Waist assisting device for medical staff

Abstract

The invention discloses a medical staff waist assisting device in the technical field of wearing assisting equipment, which comprises a waistband and a waist seat, the waist seat is fixedly connected with the waistband, a bionic support column is fixedly connected to the waist seat, a controller is fixedly connected to the waist seat, reversing air pumps are symmetrically and fixedly connected to the outer side of the back of the waist seat, and leg straps are symmetrically arranged at the bottom of the waistband. Pneumatic muscle arrays are fixedly connected between the waist belt and the leg binding belt, the pneumatic muscle arrays are communicated with corresponding reversing air pumps respectively, the bionic supporting columns are communicated with the reversing air pumps, the top ends of the bionic supporting columns are fixedly connected with straps, and the reversing air pumps and the bionic supporting columns are in signal connection with the controller. Through system identification and judgment and prediction of the space-time diagram convolutional network, the bionic supporting structure is locked to share spine pressure, the pneumatic muscle array is driven to assist lumbar vertebra torsion, the possibility of lumbar muscle strain and lumbar vertebra abrasion is reduced, the body pressure of medical care work is relieved, and the medical quality is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of wearable power-assisting equipment, and in particular is a waist auxiliary device for medical personnel. Background Art

[0002] In their daily work, especially when they need to carry or lift patients, the waist of medical staff often bears great pressure and load, and many of their work requires them to maintain the same posture for a long time, such as surgery and observation. This can easily lead to occupational injuries such as lumbar muscle strain and lumbar spine injury. Therefore, it is particularly important to develop a waist assist device that can reduce the burden on the waist of medical staff and improve work efficiency.

[0003] Existing waist assist devices for medical staff have gradually developed from simple waist supports to exoskeleton devices with multiple functions. As described in the patent with announcement number CN111685975B, a waist belt and waist seat are worn with the waist as the center. The waist seat is connected to a rotatable rigid support structure above and below to support the back and the outside of the legs respectively. The support structure is rotated with the driving force to assist the flexion and extension of the waist, thereby reducing damage to the lumbar muscles and lumbar vertebrae.

[0004] However, the above device undoubtedly greatly limits the wearer's flexibility and can only support the wearer's waist flexion and extension. The auxiliary function and adaptability are limited. Based on the work content of medical staff, in addition to the waist flexion and extension when carrying and assisting patients, surgery and observation work that maintains the same spinal posture for a long time, some medical staff need to twist their waists to massage and correct the bones of patients during nursing. Such nursing actions will generate strong torque in the waist muscles in a short period of time, which is easy to damage the patient's waist muscles and lumbar spine. This is a problem that is difficult to solve with existing waist assistive devices.

[0005] To this end, it is necessary to propose a lumbar assist device for medical staff that can actively and adaptively fit the wearer's spine, ensure the flexibility of spinal bending and twisting, monitor the wearer's spinal posture changes in real time, control the bionic support structure to support or pull the patient's spine, reduce the pressure on the spine, and assist the lumbar muscles to twist and exert force, avoid lumbar muscle wear and tear, and reduce the work pressure of medical staff. Summary of the invention

[0006] To solve the above problems, the object of the present invention is to provide a waist assistance device for medical staff. By detecting the change in the relative position between the support joints through the rotation and air pressure sensors provided on the support joints, the change in the spinal posture of the entire bionic support structure and the wearer can be reflected. Through the judgment and prediction of the system recognition and the spatio-temporal graph convolutional network, the bionic support structure is locked to share the spinal pressure, and the pneumatic muscle array is driven to assist the lumbar torsion, reducing the possibility of lumbar muscle strain and lumbar wear, alleviating the physical pressure of medical work, and improving the medical quality.

[0007] To achieve the above object, the technical solution of the present invention is as follows: A waist assistance device for medical staff, comprising a waistband and a waist seat. The waist seat is fixedly connected to the waistband. A bionic support column is fixedly connected to the waist seat. A controller is fixedly connected to the waist seat. Reversing air pumps are symmetrically and fixedly connected to the outer side of the back of the waist seat. Leg straps are symmetrically provided at the bottom of the waistband. Pneumatic muscle arrays are fixedly connected between the waistband and the leg straps. The pneumatic muscle arrays are respectively communicated with the corresponding reversing air pumps. The bionic support columns are all communicated with the reversing air pumps. A back strap is fixedly connected to the top of the bionic support column. The reversing air pumps and the bionic support columns are both signal-connected to the controller;

[0008] The bionic support column is used to simulate the real spinal curvature to fit the wearer's back, sharing the spinal pressure and torque of the wearer; the pneumatic muscle array is used to provide torque to the waistband through inflation and contraction, assisting the medical staff in twisting movements, reducing lumbar muscle fatigue and lumbar wear.

