Forearm fixation device and automated fixation method

Abstract

This invention discloses a forearm fixation device and an automated fixation method to solve the problem of how to automatically fix the forearm. The fixation device includes a shock-absorbing assembly, a forearm support plate and a support plate bracket, a pair of pneumatic flexible clamping elements, and a handle. The shock-absorbing assembly includes a shock-absorbing platform, a chassis, and an elastic element and magnetic damping device between the shock-absorbing platform and the chassis. The support plate bracket is detachably connected to the shock-absorbing platform. An inclined platform is fixedly connected to the support plate bracket, and a thrust sensor is provided at the wide end face of the inclined platform. The pneumatic flexible clamping elements clamp or release the forearm when it is placed. An electrical connection is provided between the thrust sensor and the pneumatic switch of the pneumatic flexible clamping elements. This invention provides effective fixation while ensuring that the user can quickly detach; it can minimize the impact of external environmental and user vibration and displacement on subsequent medical activities; it offers rapid positioning and strong scalability.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent medical devices, and more specifically, to a forearm fixation device and an automated fixation method. Background Art

[0002] For blood collection, intravenous infusion and other tasks, the first thing to do is to fix the forearm of the person whose blood is being collected. The existing technology has not paid attention to the problem of automatic fixation of the forearm, and most of them use straps for simple fixation when fixation is needed. However, strap fixation requires manual operation and consumes manpower. At the same time, this type of fixation method cannot ensure that the user can quickly detach in an emergency, and it cannot avoid the movement caused by the user and environmental factors when precise operation is required, causing harm to the user.

[0003] The Chinese patent with the announcement number CN 210409228 U discloses a clinical disinfection device for anesthesia, which is fixedly connected to the upper surface of the shock-absorbing block with an arm arc plate, and cooperates with a tying fixing belt to clamp and fix the patient's arm when the patient's skin surface is locally disinfected; the fixing block is movably connected with an adjustment double ring to ensure that the arm of patients of different sizes can be fixed in the arm arc plate. However, the above device cannot achieve the purpose of automatically fixing the arm and quickly detaching the user in an emergency.

[0004] Therefore, developing a device and a method for automatically fixing the forearm is a technical problem that needs to be solved urgently. Summary of the invention

[0005] Since the prior art has the above-mentioned defects, the present invention provides a forearm fixing device and an automatic fixing method to solve the problem of how to automatically fix the forearm.

[0006] To achieve the above-mentioned purpose, on the one hand, the present invention provides a forearm fixing device, characterized in that it includes a shock absorbing assembly, a forearm support plate and a support plate bracket, a pair of pneumatic flexible clamps and a handle; the shock absorbing assembly includes a shock absorbing platform, a chassis and an elastic member and a magnetic damping device between the shock absorbing platform and the chassis; the support plate bracket is detachably connected to the shock absorbing platform; the support plate bracket is fixedly connected to the inclined table, and a thrust sensor is provided at the wide end surface of the inclined table; the forearm support plate is movably connected to the support plate bracket On the forearm support plate; when the forearm support plate is not subjected to force, the lower surface of the forearm support plate is in pressure-free contact with the wide end surface of the inclined platform; the pneumatic flexible clamping piece extends from the forearm support plate to the upper surface of the forearm support plate, and the extended part is located on both sides of the forearm placement area of ​​the support plate, clamping or releasing the forearm when the forearm is placed; an electrical connection is provided between the thrust sensor and the pneumatic switch of the pneumatic flexible clamping piece; the handle is rotatably connected to the support plate bracket, and the center is located on the extension line of the forearm placement direction, and is used for grasping the hand when the forearm is placed.

[0007] The fixing part of the fixing device adopts a flexible element driven by a pneumatic element, which provides a fixing effect while ensuring that the user can quickly detach; the use of a magnetic damping shock-absorbing platform and a movable forearm tray can minimize the impact of the vibration and displacement of the external environment and the user's own on subsequent medical activities.

[0008] Furthermore, the magnetic damping device includes a magnetic cylinder and a conductor coil; the magnetic cylinder is fixedly connected to the chassis, and the conductor coil is fixedly connected to the bottom of the shock absorbing platform; when the shock absorbing platform is assembled with the chassis, the conductor coil can be placed in the magnetic cylinder. This feature enables the magnetic damping device and the shock absorbing assembly to be assembled in a small volume, and a large commercial magnetic damping device can be omitted.

