large limbs to prevent the device from being separated from the human body, so that the device has the function of fixing the limbs, and the fixing belts are skillfully made of elastic materials, so that the device does not restrict a wearer and is suitable for users with different body types;
adjusting grooves are arranged at the installation positions of the fixing rings, and the fixing rings can slide up and down in the adjusting grooves, so that a more appropriate and comfortable position can be found when the limbs are fixed.
This technical scheme adopts unique design theory, and reasonable in design, through the repeated discussion of professional team, can follow clinical intervention doctor's angle, adopts ectoskeleton support holder in order to alleviate the human heavy burden to the plumbous clothing, has solved mechanics support scheme ingeniously, has guaranteed again that medical staff's flexibility when the operation rotates under the prerequisite of guaranteeing that medical staff subtracts the burden, and the operation is carried out in freedom and flexibility, can alleviate intervention doctor's fatigue greatly, and light, dress swiftly, have practicality and clinical popularization and application and worth.
Drawings
FIG. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a partial structure diagram of the waist and leg joint of the present invention.
FIG. 3 is a partial schematic view of a lower leg support assembly of the present invention.
FIG. 4 is a partial schematic view of the foot support assembly of the present invention.
Fig. 5 is a schematic structural diagram of the present invention in a sitting posture.
In the figure: 1-upper support part, 101-shoulder support plate, 102-back fixing plate, 103-upper body fixing strap, 104-back splint, 105-lumbar support frame, 106-lumbar support connector, 2-lower support part, 201-waist and leg joint, 202-thigh support plate, 203-thigh fixing ring, 204-knee joint connector, 205-shank support component, 206-shank lower support plate, 207-shank fixing ring A, 208-spring cylinder, 209-foot support component, 210-foot fixing ring, 211-spherical shaft, 212-inner support plate, 213-outer support plate, 214-first adjustment groove, 215-lumbar support rotating part, 216-second adjustment groove, 217-knee outer support plate, 218-fixed forefoot pad, 219-third link, 220-shank fixation ring B, 221-flexible hindfoot pad, 222-first link, 223-second link.
Detailed Description
The technical solution of the present invention is further described below with reference to the accompanying drawings, but the scope of protection claimed is not limited to the described.
As shown in fig. 1, the light exoskeleton device for supporting lead clothes comprises an upper supporting part 1 and a lower supporting part 2, wherein the upper supporting part 1 and the lower supporting part 2 are connected through a lumbar support bracket 105;
the upper support part 1 includes a shoulder support plate 101, a back fixing plate 102, an upper body fixing band 103, a back support plate 104 and a lumbar support bracket 105,
the shoulder supporting plates 101 are 2, the left part and the right part are respectively and independently extended, and the shoulder supporting plates 101 are connected with the back fixing plate 102 and are main bearing points for supporting the lead clothes on the shoulders of a user;
the back fixing plate 102 is 1, supports the shoulder supporting plate 101, and is fixedly connected with the back supporting plate 104 at the lower end;
the back supporting plate 104 is 1, the upper end of the back supporting plate is fixedly connected with the fixing plate 102, and the lower end of the back supporting plate is fixedly connected with the waist support 105; the back supporting plate 104 and the back fixing plate 102 are combined, the human engineering design is adopted, the back supporting plate is more attached to and comfortable with the back of a user, and the back supporting plate 104 is provided with hollow patterns, so that the effects of weight reduction, attractiveness and practicability are achieved. The shoulder supporting plate 101 transmits the load of the shoulder to the waist through the back fixing plate 102 and the back supporting plate 104;
the number of the upper body fixing belts 103 is 2, the upper body fixing belts 103 are annular fixing devices, and two ends of the upper body fixing belts 103 are respectively connected with two sides of the back fixing plate 102 and the back supporting plate 104, so that the upper body fixing belt can be adjusted according to the height and the body shape of a wearer, and the effect of fixing the upper body and the waist is achieved; the upper body fixing belt 103 is made of elastic material, so that the upper body fixing belt does not have a tight feeling;
as shown in fig. 1, the waist support frames 105 are 2 pieces, one on the left and the right, and are respectively connected with two sides of the lower section of the back support plate 104, and a circular hook is arranged on the outer edge, so that a lead garment can be fixed on the circular hook, the transmission and the transfer of the weight of the waist are realized, and the problem that the lead garment is not firmly fixed and is easy to shake is solved.