[0009] The principle of the basic solution is: Detect the change in the relative position between the support joints through the rotation and air pressure sensors to reflect the change in spinal posture. Use the spatio-temporal graph convolutional network to identify and predict the spinal posture, and lock the optimal position for the bionic support structure to share the spinal pressure. According to the instructions of the controller, lock the bionic support column to support or pull the wearer's spine, sharing the spinal pressure. Through the inflation and deflation of the reversing air pump, provide torque to assist the medical staff in twisting movements, reducing lumbar muscle fatigue and lumbar wear.

[0010] The beneficial effects of the basic solution are: 1. The waist assistance device of the present invention, through the design of the bionic support column, accurately simulates the curvature of the real spine and perfectly fits the back curve of the wearer. This design not only ensures the stability of the device during wearing, but more importantly, it can effectively disperse and reduce the pressure and torque borne by the spine, enabling medical staff to feel a significant improvement in comfort during long-term standing, bending, or turning. The material selection of the bionic support column has also been carefully considered, ensuring both sufficient support strength and flexibility and breathability, ensuring that the wearer can still maintain a comfortable feeling during long-term wearing, avoiding a sense of compression or discomfort.

[0011] 2. Through precise inflation and deflation control, the pneumatic muscle array can provide the necessary torque assistance when medical staff twist their bodies or perform other waist activities, thereby effectively reducing the burden on the lumbar muscles and reducing the risk of lumbar muscle strain.

[0012] 3. The waist is the core part of the human body, and its health status directly affects the overall mobility and work efficiency of the human body. The waist auxiliary device of the present invention can effectively reduce the burden on the waist, so that medical staff can maintain higher mobility and endurance at work, so that they can complete their work tasks more efficiently. In addition, since waist fatigue and injury are effectively alleviated, medical staff can focus more on patients at work, improving the overall quality of medical services and patient satisfaction.

[0013] 4. The design of this device fully considers the needs of medical staff with different body shapes and spinal morphologies. Through built-in rotation and air pressure sensors and advanced spatiotemporal graph convolutional network algorithms, the device can monitor and identify changes in the wearer's spinal posture in real time, and make adaptive adjustments accordingly to ensure the best support effect.

[0014] Furthermore, the bionic support column includes a number of support joints, each of which has a piston groove inside, each of which has a piston slidably fitted in the piston groove, each of which has a connecting rod vertically fixedly connected to the top of the piston, each of which has a card ball fixedly connected to the top of the connecting rod, each of which has an air pressure groove connected to the bottom wall of the piston groove, each of which has air pressure holes symmetrically opened on the side of the piston groove away from the wearer, each of which is connected to the air pressure groove, each of which has an air pressure sensor, each of which has an air valve, and each of which is connected to the controller signal.

[0015] The beneficial effects of the basic scheme are as follows: 1. The bionic support column is composed of several support sections, each of which is provided with a piston groove and a piston. This design enables the support column to be flexibly adjusted according to the spinal morphology of different wearers. The sliding fit of the piston in the piston groove, as well as the connection structure of the connecting rod and the card ball, ensure that the support column can be appropriately deformed when subjected to force to fit the spinal curve of the wearer.

[0016] 2. The signal connection between the air pressure sensor and the air valve and the controller enables the device to monitor the air pressure changes inside the support column in real time, thereby reflecting the pressure and torque status of the spine. This precise monitoring capability provides the controller with valuable real-time data, enabling it to respond quickly, unlock the winch wheel, and adjust the air pressure in the air pressure tank to achieve dynamic support for the spine.

[0017] 3. The design of the bionic support column allows the device to provide stable support while also being able to dynamically adjust according to the force applied to the spine. This design not only improves the accuracy and effectiveness of support, but also avoids the stiffness and discomfort that may be caused by traditional lumbar assistive devices.

[0018] Furthermore, ventilation pipes are symmetrically arranged on the outer side of the bionic support columns. The ventilation pipes are respectively communicated with the air pressure holes on the corresponding side, and the bottom ends of the ventilation pipes are all communicated with the reversing air pumps.