[0009] Furthermore, the elastic member is a spring or a rubber ring. The number of the elastic members is not limited, and they are preferably arranged in pairs.

[0010] Furthermore, the upper surface of the forearm support plate is a concave curved surface and is provided with an elbow placement groove, which facilitates the positioning of the forearm.

[0011] Furthermore, the bottom of the two sides of the forearm support plate is provided with a plug-in slot; the support plate bracket is provided with an inserting strip at the position corresponding to the plug-in slot; the width of the plug-in slot is greater than the thickness of the inserting strip, and the depth matches the width of the inserting strip. This feature satisfies the up and down movement of the forearm support plate on the support plate bracket while limiting the left and right movement of the forearm support plate.

[0012] Furthermore, the pneumatic flexible clamping member includes a base plate and an axially parallel double-layer structure on the base plate; one layer of the double-layer structure is a flexible clamping layer, and the other layer is a pneumatic inflation layer, and the two layers are bonded into a strip-shaped whole; the double-layer structure of the pneumatic flexible clamping member is detachably connected to the forearm support plate through a through hole opened on the forearm support plate.

[0013] Furthermore, the pneumatic inflatable layer is provided with a plurality of protruding spines with triangular or trapezoidal cross sections in the opposite direction of the flexible clamping layer. When the device is inflated, the side provided with the protruding spines is inflated and expanded, and the longitudinal deformation is greater than the other side, so that the pneumatic inflatable layer bends and fixes the forearm more quickly.

[0014] Furthermore, the support bracket and the shock absorbing platform are detachably connected by bolts; an additional connecting plate can be added between the support bracket and the shock absorbing platform; the part of the additional connecting plate extending from the support bracket is fixedly connected to the side bracket. The side bracket can provide an installation slot for the expansion component, which is convenient for the implementation of the arm-related automated medical treatment method.

[0015] On the other hand, the present invention provides a method for automatically fixing a forearm, characterized in that the method adopts the forearm fixing device described above, and comprises the following steps:

[0016] S1. Before use, the lower surface of the forearm support plate is in non-pressure contact with the wide end surface of the inclined platform, and the signal of the thrust sensor received at this time is set as the pneumatic switch closing signal of the pneumatic flexible clamping member;

[0017] S2. When the user grasps the handle and places the forearm at a suitable position on the forearm support plate, the thrust sensor is subjected to thrust and transmits a force signal to an external computer, so that the external computer can confirm that the forearm is in place and record the thrust value as a reference value for normal use; when the external computer confirms that the forearm is in place according to the above criteria, the pneumatic switch of the pneumatic flexible clamp is turned on under the control of an external program, and the pneumatic flexible clamp is inflated and bent toward the forearm to clamp the forearm;

[0018] S3. When it is necessary to end the use, the user lifts his arm or pulls back his forearm, the thrust applied to the thrust sensor disappears, and a signal of force disappearance is transmitted as a criterion for the external computer to end the process; when the external computer determines that the use has ended, a closing signal is sent to the pneumatic switch, the pneumatic flexible clamp is reset, and the use ends.

[0019] The fixing method can realize the full-automatic fixing and release of the user's forearm. Due to the flexible characteristics of the clamping member, the user will not be fixed on the device, but can automatically release the device by properly pulling the arm upward or pulling it out with force.

[0020] Furthermore, the fixing method also includes the following abnormal handling process: the thrust sensor receives a thrust that deviates from the reference value of normal use and transmits it to an external computer, the external computer sends an emergency shutdown signal to the pneumatic switch, and the pneumatic flexible clamp is quickly reset, so that the forearm can be moved out of the device.

[0021] Compared with the prior art, the above invention has the following advantages or beneficial effects:

[0022] 1. The forearm is fixed by a flexible element driven by a pneumatic element, which provides a fixing effect while ensuring that the user can quickly detach;

[0023] 2. The use of magnetic damping shock-absorbing platform and movable forearm tray can minimize the impact of external environment and user's own vibration and displacement on subsequent medical activities;

[0024] 3. The handle and elbow placement slot are provided to guide the user to position the forearm;

[0025] 4. Other automated medical equipment and devices can be expanded by adding side brackets. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The present invention and its features, appearance and advantages will become more apparent by reading the detailed description of non-limiting embodiments with reference to the following drawings. The same reference numerals indicate the same parts in all the drawings. The drawings are not drawn to scale, and emphasis is placed on illustrating the subject matter of the present invention.