As shown in fig. 1, the lower support part 2 includes a waist and leg connecting joint 201, a thigh support plate 202, a knee joint connector 204, a lower leg support assembly 205 and a foot support assembly 209, the upper end of the waist and leg connecting joint 201 is connected with the waist support frame 105, the lower end is integrally connected with the thigh support plate 202, the lower end of the thigh support plate 202 is connected with the lower leg support assembly 205 through the knee joint connector 204, and the lower end of the lower leg support assembly 205 is connected with the foot support assembly 209.
As shown in fig. 1, the waist and leg connecting joints 201 are 2, are located at the hip, and are located at the left and the right, as shown in fig. 2, the waist and leg connecting joints 201 comprise an inner supporting plate 212, an outer supporting plate 213, a waist supporting rotating piece 215 and a spherical shaft 211, the waist supporting rotating piece 215 is located between the inner supporting plate 212 and the outer supporting plate 213, the upper end of the waist supporting rotating piece is connected with the waist supporting frame 105 through a waist supporting connecting piece 106, and the lower end of the waist supporting rotating piece is hinged with the inner supporting plate 212 and the outer supporting plate 213 through the spherical shaft 211. The waist and leg connecting joint 201 in the technical scheme has a small and flexible structure, and can finish forward, downward and backward bending actions after being worn by a user, so that the acceptable activity range is large; the rotation of the lumbar support rotor 215 can not only rotate in the circumferential direction of the central hole thereof but also rotate in a certain range in the left-right direction by the spherical shaft 211, and the joint is more flexible when a user needs to rotate left and right.
As shown in fig. 1 and 2, the thigh supporting plates 202 are 2, one on each of the left and right, and are attached to the outer edge of the thigh; the upper part of the thigh support plate 202 is connected with the lumbar support frame 105 through the lumbar support rotating part 215 and the lumbar support connecting part 106, the connection between the lumbar support rotating part 215 and the lumbar support connecting part 106 adopts a height-adjustable connection structure, and the overall height of the thigh support plate 202 can be adjusted through selecting the screw hole height of the connection, so as to adapt to users with different heights and leg lengths.
As shown in fig. 1, the knee joint connector 204 is 2 pieces, each of the left and right knee joints connects the thigh support plate 202 and the lower leg support assembly 205, the structure of the knee joint connector 204 combines the human engineering design, the lower leg support assembly 205 and the thigh support plate 202 can rotate around the knee joint connector 204, so that the wearer can perform flexion and extension movements of the knee joint and walk flexibly; by means of the thigh support plate 202 and the lower leg support assembly 205, the load on the waist can be transferred under the feet, the purpose of force transfer is achieved, and the lower limb movement can be assisted.
As shown in fig. 1 and 4, the foot supporting components 209 are 2 groups, one for each of the left and right feet; the foot supporting component 209 comprises a fixed foot front pad 218, a flexible foot rear pad 221, a first connecting piece 222, a spring cylinder 208, a third connecting piece 219 and a second connecting piece 223, the outer side of the rear end of the fixed foot front pad 218 is connected with the lower end of the shank supporting component 205, the front end of the flexible foot rear pad 221 is connected with the tail part of the fixed foot front pad 218, the rear end of the flexible foot rear pad is connected with the shank supporting component 205 through the first connecting piece 222, the spring cylinder 208, the third connecting piece 219 and the second connecting piece 223, and the tail end of the flexible foot rear pad 221 is suspended and supported through the first connecting piece 222; a spring is arranged in the spring cylinder 208, when the heel part steps on the flexible heel pad 221, downward pressure is formed on the flexible heel pad 221, the flexible heel pad 221 pulls the first connecting piece 222 to move downwards, so that the cylinder barrel end of the spring cylinder 208 is pulled to overcome the pulling force of the internal spring to move downwards relative to the piston rod end, and the cylinder barrel end moves slowly and flexibly relative to the piston rod end due to the fact that the cylinder barrel is filled with air; when the heel leaves the flexible heel pad 221, the cylinder is returned to the end of the rod by the action of the spring in the spring cylinder 208. So reciprocal for when user's heel stepped on flexible foot back pad 221, heel portion obtains the buffering, in order to reach and alleviate the painful effect of heel when standing for a long time or walking, can also drive the walking simultaneously, prevents to pitch back, plays again and carries out reinforced (rfd) effect to foot supporting component 209.