[0019] The beneficial effects of the basic solution are as follows: 1. Due to the connection design between the ventilation pipes and the air pressure holes, the pressure distribution inside the support columns can be more uniform, avoiding the situation of excessive or too small local pressure. This uniform pressure distribution not only improves the precision of the support, but also enables the wearer to feel balanced support force under various movements, thus greatly improving the comfort.

[0020] 2. The introduction of the ventilation pipes establishes a direct and efficient connection channel between the reversing air pumps and the air pressure holes inside the bionic support columns. This means that when the controller issues an adjustment instruction according to the signal of the air pressure sensor, the reversing air pump can respond quickly, and fill or discharge gas into the air pressure holes through the ventilation pipes, so as to achieve precise control of the air pressure inside the support columns. This efficient pressure transmission mechanism ensures that the support columns can quickly adjust dynamically according to the real-time stress state of the spine, providing continuous and stable support effect for the wearer.

[0021] Furthermore, annular grooves are also opened inside the support sections. The bottom of the annular grooves are all communicated with locking grooves. A plurality of hoisting wheels are radially rotatably connected inside the annular grooves. Torsion springs are arranged inside the hoisting wheels. Locking gears are fixedly connected to the side of the hoisting wheels close to the piston grooves. A plurality of locking blocks are rotatably connected inside the annular grooves. Arc-shaped teeth are opened on the bottom walls of the locking blocks. Locking teeth are opened on one side of the locking blocks. The locking gears are all located on the movement tracks of the corresponding locking teeth and are meshed with the locking teeth. Locking motors with output shafts facing downwards are fixedly connected inside the locking grooves. The output shafts of the locking motors are all coaxially fixedly connected with locking tooth discs. The arc-shaped teeth and the locking gears inside the same support section are all meshed. Hinge seats are fixedly connected to the bottom walls of the support sections. The hinge seats are all hinged to the ball joints on the next support section. A plurality of pull ropes are fixedly connected to the circumferences outside the hinge seats. The pull ropes all pass through the top walls of the next support section and enter the locking grooves and are fixedly connected to the hoisting wheels in the corresponding directions. Rotary sensors are arranged on the hoisting wheels. The rotary sensors and the locking motors are all in signal connection with the controller.

[0022] The beneficial effects of the basic solution are as follows: 1. Through the combined design of the annular groove, locking groove, winch wheel, locking gear, and locking block, a highly flexible and reliable connection is achieved between the support segments. When the stress state of the spine changes, the winch wheel can automatically adjust the tension of the pulling rope under the action of the torsion spring, thereby driving the relative rotation between the support segments to adapt to the bending changes of the spine. At the same time, when it is necessary to lock the relative position between the support segments, the locking motor responds quickly, driving the locking gear disk to engage with the arc teeth to achieve stable locking of the support segments. This extreme dynamic adjustment and locking ability ensure that the bionic support column can accurately conform to the spinal shape and provide continuous and stable support for the wearer.

[0023] 2. The meshing design of the locking gear and the locking teeth, as well as the signal connection between the locking motor and the controller, make the locking process between the support segments more reliable and safe. Even in extreme movements or emergencies, the support segments can maintain a stable locked state, avoiding potential risks caused by unstable support. In addition, the articulated design of the hinge seat and the clamping ball, as well as the fixed connection between the pulling rope and the winch wheel, further enhance the connection stability of the support segments and the strength of the overall structure, making the bionic support column safer and more reliable during use.

[0024] Furthermore, the sides of the support segments close to the wearer are all arc-shaped, and storage batteries are symmetrically and fixedly connected to both sides of the support segments.

[0025] The beneficial effects of the basic solution are as follows: 1. The sides of the support segments close to the wearer are all designed to be arc-shaped. This humanized design fully considers the ergonomic principle, enabling the support column to better conform to the waist curve of the wearer. This conforming design not only improves the wearing comfort, reduces the compression and discomfort caused by long-term wearing, but also helps to disperse and relieve the pressure borne by the spine, further protecting the waist health of the wearer.

[0026] 2. The design of the storage batteries symmetrically and fixedly connected to both sides of the support segments provides a lasting power supply for the bionic support column. This design of the built-in storage battery not only reduces the restraint of external power cords and improves the wearing convenience, but also enables the device to move and be used freely in various environments, greatly expanding its application scenarios and scope.