[0027] Figure 1 It is a schematic diagram of the three-dimensional structure of a forearm fixing device in one embodiment of the present invention;

[0028] Figure 2 is a schematic diagram of the three-dimensional structure of a shock absorbing assembly in one embodiment of the present invention;

[0029] Figure 3 This is a schematic diagram of the three-dimensional structure of a chassis in one embodiment of the present invention;

[0030] Figure 4 This is a schematic diagram of the structure of a shock absorbing platform from an oblique downward perspective in one embodiment of the present invention;

[0031] Figure 5 It is a schematic diagram of the three-dimensional structure of a support plate and its bracket in one embodiment of the present invention;

[0032] Figure 6 It is a schematic diagram of the three-dimensional structure of the support plate bracket and the handle part in one embodiment of the present invention;

[0033] Figure 7 It is a schematic diagram of a three-dimensional structure of a support plate in a side view according to an embodiment of the present invention;

[0034] Figure 8 It is a schematic diagram of the three-dimensional structure of a support plate and a pneumatic flexible clamping member assembly in one embodiment of the present invention;

[0035] Fig. 9 A schematic diagram of the three-dimensional structure of a pneumatic flexible clamping member in one embodiment of the present invention;

[0036] Fig.10 It is a partial enlarged view of the handle and a schematic cross-sectional structure diagram of the rod extension box in one embodiment of the present invention;

[0037] Fig.11 It is a schematic diagram of the three-dimensional structure of the shock absorbing platform and the side bracket assembly in another embodiment of the present invention;

[0038] Fig.12 It is a three-dimensional structural schematic diagram of a shock-absorbing platform, a side bracket and a support plate bracket assembly in another embodiment of the present invention;

[0039] Fig.13It is a schematic diagram of the three-dimensional structure of a forearm fixing device in another embodiment of the present invention;

[0040] Among them, 1. shock absorbing assembly; 2. forearm support plate; 3. support plate bracket; 4. pneumatic flexible clamping member; 5. grip; 6. side bracket; 11. shock absorbing platform; 12. chassis; 13. elastic member; 111. mounting block; 21. plug-in slot; 22. elbow placement slot; 23. bolt hole; 31. thrust sensor; 32. inclined table; 33. insert strip; 41. flexible clamping layer; 42. pneumatic inflation layer; 51. rod extension box; 141. magnetic cylinder; 142. conductor coil. DETAILED DESCRIPTION

[0041] The structure of the present invention is further described below in conjunction with the accompanying drawings and specific embodiments, but is not intended to limit the present invention.

[0042] Example 1

[0043] See also Figure 1 A forearm fixing device comprises a shock absorbing assembly 1, a forearm support plate 2 and a support plate bracket 3, a pair of pneumatic flexible clamping members 4 and a grip 5. The support plate bracket 3 is detachably connected to a shock absorbing platform 11.

[0044] See also Figures 2 to 4 The shock absorbing assembly includes a shock absorbing platform 11, a chassis 12, and an elastic member 13 and a magnetic damping device between the shock absorbing platform 11 and the chassis 12. The elastic member 13 is a plurality of rubber columns symmetrically distributed around the inside of the chassis 12; the elastic member 13 can also be a spring or other elastic element to achieve the same shock absorbing and buffering effect. A mounting block 111 can be provided at the bottom of the chassis 12 at the location of the elastic member 13, and the mounting block 111 can be inserted into the elastic member 13 to play a positioning role. The magnetic damping device includes a magnetic cylinder 141 and a conductor coil 142; the magnetic cylinder 141 is fixedly connected to the chassis 12, and the conductor coil 142 is fixedly connected to the bottom of the shock absorbing platform 11; when the shock absorbing platform 11 and the chassis 12 are assembled, the conductor coil 142 can be placed in the magnetic cylinder 141. It can be understood that the commercial magnetic damping device can also be directly fixedly installed between the shock absorbing platform 11 and the chassis 12 to achieve the same shock absorbing effect. The vibration of the environment in which the device is used is weakened by the cooperation of the elastic member 13 and the magnetic damping device.