As shown in FIG. 4, the foot support assembly 209 is provided with a foot securing ring 210, and the foot securing ring 210 is positioned on a securing forefoot pad 218 to annularly secure both feet to facilitate foot movement; the user fixes the sole on foot supporting component 209 through the solid fixed ring of foot 210, and foot supporting component 209 area of contact is big, and bearing capacity is strong, can effectively prevent that the person of dress from falling down.
As shown in fig. 1 and 2, the inner side of the thigh supporting plate 202 is provided with a thigh fixing ring 203, and the upper and lower limbs of the thigh fixing ring 203 are respectively provided with 4 upper and lower limbs, which is beneficial to fixing the thigh and assisting the lower limb to move; the thigh fixing ring 203 is provided with a first adjusting groove 214 at the mounting position, and the thigh fixing ring 203 can be adjusted up and down in the first adjusting groove 214, so that a user can find a comfortable fixing position for fixing.
As shown in fig. 3, the number of the lower leg support assemblies 205 is 2, one is provided for each of the left and right sides, the lower leg support assemblies 205 are attached to the outer edges of the lower legs, and the telescopic support arms are adopted to adapt to wearing by users with different leg lengths, and meanwhile, the load of the upper legs is further transferred downwards to assist the movement of the lower legs; the shank support component 205 comprises a knee outer support plate 217 and a shank lower support plate 206, the knee outer support plate 217 comprises 2 blocks, the left and right blocks are respectively provided, the upper end is hinged with the knee joint connector 204, and the lower end is connected with the shank lower support plate 206; the connecting part of the lower end of the knee outer supporting plate 217 and the lower leg supporting plate 206 can be adjusted in connecting length by selecting different connecting holes, so that the length of the whole lower leg supporting component 205 can be adjusted to adapt to wearing by users with different heights and leg lengths.
As shown in fig. 1 and 3, a lower leg fixing ring a207 is arranged on the inner side of the lower leg support assembly 205, the lower leg fixing rings a207 are 2, are respectively arranged on the left and right sides, are positioned on the lower leg support plate 206 and are used for fixing the lower leg calf part, a second adjusting groove 216 is arranged at the mounting position of the lower leg fixing ring a207, and the lower leg fixing ring a207 can be adjusted up and down in the second adjusting groove 216, so that a user can adjust the lower leg fixing ring a207 to a position suitable for the user to fix; as shown in fig. 4, a lower leg fixing ring B220 is further disposed below the lower leg fixing ring a207 for enhancing the connection between the lower section of the lower leg of the user and the lower leg supporting assembly 205; the position of the shank fixing ring B220 can be adjusted up and down, so that the user can find a comfortable fixing position suitable for the user.
It should be noted that the shoulder supporting plate 101, the back fixing plate 102, the back supporting plate, the lumbar supporting frame 105, the waist and leg connecting joints 201, the thigh supporting plate 202, the knee joint connector 204, the lower leg supporting component 205 and the foot supporting component 209 are all made of carbon fiber material, and are light in weight.
In the technical scheme, the built-in sliding bearings are adopted at the waist, the knee and the ankle, so that the adjustment allowance between the body and the supporting device is large, the wearing is simple, the requirements of users with different body types and heights are met, the flexibility of adjusting the height of the lead garment is guaranteed, and the weight reduction effect of the radiation lead garment and the flexibility of the radiation lead garment in the using process are improved.
Examples
The technical scheme is that the light exoskeleton device for supporting the lead clothes is compact in structure, light in weight and good in toughness, and the main structure of the light exoskeleton device is made of carbon fiber materials.
As shown in fig. 1 and 4, when worn, the feet are put into the fixed forefoot pad 218, the heel part is positioned on the flexible rearfoot pad 221, the foot fixing rings 210 are tied to the instep at a comfortable position, and the feet are fixed on the fixed forefoot pad 218.
Then respectively adjusting the length of the lower leg support assembly 205 and the height of the lumbar support basket 105 according to the height and the leg length of the user; when the length of the lower leg support assembly 205 is adjusted, as shown in fig. 3, only the connecting hole at the connecting part of the lower leg support plate 206 and the knee outer support plate 217 needs to be adjusted and locked; when the height of the lumbar support basket 105 is adjusted, as shown in fig. 2, it is only necessary to adjust the connection hole at the connection point of the lumbar support connection member 106 and the lumbar support transmission member 215 and lock the connection hole.