[0027] Furthermore, a heat dissipation layer is sleeved on the outer periphery of the support segments, and the heat dissipation layer is composed of a honeycomb-shaped silica gel layer, a graphene heat conduction film, and a reinforced TPU mesh cloth.

[0028] The beneficial effects of the basic solution are as follows: 1. The design of the heat dissipation layer fully considers the heat problem that may occur during the operation of the bionic support columns. The honeycomb-shaped silica gel layer, as the basic structure of the heat dissipation layer, has a unique honeycomb design that can effectively increase the heat dissipation area and improve the heat dissipation efficiency. At the same time, the silica gel material has good elasticity and durability, which can ensure a tight fit between the heat dissipation layer and the support columns, avoiding heat accumulation.

[0029] 2. As the core component of the heat dissipation layer, the graphene thermal conductive film has excellent thermal conductivity, which can quickly conduct the heat generated inside the support columns to the surface of the heat dissipation layer and dissipate the heat quickly through the enhanced TPU mesh fabric. This design not only significantly reduces the operating temperature of the support columns but also helps to avoid overheating of the battery and extends the service life of the device.

[0030] 3. The combined design of the graphene thermal conductive film and the enhanced TPU mesh fabric makes the heat dissipation layer have good air permeability and sweat discharge performance, which can effectively reduce the discomfort caused by sweat accumulation during long-term use by the wearer.

[0031] Furthermore, a far-infrared layer is laid on the side of the heat dissipation layer close to the wearer.

[0032] The beneficial effects of the basic solution are as follows: 1. The far-infrared layer can enhance the heat exchange efficiency between the heat dissipation layer and the wearer's skin. Far-infrared rays have a warming effect, which can promote the dilation of blood vessels on the skin surface, increase blood flow, and thus accelerate heat dissipation.

[0033] 2. The warming effect of the far-infrared layer can not only improve the heat dissipation efficiency but also promote blood circulation. By stimulating the microcirculation on the skin surface, far-infrared rays help to increase the supply of oxygen and nutrients in the blood and accelerate the excretion of metabolic wastes. This property has a positive effect on relieving waist fatigue and improving waist blood circulation, especially suitable for medical staff who wear for a long time or perform high-intensity waist activities.

[0034] 3. Combining with the supporting and protecting functions of the bionic support columns, the far-infrared layer further enhances its physiotherapy function. Far-infrared rays can penetrate into the body, warm the body internally, relax the muscles, and discharge wastes such as lactic acid deposited in the body, with excellent effects on alleviating soreness. This has a significant effect on relieving waist pain, promoting the relaxation and recovery of waist muscles.

[0035] Furthermore, the pneumatic muscle array includes a number of muscle airbags with uneven thickness, and a number of ventilation holes are provided on the pneumatic muscle array formed by the mutual winding and connection of the muscle airbags.

[0036] The beneficial effects of the basic solution are as follows: 1. By designing muscle airbags with uneven thickness, the pneumatic muscle array can achieve more precise and flexible adjustment under different pressure and load conditions. The thicker parts can provide greater rigidity and support force, while the thinner parts have higher flexibility and compliance, thus better adapting to the torque generated by the wearer's waist to assist in twisting the waist.

[0037] 2. The ventilation holes provided on the pneumatic muscle array formed by the mutual winding and connection of muscle airbags can effectively increase the heat dissipation area on the surface of the airbag, promoting the circulation and heat dissipation of the internal gas. This is crucial for reducing the heat generated by the pneumatic muscle during operation, preventing overheating, and maintaining stable performance.

[0038] Furthermore, the controller includes a sensing module, a judgment module, a learning module, and an output module;

[0039] The sensing module is used to collect and calculate the data of the above-mentioned air pressure sensors and rotation sensors, including the air pressure difference between support segments, the air pressure change value in the piston groove, the number of turns difference in the rotation between symmetric winches, and the number of turns change value in the rotation of the winch in the same annular groove;

[0040] The judgment module is used to judge the change position of the wearer's spinal posture according to the air pressure difference between support segments obtained by collection and calculation, and judge and output an unlocking signal and a locking signal according to the air pressure change value in the piston groove. According to the number of turns difference in the rotation between symmetric winches, judge the angle between two adjacent support segments and the vertical change mode of the wearer's spinal posture. According to the number of turns change value in the rotation of the winch in the same annular groove, judge the horizontal change mode of the wearer's spinal posture and output a commutation signal and an air pump signal;

[0041] The learning module is used to pre-judge the spinal change mode of the wearer using a trained convolutional neural network to assist the judgment module in accelerating the judgment;

[0042] The output module is used to receive the unlocking signal and locking signal output by the judgment module, control the start of the locking motor, receive the commutation signal and air pump signal, and control the air pump to inflate the air pressure groove or muscle airbag.