[0045] See also Figure 5 and Figure 6 The support plate bracket 3 is fixedly connected to the inclined surface platform 32, and a thrust sensor 31 is provided at the wide end surface of the inclined surface platform 32; the forearm support plate 2 is movably connected to the support plate bracket 3. Figure 7In this embodiment, the upper surface of the forearm support plate 2 is a concave curved surface, and is provided with an elbow placement groove 22, which is convenient for the user's forearm to be quickly positioned. When the forearm support plate 2 is not subjected to force, the lower surface of the forearm support plate 2 is in non-pressure contact with the wide end surface of the inclined platform 32; the user's own small movement is weakened by the action of the tray bracket 3 and the thrust sensor 31. Figure 8 The pneumatic flexible clamping member 4 extends out from the forearm support plate 2 to the upper surface of the forearm support plate 2, and the extended part is located on both sides of the forearm placement area of ​​the support plate, clamping or releasing the forearm when the forearm is placed; an electrical connection is provided between the thrust sensor 31 and the pneumatic switch of the pneumatic flexible clamping member 4.

[0046] See also Figures 5 to 7 , the forearm support plate 2 can be an upper and lower plate connected as a whole by bolt holes 23 and bolts around the forearm support plate 2. The bottom of the two sides of the forearm support plate 2 is provided with a plug-in slot 21; the support plate bracket 3 is provided with a plug-in strip 33 at the corresponding position of the plug-in slot 21; the width of the plug-in slot 21 is greater than the thickness of the plug-in strip 33, and the depth matches the width of the plug-in strip 33. The forearm support plate 2 is pushed into the top of the support plate bracket 3 from the outside through the cooperation of the plug-in strip 33 and the plug-in slot 21, at which time the lower surface of the forearm support plate 2 is in non-pressure contact with the wide end surface of the inclined platform 32 on the support plate bracket 3. Since the width of the plug-in slot 21 is greater than the thickness of the plug-in strip 33, the forearm support plate 2 has a narrow space for downward movement when the forearm is pressed, and at this time, the lower surface of the forearm support plate 2 generates a thrust on the inclined platform 32; after the thrust is sensed by the thrust sensor 31, it is fed back to the external computer, and after the computer judges, the pneumatic switch of the pneumatic flexible clamp 4 is opened to perform the inflation operation to fix the forearm. When use is completed, the forearm is retracted and the thrust disappears. After the computer senses the disappearance of the thrust and determines that the entire process has ended, it controls the pneumatic switch of the pneumatic flexible clamping member 4 to perform a deflation operation to release the forearm.

[0047] See also Fig. 9 In this embodiment, the pneumatic flexible clamping member 4 includes a bottom plate and a double-layer structure axially parallel to the bottom plate; one layer of the double-layer structure is a flexible clamping layer 41, and the other layer is a pneumatic inflation layer 42, and the two layers are bonded into a strip-shaped whole; the double-layer structure of the pneumatic flexible clamping member 4 is detachably connected to the forearm support plate 2 through a through hole opened on the forearm support plate 2. The pneumatic inflation layer 42 is provided with a plurality of protruding spines with a triangular cross-section in the opposite direction of the flexible clamping layer 41. When the device is inflated, the side provided with the protruding spines is inflated and expanded, and the longitudinal deformation is greater than the other side, so that the pneumatic inflation layer 42 bends and fixes the forearm more quickly.

[0048] See also Fig.10The handle 5 is rotatably connected to the support bracket 3, and its center is located on the extension line of the forearm placement direction, and is used for hand gripping when the forearm is placed. The extension length of the handle 5 can be adjusted by installing corresponding rod extension boxes 51 on the two side support rods; the rod extension box 51 has elastic limiting bumps to clamp and fix the position of the handle 5 after adjustment.

[0049] The method for automated forearm fixation using the above fixation device comprises the following steps:

[0050] S1. Before use, the lower surface of the forearm support plate 2 is in non-pressure contact with the wide end surface of the ramp 32, and the signal received by the thrust sensor 31 at this time is set as the initial signal;

[0051] S2. When the user grasps the handle 5 and puts the forearm to the appropriate position of the forearm support plate 2, the thrust sensor 31 is subjected to thrust and transmits the force signal to the external computer, so that the external computer can confirm that the forearm is in place and record the thrust value as a reference value for normal use; when the external computer confirms that the forearm is in place according to the above criteria, the pneumatic switch of the pneumatic flexible clamping member 4 is turned on under the control of the external program, and the switch is turned on to inflate the pneumatic flexible clamping member 4, and the pneumatic flexible clamping member 4 is bent toward the forearm to clamp the forearm;

[0052] S3. When it is necessary to end the use, the user raises his arm or pulls back his forearm, the thrust applied to the thrust sensor 31 disappears, and a signal of force disappearance is transmitted as a criterion for the end of the process to the external computer; when the external computer determines that the use has ended, a closing signal is sent to the pneumatic switch, the pneumatic flexible clamp 4 is reset, and the use ends.