After the height adjustment of the lower limbs is finished, sequentially tying a lower leg fixing ring B220 and a lower leg fixing ring A207 at comfortable positions on the lower legs from bottom to top, and connecting and fixing the lower legs and the lower leg supporting component 205; then, the thigh fixing rings 203 are respectively tied on the comfortable positions of the thighs, and the thighs are connected and fixed with the thigh supporting plate 202.
Finally, the shoulder supporting plate 101 is tied at a proper position of the upper body of the user, the upper body of the user is connected and fixed with the upper body fixing band 103, and the position of the shoulder supporting plate 101 is slightly higher than that of the shoulder of the user. After the clothes are worn, the lead coat or the protective clothing is worn according to the operation rules, the four limbs are properly moved, the movable force and amplitude of the four limbs are adapted, and the clothes can be normally put into operation.
When the device works, no external power is involved, and the whole device is light. In the working process, the lead clothes or the protective clothing are supported by the shoulder supporting plate 101, and the load is transmitted to the waist part through the shoulder supporting plate 101, the back fixing plate 102 and the back supporting plate 104; at the waist, both sides of the inner side of the lead coat or the protective suit are hooked by the circular hooks on the waist support 105, the load of the upper body is broken down, a part of the load is transmitted downward to the shoulder support plate 101, and the other part of the load is transmitted downward to the waist support 105.
The load is finally transmitted to the waist-leg connecting joint 201 through the waist supporting frame 105, enters the lower supporting part 2, then is transmitted to the foot supporting component 209 through the thigh supporting plate 202, the knee joint connecting piece 204 and the lower leg supporting component 205, and finally is transmitted to the ground through the fixed forefoot pad 218, so that the load transfer is completed. Through the process, the load of the body of the medical worker on the lead clothes or the protective clothing is transferred to the exoskeleton device to the maximum extent, so that the medical worker reduces unnecessary external load to the maximum extent, the physical strength is put into the operation process of interventional therapy and the like, the operation precision is improved, the body load strength of the medical worker is also reduced, and the fatigue damage of the medical worker on each joint caused by the interventional work is reduced.
By using the device, a user can easily complete actions of lifting legs, turning bodies, bending waist and the like, can also complete sitting postures, and can sit down for rest under the condition of not dismantling a lead coat or a protective garment. As shown in fig. 5.
When the foot is removed, the upper body securing strap 103, the thigh securing ring 203, the lower leg securing ring a207, and the lower leg securing ring B220 are sequentially unfastened by operating from the top to the bottom, and finally the foot securing ring 210 is unfastened, and the foot is taken out from the securing forefoot pad 218, thereby completing the removal.
The above embodiments are merely exemplary, so as to enable those skilled in the art to better understand the technical solution, and should not be construed as limiting the scope of the present invention, as long as the technical solution of the present invention is modified and simply replaced, and the modified and simply replaced embodiments fall within the scope of the present application.
Claims (10)
1. A lightweight ectoskeleton device for plumbous clothing supports, includes upper support portion (1) and lower supporting part (2), its characterized in that: the upper supporting part (1) is connected with the lower supporting part (2) through a waist supporting frame (105);
the upper supporting part (1) comprises a shoulder supporting plate (101), a back fixing plate (102), an upper body fixing belt (103), a back supporting plate (104) and a waist supporting frame (105), the shoulder supporting plate (101) is connected with the back fixing plate (102), the back fixing plate (102) supports the shoulder supporting plate (101), and the lower end of the back supporting plate (104) is fixedly connected; the upper end of the back supporting plate (104) is fixedly connected with the fixing plate (102), and the lower end of the back supporting plate is fixedly connected with the waist support (105); two ends of the upper body fixing belt (103) are respectively connected with two sides of the back fixing plate (102) and the back supporting plate (104); the waist support frame (105) is connected with the two sides of the lower section of the back splint (104);
the lower supporting part (2) comprises a waist-leg connecting joint (201), a thigh supporting plate (202), a knee joint connecting piece (204), a crus supporting component (205) and a foot supporting component (209), wherein the upper end of the waist-leg connecting joint (201) is connected with a waist supporting frame (105), the lower end of the waist-leg connecting joint is integrally connected with the thigh supporting plate (202), the lower end of the thigh supporting plate (202) is connected with the crus supporting component (205) through the knee joint connecting piece (204), and the lower end of the crus supporting component (205) is connected with the foot supporting component (209).