[0043] The beneficial effects of the basic solution are as follows: 1. The learning module uses a trained convolutional neural network to pre-judge the spinal change mode of the wearer. This function not only enhances the intelligence level of the system but also can, to a certain extent, assist the judgment module in accelerating the judgment speed and improving the overall response efficiency of the system. By learning the habits and patterns of the wearer, the system can more accurately predict the needs of the wearer and make adaptive adjustments in advance.

[0044] 2. Through precise perception, intelligent judgment, predictive assistance, and comprehensive control, the basic solution not only provides efficient and flexible spine support and traction functions but also significantly enhances the user experience and comfort of the wearer. The system can be adjusted personalized according to the actual needs of the wearer, reducing unnecessary pressure and discomfort and improving the compliance and comfort of wearing.

[0045] Furthermore, the convolutional neural network is a spatio-temporal graph convolutional network that can capture the characteristics of the relationship between support segments and the temporal relationship simultaneously. The early training material is the sequence data of the relative positions of support segments in different spine posture modes.

[0046] The beneficial effects of the basic solution are as follows: 1. The spatio-temporal graph convolutional network can capture the relationship characteristics and temporal relationship characteristics between support segments simultaneously. In the spine bionic support structure, the relative positions and dynamic changes between support segments are the key information for judging the spine posture and making corresponding adjustments. Through the processing of the spatio-temporal graph convolutional network, the system can understand these complex characteristics more accurately, thereby improving the accuracy of judgment and the sensitivity of response.

[0047] 2. By using the spatio-temporal graph convolutional network for training, the system can learn the laws of the sequence data of the relative positions of support segments in different spine posture modes. This enables the system to predict the spine change pattern of the wearer at an early stage, thereby making adaptive adjustments in advance and improving the comfort and assistance effect of wearing.

[0048] 3. Through the processing of the spatio-temporal graph convolutional network, the system can utilize the collected sensor data more efficiently. Compared with traditional processing methods, the spatio-temporal graph convolutional network can reduce the need for manual component allocation and traversal rules, reducing the computational complexity and resource consumption. This enables the system to operate more efficiently and consume less energy while ensuring performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 It is an axonometric view of the waist assistance device for medical staff in the embodiment of the present invention.

[0050] Figure 2 It is a rear view of the waist assistance device for medical staff in the embodiment of the present invention.

[0051] Figure 3 It is a front cross-sectional view of the bionic support column of the waist assistance device for medical staff in the embodiment of the present invention.

[0052] Figure 4 It is an enlarged front cross-sectional view of the support segment of the waist assistance device for medical staff in the embodiment of the present invention.

[0053] Figure 5 It is a side view of the waist assistance device for medical staff in the embodiment of the present invention.

[0054] Figure 6 This is an enlarged side sectional view of the support section of the waist assist device for medical staff in the embodiment of the present invention.

[0055] Figure 7 This is a top sectional view of the waist assist device for medical staff in the embodiment of the present invention.

[0056] Figure 8 This is an enlarged top sectional view of the support section of the waist assist device for medical staff in the embodiment of the present invention.

[0057] Figure 9 This is a schematic diagram of the controller system in the embodiment of the present invention.

[0058] The reference numerals in the accompanying drawings of the specification include: 1, waist belt; 2, waist seat; 3, reversing air pump; 4, support section; 5, heat dissipation layer; 6, back strap; 7, ventilation pipe; 8, storage battery; 9, hinge seat; 10, pulling rope; 11, pneumatic muscle array; 12, ventilation holes; 13, leg binding strap; 14, controller; 15, ball; 16, connecting rod; 17, piston groove; 18, piston; 19, winch wheel; 20, annular groove; 21, locking block; 22, locking gear disk; 23, locking groove; 24, locking motor; 25, air pressure groove; 26, air valve; 27, air pressure sensor; 28, locking gear. Detailed Embodiments

[0059] The following is a further detailed description through specific embodiments:

