A leg positioning clamping structure and clamping method thereof

Abstract

The present invention relates to the technical field of knee joint surgery, and in particular to a leg positioning clamping structure and a clamping method thereof, comprising: a bracket, a clamp, and a sensor; the bracket comprises an upper support plate and a lower support plate, the support plate having a fixed platform, and the fixed platform having an open cavity for placing the sensor; the clamp is fixed to the upper support plate and the lower support plate, respectively, and comprises a base fixed to the support plate, a clamping claw, a torsion spring, and a pressing mechanism; there is a bend with a set angle between the two support plates, the bend having a knee positioning hole, the bottom of the open cavity of the fixed platform having an opening, and the bottom surface of the sensor having an adhesive for bonding the sensor to the leg. In the present invention, there is no need to wear an exoskeleton mechanism, and only two sensors are required to realize the collection of human motion parameters, and by setting the knee positioning hole and the open cavity on the bracket, the sensors are uniformly placed, improving adaptability, and are clamped by the clamping claw, which is quick and convenient and will not cause harm to the human body.

Description

Technical Field

[0001] The present invention relates to the technical field of knee joint surgery, and in particular to a leg positioning and clamping structure and a clamping method thereof. Background Art

[0002] The joint motion information of the human lower limbs is the basic data for guiding human leg rehabilitation training. In the existing technology, wearable exoskeleton devices are often used to collect human knee joint motion data.

[0003] In the prior art, for example, Chinese utility model patent No. CN202515666U, issued on November 7, 2012, discloses a wearable exoskeleton for detecting motion information of the human lower limb knee joint. The exoskeleton comprises a rotatably connected thigh member and calf member, and a photoelectric encoder positioned at the rotating joint. The thigh member and calf member are respectively secured to the human thigh and calf using two clamps. The wearable exoskeleton follows the movement of the human body to detect human motion information.

[0004] However, when implementing the above scheme, the inventors found that, on the one hand, the wearable skeletal mechanism in the above scheme has a certain impact on human walking, that is, the movement form of the human body when wearing and not wearing is different, which leads to measurement errors. On the other hand, the above-mentioned clamp-type fixing structure also causes a certain degree of damage to the human body. Summary of the Invention

[0005] In view of at least one of the above technical problems, the present invention provides a leg positioning and clamping structure and a clamping method thereof, which adopts structural improvements to avoid the influence of the wearing skeleton mechanism on the collection of human body information and the damage to the human body clamping.

[0006] According to a first aspect of the present invention, there is provided a leg positioning and clamping structure, comprising: a bracket, a clamp, and sensors placed at both ends of the bracket.

[0007] The bracket includes an upper support plate and a lower support plate connected to the upper support plate, wherein the upper support plate and the lower support plate each have a fixing platform protruding from the bottom of the bracket on a free end away from the connection, and the fixing platform has an open cavity for placing the sensor;

[0008] The clamps are fixed to the upper support plate and the lower support plate respectively, and each includes a base fixed to the upper support plate or the lower support plate, two clamping jaws rotatably connected to the base, a torsion spring connected between the clamping jaws and the base for keeping the two clamping jaws close to each other, and a pressing mechanism connected to the base for driving the two clamping jaws to open;

[0009] The upper support plate has a bending angle of a set angle near the lower support plate, and has a knee positioning hole at the bending point. The opening cavity of the fixing platform has an opening at the bottom. The bottom surface of the sensor has an adhesive for bonding the sensor to the thigh and calf of the human body.

[0010] Furthermore, the clamping jaws have a driving platform extending in the direction toward the center of the base, and the pressing mechanism includes a guide column fixed on the base, a return spring sleeved on the guide column, a lap joint sleeved on the guide column and supported by the return spring, and a pressing cap connected to the top of the lap joint, the lap joint extends toward both sides and overlaps with the driving platform, and the lap joint drives the two clamping jaws to open when pressed down.

[0011] Furthermore, the end of the clamping claw away from the driving platform is arranged in an arc-shaped plate structure, and the arc-shaped plate has a heat dissipation port.

[0012] Furthermore, the front end and the top of the fixing platform have openings communicating with the open cavity, the front end opening is used to insert the sensor into the open cavity, and the top opening is used to press the sensor out from the bottom of the open cavity.

[0013] Furthermore, the depth of the open chamber is adapted to the length of the sensor, both side walls of the sensor housing are provided with guide grooves arranged along the length direction thereof, and the inner wall of the open chamber is provided with elastically arranged blocking columns.