2. The lightweight exoskeleton device for lead garment support of claim 1, wherein: the waist and leg connecting joint (201) is located at the hip and comprises an inner supporting plate (212), an outer supporting plate (213), a waist supporting rotating piece (215) and a spherical shaft (211), wherein the waist supporting rotating piece (215) is located between the inner supporting plate (212) and the outer supporting plate (213), the upper end of the waist supporting rotating piece is connected with a waist supporting frame (105) through a waist supporting connecting piece (106), and the lower end of the waist supporting rotating piece is hinged with the inner supporting plate (212) and the outer supporting plate (213) through the spherical shaft (211).
3. The lightweight exoskeleton device for lead garment support of claim 1, wherein: the upper part of the thigh supporting plate (202) is connected with the lumbar supporting frame (105) through a lumbar supporting rotating part (215) and a lumbar supporting connecting part (106), and the connection of the lumbar supporting rotating part (215) and the lumbar supporting connecting part (106) adopts a connecting structure with adjustable height.
4. The lightweight exoskeleton device for lead garment support of claim 1, wherein: the foot support assembly (209) comprises a fixed foot front pad (218), a flexible foot rear pad (221), a first connecting piece (222), a spring cylinder (208), a third connecting piece (219) and a second connecting piece (223), the outer side of the rear end of the fixed foot front pad (218) is connected with the lower end of the shank support assembly (205), the front end of the flexible foot rear pad (221) is connected with the tail of the fixed foot front pad (218), the rear end of the flexible foot rear pad is connected with the shank support assembly (205) through the first connecting piece (222), the spring cylinder (208), the third connecting piece (219) and the second connecting piece (223), and the tail end of the flexible foot rear pad (221) is suspended and supported through the first connecting piece (222).
5. The lightweight exoskeleton device for lead garment support of claim 1, wherein: the foot support assembly (209) is provided with a foot fixing ring (210), the foot fixing ring (210) is positioned on the fixed forefoot pad (218), and the sole of the foot is fixed on the foot support assembly (209) through the foot fixing ring (210).
6. The lightweight exoskeleton device for lead garment support of claim 1, wherein: thigh fixing ring (203) are arranged on the inner side of thigh supporting plate (202), a first adjusting groove (214) is formed in the installation position of thigh fixing ring (203), and thigh fixing ring (203) can be adjusted up and down in first adjusting groove (214).
7. The lightweight exoskeleton device for lead garment support of claim 1, wherein: the inner side of the lower leg support assembly (205) is provided with a lower leg fixing ring A (207), the lower leg fixing ring A (207) is positioned on a lower leg support plate (206), a second adjusting groove (216) is formed in the mounting position of the lower leg fixing ring A (207), and the lower leg fixing ring A (207) can be adjusted up and down in the second adjusting groove (216).
8. The lightweight exoskeleton device for lead garment support of claim 7, wherein: a lower leg fixing ring B (220) is further arranged below the lower leg fixing ring A (207), and the position of the lower leg fixing ring B (220) can be adjusted up and down.
9. The lightweight exoskeleton device for lead garment support of claim 1, wherein: the lower leg support component (205) comprises an outer knee support plate (217) and a lower leg support plate (206), the upper end of the outer knee support plate (217) is hinged with the knee joint connector (204), and the lower end of the outer knee support plate (217) is connected with the lower leg support plate (206); the connection part of the lower end of the outer knee supporting plate (217) and the lower leg supporting plate (206) can be adjusted in connection length by selecting different connection holes, so that the length of the whole lower leg supporting assembly (205) can be adjusted.
10. The lightweight exoskeleton device for lead garment support of claim 1, wherein: the upper body fixing belt (103) is an annular fixing device and is made of elastic materials.
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Cited By (1)
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|---|---|---|---|---|
| CN115410739A (en) * | 2022-09-01 | 2022-11-29 | 浙江大学 | Lead garment supporting device used for interventional operation and using method |
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