[0053] Example 2

[0054] A forearm fixing device, whose structure and automated fixing method are similar to those of Example 1. The difference from Example 1 is that Figures 11 to 13 The support plate bracket 3 and the shock absorbing platform 11 are detachably connected by bolts; an additional connecting plate can be added between the support plate bracket 3 and the shock absorbing platform 11; the portion where the additional connecting plate extends out of the support plate bracket 3 is fixedly connected to the side bracket 6.

[0055] Example 3

[0056] A forearm fixing device, whose structure and automated fixing method are similar to those of Example 1. Unlike Example 1, the thrust sensor 31 is provided with an external communication interface, which can simultaneously send the received signal to the outside through a transmission line or wirelessly. When the thrust sensor 31 receives unusual thrust information and sends an emergency signal, the external related insurance program can assist in opening the insurance system, thereby ensuring the safety of the user. As an embodiment, under special circumstances (the user suddenly pulls out his arm, the forearm is greatly displaced due to external force, etc.), the thrust sensor 31 receives the abnormal thrust and transmits it to an external computer. The external computer performs the insurance process depending on the connected device, quickly terminates the process to avoid causing harm to the user, and sends an emergency shutdown signal to the pneumatic switch at the same time. The pneumatic flexible clamp 4 is quickly reset, and due to the flexible characteristics of the pneumatic flexible clamp 4, when the pneumatic flexible clamp 4 is not reset, it can also be deformed when the forearm applies force, thereby moving the forearm out of the device.

[0057] In summary, the present invention provides a forearm fixing device and an automated fixing method to solve the problem of how to automatically fix the forearm. The fixing device includes a shock absorbing assembly, a forearm support plate and a support plate bracket, a pair of pneumatic flexible clamps and a handle; the shock absorbing assembly includes a shock absorbing platform, a chassis, and an elastic member and a magnetic damping device between the shock absorbing platform and the chassis; the support plate bracket is detachably connected to the shock absorbing platform; the support plate bracket is fixedly connected to the inclined table, and a thrust sensor is provided at the wide end surface of the inclined table; the pneumatic flexible clamp clamps or releases the forearm when the forearm is placed; an electrical connection is provided between the thrust sensor and the pneumatic switch of the pneumatic flexible clamp. The present invention provides a fixing effect while ensuring that the user can quickly detach; it can minimize the impact of the vibration and displacement of the external environment and the user's own on subsequent medical activities; it has fast positioning and strong scalability.

[0058] Those skilled in the art should understand that those skilled in the art can implement variations by combining the prior art and the above embodiments, which will not be described in detail here. Such variations do not affect the essential content of the present invention, and will not be described in detail here.

[0059] The above describes the preferred embodiments of the present invention. It should be understood that the present invention is not limited to the above-mentioned specific embodiments, and the devices and structures that are not described in detail should be understood to be implemented in a common manner in the art; any technician familiar with the art can use the above-disclosed methods and technical contents to make many possible changes and modifications to the technical solutions of the present invention without departing from the scope of the technical solutions of the present invention, or modify them into equivalent embodiments of equivalent changes, which does not affect the essential content of the present invention. Therefore, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solutions of the present invention are still within the scope of protection of the technical solutions of the present invention.