[0014] Furthermore, the top opening of the fixing platform is provided with an elastic pressing mechanism, and the elastic pressing mechanism can extend into the open chamber to press the sensor out from the bottom of the open chamber.

[0015] Furthermore, the elastic pressing mechanism includes a base bracket that passes through the top opening of the fixing platform from the bottom, a pressing key connected to the base bracket, and an elastic member supported between the fixing platform and the pressing key, and the bottom of the base bracket is configured to conform to the top of the sensor.

[0016] Furthermore, the lower support plate and the upper support plate are relatively movable in the width direction.

[0017] Furthermore, the upper support plate has a positive step portion on one end facing the lower support plate, and the lower support plate has an inverted step portion overlapping the positive step portion, and the inverted step portion can slide relatively on the positive step portion, and the middle of the positive step portion has a stopper extending into the inverted step portion, and both sides of the stopper have compression springs abutting against the inside of the inverted step portion, and also include an L-shaped cover plate, the L-shaped cover plate is connected to the top of the positive step portion, and the folded part of the L-shaped cover plate is in contact with the side wall of the inverted step portion to realize the sliding connection between the positive step portion and the inverted step portion.

[0018] According to a second aspect of the present invention, a leg positioning and clamping method is further provided, comprising the leg positioning and clamping structure as described in any one of the first aspects.

[0019] Place the knee positioning hole on the bracket over the user's kneecap;

[0020] Press the holding mechanism to open the two clamps, placing the upper support plate against the user's thigh and the lower support plate against the user's calf.

[0021] Release the pressing mechanism so that the clamping jaws of the two clamps close and fix the bracket to the human leg;

[0022] Install the sensor into the open chamber with the adhesive surface of the sensor bottom facing downwards;

[0023] Remove the sensors from the open chamber so that the two sensors are fixed on the user's thigh and calf respectively;

[0024] Pressing the holding mechanism causes the jaws of the two clamps to open and remove the support from the user's leg.

[0025] The beneficial effects of the present invention are as follows: the present invention can realize the collection of human motion parameters by only two sensors without wearing an exoskeleton mechanism, and the setting of the knee positioning holes on the bracket and the opening of the mouth on the bracket allows the sensors to be placed uniformly, thereby improving adaptability, and the clamping method through the clamping claws is quick and convenient, and will not cause harm to the human body. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0027] Figure 1 Schematic diagram of the leg positioning and clamping structure in an embodiment of the present invention;

[0028] Figure 2 Schematic diagram of the structure of the bracket in an embodiment of the present invention;

[0029] Figure 3 A schematic structural diagram of a clamp according to an embodiment of the present invention;

[0030] Figure 4 This is a structural diagram of the leg positioning and clamping structure when it is fixed to the leg in an embodiment of the present invention;

[0031] Figure 5 This is a schematic diagram of the structure of the sensor when it is fixed on the leg in an embodiment of the present invention;

[0032] Figure 6 is a schematic cross-sectional structural diagram of a clamp according to an embodiment of the present invention;

[0033] Figure 7 In the embodiment of the present invention Figure 6 A local enlarged structural diagram in FIG.

[0034] Figure 8 This is an exploded schematic diagram of the mounting structure of the sensor and the open cavity according to an embodiment of the present invention;

[0035] Figure 9 In the embodiment of the present invention Figure 8 Schematic diagram of the cross-section structure in ;

[0036] Figure 10 Schematic diagram of the connection structure between the upper support plate and the lower support plate in an embodiment of the present invention;

[0037] Figure 11 In the embodiment of the present invention Figure 10 Schematic diagram of the exploded structure of the middle connection;

[0038] Figure 12 This is a flow chart of the steps of the clamping method of the leg positioning clamping structure in an embodiment of the present invention. DETAILED DESCRIPTION

[0039] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0040] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly attached to the other element or there may be an intermediate element. When an element is referred to as being "connected to" another element, it may be directly connected to the other element or there may be an intermediate element. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only implementation methods.

[0041] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this invention pertains. The terms used in this specification are for the purpose of describing specific embodiments only and are not intended to limit the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0042] like Figures 1 to 11 The leg positioning clamping structure shown includes: a bracket 1, a clamp 2 and sensors 3 placed at both ends of the bracket 1. For details, please refer to Figures 1 to 3 ,in:

[0043] The bracket 1 includes an upper support plate 11 and a lower support plate 12 connected to the upper support plate 11. The upper support plate 11 and the lower support plate 12 each have a fixing platform 13 protruding from the bottom of the bracket 1 on their free ends away from the connection. The fixing platform 13 has an open cavity 13a for placing the sensor 3.