[0060] Embodiment 1

[0061] Basically as shown in Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 and Figure 8 : A waist assist device for medical staff includes a waist belt 1 and a waist seat 2. The waist seat 2 is bonded to the waist belt 1. A bionic support column is fixedly connected to the waist seat 2. A controller 14 is bonded to the waist seat 2. Reversing air pumps 3 are symmetrically welded to the outer side of the back of the waist seat 2. Leg binding straps 13 are symmetrically bonded to the bottom of the waist belt 1. Pneumatic muscle arrays 11 are bonded between the waist belt 1 and the leg binding straps 13. The pneumatic muscle arrays 11 are respectively communicated with the corresponding reversing air pumps 3. The bionic support columns are all communicated with the reversing air pumps 3. A back strap 6 is bonded to the top of the bionic support column. The reversing air pumps 3 and the bionic support columns are both signal-connected to the controller 14;

[0062] The bionic support column is used to simulate the real spinal curvature to fit the wearer's back, sharing the spinal pressure and torque of the wearer; the pneumatic muscle array 11 is used to provide torque to the waistband 1 through inflation and contraction, assisting the medical staff in twisting movements and reducing lumbar muscle fatigue and lumbar spine wear.

[0063] As Figure 4 shown, the bionic support column includes several support segments 4. Inside each support segment 4, a piston groove 17 is opened. A piston 18 is slidably fitted in the piston groove 17. A connecting rod 16 is vertically welded to the top of each piston 18. A locking ball 15 is welded to the top end of the connecting rod 16. The bottom wall of the piston groove 17 is communicated with a pneumatic pressure groove 25. Pressure holes are symmetrically opened on the side of the piston groove 17 away from the wearer. The pressure holes are all communicated with the pneumatic pressure groove 25. A pressure sensor 27 is installed in each pneumatic pressure groove 25. An air valve 26 is installed in each pressure hole. The pressure sensor 27 and the air valve 26 are both signal-connected to the controller 14. The bionic support column is symmetrically communicated with ventilation pipes 7 on the outside. The ventilation pipes 7 are respectively communicated with the corresponding pressure holes on one side. The bottom ends of the ventilation pipes 7 are all communicated with the reversing air pump 3.

[0064] Inside the support segment 4, an annular groove 20 is also opened. The bottom of the annular groove 20 is communicated with a locking groove 23. A number of winding wheels 19 are rotatably connected by radial pins in the annular groove 20. A torsion spring is installed in each winding wheel 19. A locking gear 28 is welded to the side of each winding wheel 19 close to the piston groove 17. A number of locking blocks 21 are rotatably connected by pins in the annular groove 20. An arc tooth is opened on the bottom wall of each locking block 21. A locking tooth is opened on one side of each locking block 21. The locking gears 28 are all located on the movement track of the corresponding locking teeth and are engaged with the locking teeth. A locking motor 24 with an output shaft facing down is welded in each locking groove 23. A locking tooth disc 22 is coaxially welded to the output shaft of the locking motor 24. The arc teeth in the same support segment 4 are all engaged with the locking gears 28. A hinge seat 9 is welded to the bottom wall of each support segment 4. The hinge seat 9 is hinged to the locking ball 15 on the next support segment 4. A number of pull ropes 10 are adhesively bonded to the outer circumference of the hinge seat 9. The pull ropes 10 all pass through the top wall of the next support segment 4 and enter the locking groove 23 and are adhesively bonded to the winding wheels 19 in the corresponding directions. A rotation sensor is installed on each winding wheel 19. The rotation sensor and the locking motor 24 are both signal-connected to the controller 14. The side of the support segment 4 close to the wearer is arc-shaped. Storage batteries 8 are symmetrically adhesively bonded to both sides of the support segment 4.

[0065] A heat dissipation layer 5 is sleeved on the outer periphery of each support segment 4. The heat dissipation layer 5 is composed of a honeycomb-shaped silica gel layer, a graphene heat conduction film, and a reinforced TPU mesh fabric. A far-infrared layer is laid on the side of the heat dissipation layer 5 close to the wearer.

[0066] The specific implementation process is as follows: Since the existing lumbar auxiliary devices are difficult to ensure the flexibility of the wearer's spinal posture and often can only function in a single working mode, such as helping the wearer to flex and extend the waist, which greatly limits the environmental applicability of the lumbar auxiliary devices and is not suitable for medical staff with complex work content.