Claims

1. A forearm fixing device, characterized in that: It comprises a shock absorbing assembly (1), a forearm support plate (2) and a support plate bracket (3), a pair of pneumatic flexible clamping members (4) and a grip (5); The shock absorbing assembly comprises a shock absorbing platform (11), a chassis (12), and an elastic member (13) and a magnetic damping device between the shock absorbing platform (11) and the chassis (12); The support plate bracket (3) is detachably connected to the shock absorbing platform (11); the support plate bracket (3) is fixedly connected to the inclined surface platform (32), and a thrust sensor (31) is provided at the wide end surface of the inclined surface platform (32); the forearm support plate (2) is movably connected to the support plate bracket (3); when the forearm support plate (2) is not subjected to force, the lower surface of the forearm support plate (2) is in non-pressure contact with the wide end surface of the inclined surface platform (32); the pneumatic flexible clamping member (4) extends from the forearm support plate (2) to the upper surface of the forearm support plate (2), and the extended part is located on both sides of the forearm placement area of ​​the support plate, and clamps or releases the forearm when the forearm is placed; an electrical connection is provided between the thrust sensor (31) and the pneumatic switch of the pneumatic flexible clamping member (4); The handle (5) is rotatably connected to the support plate bracket (3), with its center located on the extension line of the forearm placement direction, and is used for hand gripping when the forearm is placed; The pneumatic flexible clamping member (4) comprises a bottom plate and a double-layer structure axially parallel to the bottom plate; one layer of the double-layer structure is a flexible clamping layer (41), and the other layer is a pneumatic inflation layer (42), and the two layers are bonded together to form a strip-shaped whole; the double-layer structure of the pneumatic flexible clamping member (4) is detachably connected to the forearm support plate (2) through a through hole opened on the forearm support plate (2); the pneumatic inflation layer (42) is provided with a plurality of protruding spines with triangular or trapezoidal cross-sections in the opposite direction of the flexible clamping layer (41).

2. A forearm fixing device according to claim 1, characterized in that: The magnetic damping device comprises a magnetic cylinder (141) and a conductor coil (142); the magnetic cylinder (141) is fixedly connected to the chassis (12), and the conductor coil (142) is fixedly connected to the bottom of the shock absorbing platform (11); when the shock absorbing platform (11) and the chassis (12) are assembled, the conductor coil (142) is placed in the magnetic cylinder (141).

3. A forearm fixing device according to claim 1 or 2, characterized in that: The elastic member (13) is a spring or a rubber ring.

4. A forearm fixing device according to claim 1 or 2, characterized in that: The upper surface of the forearm support plate (2) is a concave curved surface and is provided with an elbow placement groove (22).

5. A forearm fixing device according to claim 1 or 2, characterized in that: The bottom of the two side surfaces of the forearm support plate (2) are provided with plug-in slots (21); the support plate bracket (3) is provided with plug-in strips (33) at positions corresponding to the plug-in slots (21); the width of the plug-in slot (21) is greater than the thickness of the plug-in strip (33), and the depth matches the width of the plug-in strip (33).

6. A forearm fixing device according to claim 1 or 2, characterized in that: The support plate bracket (3) and the shock absorbing platform (11) are detachably connected via bolts; an additional connecting plate is provided between the support plate bracket (3) and the shock absorbing platform (11); and the portion of the additional connecting plate extending out of the support plate bracket (3) is fixedly connected to the side bracket (6).

7. A method for automated forearm fixation, characterized in that: The forearm fixing device according to any one of claims 1 to 6 comprises the following steps: S1. Before use, the lower surface of the forearm support plate (2) is in non-pressure contact with the wide end surface of the inclined platform (32), and the signal of the thrust sensor (31) received at this time is set as an initial signal; S2. When in use, the user grasps the handle and places the forearm at a suitable position on the forearm support plate (2), the thrust sensor (31) is subjected to thrust and transmits a force signal to the external computer, so that the external computer confirms that the forearm is in place and records the thrust value as a reference value for normal use; when the external computer confirms that the forearm is in place, the pneumatic switch of the pneumatic flexible clamp (4) is turned on under the control of an external program, and the pneumatic flexible clamp (4) is inflated and bent toward the forearm to clamp the forearm; S3. When it is necessary to end the use, the user raises his arm or pulls back his forearm, the thrust applied to the thrust sensor (31) disappears, and a signal indicating the disappearance of the force is transmitted as a criterion for the external computer to determine the end of the process; when the external computer determines that the use has ended, a closing signal is sent to the pneumatic switch, and the pneumatic flexible clamp (4) is reset, and the use ends.

8. The method for automatic forearm fixation according to claim 7, characterized in that: The method also includes the following abnormality handling process: the thrust sensor (31) receives a thrust that deviates from the reference value for normal use and transmits it to an external computer, the external computer sends an emergency shutdown signal to the pneumatic switch, and the pneumatic flexible clamp (4) is quickly reset, so that the forearm can be moved out of the device.

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