[0044] The clamp 2 is fixed to the upper support plate 11 and the lower support plate 12 respectively, and each includes a base 21 fixed to the upper support plate 11 or the lower support plate 12, two clamping jaws 22 rotatably connected to the base 21, a torsion spring 23 connected between the clamping jaws 22 and the base 21 for keeping the two clamping jaws 22 close to each other, and a holding mechanism 24 connected to the base 21 and for driving the two clamping jaws 22 to open;

[0045] The upper support plate 11 has a bend at a set angle near the lower support plate 12, and a knee positioning hole 11a is formed at the bend. The opening 13a of the fixing platform 13 has an opening at the bottom. The bottom surface of the sensor 3 has an adhesive for adhering the sensor 3 to the thigh and calf of the human body. In some embodiments of the present invention, the bend angle is 15°. It is understood that those skilled in the art can set the specific bend angle according to actual needs.

[0046] For the specific fixing process, please refer to Figure 4First, press the holding mechanism 24 to open the two clamping claws 22, align the knee positioning hole 11a of the bracket 1 with the patella of the knee, then fix the upper support plate 11 on the thigh through the clamping claws 22, and fix the lower support plate 12 on the calf through the clamping claws 22, then press the sensor 3 out through the opening at the bottom of the opening cavity 13a, so that the sensor 3 is fixed on the thigh and calf respectively, and then remove the bracket 1, as shown in FIG. Figure 5 As shown in , only two sensors 3 are left on the leg. The sensor 3 is centered at the knee patella. A coordinate system is established at the positions of the two sensors 3, which communicate with the computer to collect real-time human motion parameters. It should be pointed out here that in the embodiment of the present invention, the sensor 3 is used to collect leg motion parameters. It has various forms. For example, it can be a six-axis posture sensor 3, or it can be an angle or displacement sensor 3. Establishing a coordinate system by communicating with the computer through the sensor 3 is a prior art and will not be described in detail here. In the embodiment of the present invention, by establishing a coordinate system with the knee patella as the center and two sensors 3 with determined relative positions, the uniformity of the coordinate system establishment can be improved, thereby improving the reliability of human parameter collection.

[0047] In the above embodiment, there is no need to wear an exoskeleton mechanism, and only two sensors 3 are needed to realize the collection of human motion parameters. In addition, through the setting of the knee positioning hole 11a on the bracket 1 and the opening 13a on the bracket 1, the sensors 3 are placed in a uniform manner to improve adaptability. In addition, the clamping method of the clamping claw 22 is quick and convenient, and will not cause harm to the human body.

[0048] In some embodiments of the present invention, please refer to Figure 6 、 Figure 7 The clamping jaws 22 have a drive platform extending in the direction toward the center of the base 21. The holding mechanism 24 includes a guide post 24a fixed to the base 21, a return spring 24c mounted on the guide post 24a, a bridge piece 24b mounted on the guide post 24a and supported by the return spring 24c, and a pressing cap 24d connected to the top of the bridge piece 24b. The bridge piece 24b extends toward both sides and overlaps the drive platform. When pressed downward, the bridge piece 24b drives the two clamping jaws 22 to open. The arrangement of the bridge piece 24b enables lever-type driving, and the arrangement of the return spring 24c enables opening when force is applied and automatic reset when released.

[0049] Furthermore, if Figure 3 As shown in FIG, the end of the clamping jaw 22 away from the driving platform is arranged in an arc-shaped plate structure, and the arc plate has a heat dissipation vent 22a. This arrangement allows the arc to better fit the human leg, and the heat dissipation vent 22a also facilitates ventilation and reduces the weight of the leg positioning clamping structure.

[0050] In some embodiments of the present invention, please refer to Figure 1 、 Figure 2 、 Figure 8 and Figure 9 The front and top of the fixing platform 13 have openings that communicate with the open cavity 13a. The front opening is used to insert the sensor 3 into the open cavity 13a, and the top opening is used to press the sensor 3 out from the bottom of the open cavity 13a. With this arrangement, when the sensor 3 is inserted into the open cavity 13a from the front opening, it does not affect the fixing process of the bracket 1, and pressing the sensor 3 from the top is also more convenient.