[0067] Therefore, this device uses bionic support columns to imitate the spinal curvature of the wearer and provide comfortable support for different spinal postures of the wearer. The wearer first fixes the waistband 1 on the waist, fixes the leg strap 13 on the thigh, and adjusts the shoulder strap 6 to a suitable position and tightness on the shoulder. Then start the controller 14 and the battery 8 to make the whole device enter the standby state. Then the controller 14 controls the locking motor 24 to start rotating the locking gear disk 22, rotates the locking block 21 by a certain angle, and makes the locking teeth away from and unlock the locking gear 28 through the rotation in the middle of the locking block 21. After unlocking, the reversing air pump 3 ventilates the air pipe 7 and distributes it into each air pressure groove 25 through the air valve 26, pushing the corresponding piston 18 to rise. Cooperating with the ball hinge of the ball 15 and the hinge seat 9, each support section 4 of the bionic support column adapts to fit on the back of the wearer's spine. Reverse the locking motor 24 to drive the locking block 21 to reset through the locking gear disk 22. The locking teeth on one side of the upper part of the locking block 21 approach the locking gear 28 again, so that the locking teeth and the locking gear 28 are re-engaged. Locking the winch 19 and closing the air valve 26 can support the wearer's spine with a certain flexibility, improve the comfort of the wearer, and reduce the possibility of spinal deformation caused by the rigid structure. At this time, the silicone layer on the heat dissipation layer 5 also closely adheres to the back skin. The honeycomb-shaped silicone layer not only has stable structural strength, good air permeability but also has good skin-friendly properties, which can improve the use experience of the wearer.

[0068] Such as Figure 4 、 Figure 6 and Figure 8As shown, when the wearer needs to change their posture and perform different tasks, this device mainly has two different working modes. Mode 1: When the wearer stands for a long time and bends to maintain a certain spinal posture, it provides auxiliary support to share the pressure on the spine and relieve muscle stiffness and fatigue. After the bionic support column fits the wearer's back, when the wearer bends down, the spine in the back will deform. In particular, the key joints of the spine during the bending motion will push the support section 4 to produce a large displacement. This driving force will be much greater than the compression force generated when the bionic support column supports and the low air pressure generated when stretching upward. When the controller 14 detects through the air pressure sensor 27 that the air pressure change value in the air pressure groove 25 exceeds the air pressure threshold during support, the locking motor 24 in the corresponding locking groove 23 rotates the locking gear disk 22. The locking gear disk 22 drives the locking block 21 to rotate around the middle rotating shaft through the meshing arc teeth, so that the locking teeth on one side of the upper part of the locking block 21 are away from the locking gear 28, and the locking of the locking block 21 on the winch wheel 19 in the annular groove 20 is released. Then, the reversing air pump 3 and the corresponding air valve 26 are opened to inflate the air pipe 7 and the piston groove 17 of the corresponding support section 4, enabling the wearer to easily drive the bionic support column to change the spinal posture when bending. At the same time, when the bending angle required by the wearer is reached, the support section 4 fits the curved spinal curve again, thus ensuring the stability of the support and pulling effect of the bionic support column. After a period of time after reaching the bending angle, the controller 14 controls the reversing air pump 3 to close and controls the locking motor 24 to rotate the locking block 21 to lock the winch wheel 19. By fixing the pull ropes 10 in multiple directions, the relative position between the ball 15 and the hinge seat 9 is fixed. Through the back strap 6, the bionic support column exerts a pulling and supporting effect on the wearer's spine. The waist belt 1 and the hip bones share the pressure on the wearer's spine when maintaining the bending posture. At the same time, the rapid detection and reaction of the air pressure sensing and mechanical structure, as well as the secondary control of the controller 14, enable this device to ensure the support effect without affecting the wearer's flexibility, especially suitable for medical staff with complex and variable work content.

[0069] The far-infrared layer inside the heat dissipation layer 5 can be excited by heat to emit far-infrared light, stimulating the deep muscles and cells of the wearer, promoting metabolism, thus relieving muscle fatigue caused by maintaining the same posture for a long time and enhancing the auxiliary and fatigue-relieving effects of this device.

[0070] Embodiment 2

[0071] The difference from the above embodiment is that as shown in Figure 1 、 Figure 2 、 Figure 4 、 Figure 5 and Figure 7 : The pneumatic muscle array 11 includes several muscle air bags with uneven thickness. A number of ventilation holes 12 are opened on the pneumatic muscle array 11 formed by the mutual winding and connection of the muscle air bags.