[0051] Further, continue to refer to Figure 8 The depth of the open cavity 13a is adapted to the length of the sensor 3. The two side walls of the sensor 3 housing have guide grooves 31 extending along their length, and the inner wall of the open cavity 13a has elastically mounted retaining posts 13b. Through the aforementioned arrangement, it can be seen that the temporary fixing structure of the sensor 3 to the open cavity 13a is achieved through the coordination of the guide grooves 31 and retaining posts 13b, as well as the adaptation of the depth of the open cavity 13a to the length of the sensor 3. This ensures that the sensor 3 is accurately and appropriately positioned within the open cavity 13a, preventing it from falling out. The retaining posts 13b are similar in structure to the cylinder of a mechanical lock, connected by a spring. When the sensor 3 is placed within the open cavity 13a, the retaining posts 13b retract inward, securing the sensor 3.

[0052] Further, refer to Figure 9 As shown, the top opening of the fixing platform 13 also has an elastic pressing mechanism 13c. The elastic pressing mechanism 13c can extend into the chamber 13a and is used to press the sensor 3 out of the bottom of the chamber 13a. With this arrangement, when pressure is applied to the elastic pressing mechanism 13c, the blocking column 13b continues to retract inward, and the sensor 3 is pressed out of the bottom of the chamber 13a.

[0053] In some embodiments of the present invention, continue to refer to Figure 9The elastic pressing mechanism 13c includes a base 13c1 extending from the bottom through the top opening of the fixing platform 13, a press button 13c3 connected to the base 13c1, and an elastic member 13c2 positioned between the fixing platform 13 and the press button 13c3. The bottom of the base 13c1 is contoured to the top of the sensor 3. With this arrangement, when pressure is applied to the press button 13c3 on the elastic pressing mechanism 13c, the elastic member 13c2 contracts, pushing the press button 13c3 downward, which in turn pushes the base 13c1 against the sensor 3. The retaining post 13b retracts inward, securing the sensor 3 to the leg. This contoured arrangement of the base 13c1's bottom and the top of the sensor 3 improves the fit between the base 13c1 and the sensor 3 during pressing, thereby enhancing the stability of the sensor 3 during pressing, ensuring that the sensor 3 does not deviate vertically downward, further improving the precision and stability of the sensor 3's fixation.

[0054] In some embodiments of the present invention, Figure 10 As shown, the lower support plate 12 and the upper support plate 11 are relatively movable in the width direction. The upper support plate 11 and the lower support plate 12 can slide relative to each other to accommodate various leg shapes, such as X-shaped legs or O-shaped legs. The lower support plate 12 can be moved laterally to achieve a close fit with the legs when fixed.

[0055] Furthermore, if Figure 11 As shown, the upper support plate 11 has a positive step portion 11b on one end facing the lower support plate 12, and the lower support plate 12 has an inverted step portion 12a overlapping the positive step portion 11b, and the inverted step portion 12a can slide relatively on the positive step portion 11b, and the middle of the positive step portion 11b has a stopper 11b1 extending into the inverted step portion 12a, and both sides of the stopper 11b1 have compression springs 12c abutting against the inside of the inverted step portion 12a, and also include an L-shaped cover plate 12b, the L-shaped cover plate 12b is connected to the top of the positive step portion 11b, and the folded part of the L-shaped cover plate 12b is in contact with the side wall of the inverted step portion 12a to realize the sliding connection between the positive step portion 11b and the inverted step portion 12a. Through the above-mentioned arrangement, the step portions that fit each other can achieve lateral relative movement to achieve wearing for different leg shapes; at the same time, when the external force between the stop block 11b1 and the compression spring 12c disappears, the lower support plate 12 can be reset regardless of whether it is on the left or the right side; the main function of the L-shaped cover 12b is to limit the moving direction of the upper and lower support plates 12 to maintain a straight line connection between the upper and lower support plates 12.

[0056] In some embodiments of the present invention, a method for clamping the leg positioning described above is further provided, using the above-mentioned leg positioning clamping structure, such as Figure 12 As shown, it should be pointed out here that the specific clamping method has been described in detail above, and those skilled in the art can understand it in combination with the above, which includes the following steps:

[0057] S10: Slip the knee positioning hole 11a on the bracket 1 onto the patella of the user's knee;

[0058] S20: Pressing the holding mechanism 24 opens the clamping jaws 22 of the two clamps 2, and respectively places the upper support plate 11 against the user's thigh and the lower support plate 12 against the user's calf;

[0059] S30: Release the pressing mechanism 24 so that the clamping jaws 22 of the two clamps 2 are closed, and the bracket 1 is fixed to the human leg;

[0060] S40: Install the sensor 3 into the open cavity 13a, with the adhesive surface of the bottom of the sensor 3 facing downward;

[0061] S50: Remove the sensor 3 from the open cavity 13a so that the two sensors 3 are fixed on the user's thigh and calf respectively;

[0062] S60: Press the holding mechanism 24 to open the clamping claws 22 of the two clamps 2, and remove the bracket 1 from the user's leg.

[0063] Those skilled in the art will appreciate that the present invention is not limited to the foregoing embodiments. The foregoing embodiments and descriptions are merely illustrative of the principles of the present invention. Various changes and modifications may be made to the present invention without departing from the spirit and scope of the present invention. Such changes and modifications are intended to fall within the scope of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A leg positioning and clamping structure, characterized in that: It includes a bracket, a fixture and sensors placed at both ends of the bracket, wherein: The bracket includes an upper support plate and a lower support plate connected to the upper support plate, wherein the upper support plate and the lower support plate each have a fixing platform protruding from the bottom of the bracket on a free end away from the connection, and the fixing platform has an open cavity for placing the sensor; The clamps are fixed to the upper support plate and the lower support plate respectively, and each includes a base fixed to the upper support plate or the lower support plate, two clamping jaws rotatably connected to the base, a torsion spring connected between the clamping jaws and the base for keeping the two clamping jaws close to each other, and a pressing mechanism connected to the base for driving the two clamping jaws to open; The upper support plate has a bend at a set angle near the lower support plate, and a knee positioning hole is provided at the bend. The opening cavity of the fixing platform has an opening at the bottom. The bottom surface of the sensor has an adhesive for adhering the sensor to the thigh and calf of the human body. The front end and the top of the fixing platform have openings communicating with the open cavity. The opening at the front end is used to insert the sensor into the open cavity, and the opening at the top is used to press the sensor out from the bottom of the open cavity.

2. The leg positioning and clamping structure according to claim 1, characterized in that: The clamping jaws have a driving platform extending in the direction toward the center of the base, and the holding mechanism includes a guide column fixed on the base, a return spring sleeved on the guide column, a lap joint sleeved on the guide column and supported by the return spring, and a pressing cap connected to the top of the lap joint, the lap joint extends toward both sides and overlaps with the driving platform, and the lap joint drives the two clamping jaws to open when pressed down.

3. The leg positioning and clamping structure according to claim 2, characterized in that: One end of the clamping claw away from the driving platform is arranged in an arc-shaped plate structure, and the arc-shaped plate has a heat dissipation port.

4. The leg positioning clamping structure according to claim 1, characterized in that: The depth of the open chamber is adapted to the length of the sensor. Both side walls of the sensor housing are provided with guide grooves arranged along the length direction thereof. The inner wall of the open chamber is provided with elastically arranged blocking columns.

5. The leg positioning and clamping structure according to claim 1, characterized in that: The top opening of the fixing platform is further provided with an elastic pressing mechanism, which can extend into the open chamber and is used to press the sensor out from the bottom of the open chamber.

6. The leg positioning and clamping structure according to claim 5, characterized in that: The elastic pressing mechanism includes a base that passes through the top opening of the fixing platform from the bottom, a pressing key connected to the base, and an elastic member supported between the fixing platform and the pressing key. The bottom of the base is configured to conform to the top of the sensor.

7. The leg positioning and clamping structure according to claim 1, characterized in that: The lower support plate and the upper support plate are relatively movable in the width direction.

8. The leg positioning and clamping structure according to claim 7, characterized in that: The upper support plate has a positive step portion on one end facing the lower support plate, and the lower support plate has an inverted step portion overlapping the positive step portion, and the inverted step portion can slide relatively on the positive step portion, and the middle of the positive step portion has a stopper extending into the inverted step portion, and both sides of the stopper have compression springs abutting against the inside of the inverted step portion, and also include an L-shaped cover plate, the L-shaped cover plate is connected to the top of the positive step portion, and the folded part of the L-shaped cover plate is in contact with the side wall of the inverted step portion to realize the sliding connection between the positive step portion and the inverted step portion.

9. A method for clamping a leg positioning clamping structure according to any one of claims 1 to 8, characterized in that: The following steps are involved: Place the knee positioning hole on the bracket over the user's kneecap; Press the holding mechanism to open the two clamps, placing the upper support plate against the user's thigh and the lower support plate against the user's calf. Release the pressing mechanism so that the clamping jaws of the two clamps close and fix the bracket to the human leg; Install the sensor into the open chamber with the adhesive surface of the sensor bottom facing downwards; Remove the sensors from the open chamber so that the two sensors are fixed on the user's thigh and calf respectively; Pressing the holding mechanism causes the jaws of the two clamps to open and remove the support from the user's leg.

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