[0072] The specific implementation process is as follows: the pneumatic muscle array 11 is distributed on the outer side of the wearer's thigh, and can provide thrust and torque when the wearer needs waist strength assistance. In working mode 1 of the present device, the wearer bends forward at the waist to maintain a posture or carry heavy objects. Long-term flexion of the waist may paralyze the thighs, making it difficult to lift and extend the waist or causing the risk of falling. During the flexion process, the bionic support column fits the wearer's spinal curvature. When the wearer needs to lift and extend the waist, the air pressure of the air pressure sensor 27 exceeds the threshold, and the air pressure level higher than the threshold can trigger the controller 14 to control the reversing air pump 3 to simultaneously inflate the air pressure tank 25 and the pneumatic muscle arrays 11 on both sides. After unlocking the winch wheel 19, the wearer can freely lift heavy objects or extend the waist, and at this time the pneumatic muscles on both sides expand, and the combined force of the supporting belt 1 is toward the front of the longitudinal axis of the wearer, which can more conveniently provide assistance to the psoas major muscle to support the waist lifting and extension, thereby reducing the fatigue of the psoas major muscle when carrying heavy objects, and the risk of falling caused by possible lumbar and leg paralysis, improving the work efficiency of medical staff while reducing the damage to the medical staff's lumbar muscles and lumbar spine.

[0073] like Figure 4 As shown, the medical staff's special waist activities also require twisting the waist to provide explosive force when massaging or orthopedic treatment of patients. The torque generated by the lumbar muscles in this process is large, which is easy to strain the lumbar muscles and wear the lumbar vertebrae. In mode 2 of this device, the winch wheel 19 is unlocked and the air valve 26 is closed to ensure the flexibility of the bionic support column. When the wearer needs to twist his body, the rotation sensor in the same annular groove 20 can detect the rotation of its corresponding winch wheel 19, that is, the pulling distance of the pull rope 10. When the wearer starts to twist his body, the pulling distance of the pull rope 10 connected to the same hinge seat 9 plane is the same. The controller 14 collects this feature and determines the twisting direction through the relative position between the multi-section support sections 4, thereby controlling the reversing air pump 3 to inflate the pneumatic muscle array 11 on the opposite side of the twisting direction, and contract the pneumatic muscle array 11 on the other side, providing torque for the waist to assist the wearer's explosive twisting of the waist, reduce the strength of force, save the physical strength of medical staff, reduce lumbar muscle fatigue and lumbar wear, improve medical quality and protect the health of medical staff.

[0074] Example 3

[0075] The difference from the above embodiment is that, as shown in the attached Figure 1 , Figure 4 , Figure 8 and Figure 9 As shown: the controller 14 includes a perception module, a judgment module, a learning module and an output module;

[0076] The sensing module is used to collect and calculate the data of the above-mentioned air pressure sensor 27 and rotation sensor, including the air pressure difference between the support sections 4, the air pressure change value in the piston groove 17, the number of turns difference in the rotation between the symmetrical winding wheels 19, and the number of turns change value of the winding wheel 19 in the same annular groove 20;

[0077] The judgment module is used to judge the position of the wearer's spinal posture change according to the air pressure difference between the support sections 4 obtained by collection and calculation, and judge and output the unlocking signal and locking signal according to the air pressure change value in the piston groove 17. According to the number of turns difference in the rotation between the symmetrical winding wheels 19, judge the angle between two adjacent support sections 4 and the vertical change mode of the wearer's spinal posture. According to the number of turns change value of the winding wheel 19 in the same annular groove 20, judge the horizontal change mode of the wearer's spinal posture and output the commutation signal and air pump signal;

[0078] The learning module is used to pre-judge the spinal change mode of the wearer using a trained convolutional neural network to assist the judgment module to speed up the judgment. The convolutional neural network is a spatio-temporal graph convolutional network that can capture the support section 4 relationship and temporal relationship features at the same time. The early training material is the relative position sequence data of the support section 4 in different spinal posture modes;

[0079] The output module is used to receive the unlocking signal and locking signal output by the judgment module, control the start of the locking motor 24, receive the commutation signal and air pump signal, and control the air pump to inflate the air pressure groove 25 or the muscle airbag.

[0080] The specific implementation process is as follows: The sensing module collects the data of the air pressure sensor 27 and the rotation sensor. Through calculation, the air pressure difference and air pressure change value between the support sections 4 can be obtained. Then the judgment module determines the position of the support section 4 corresponding to the key vertebra when the spinal posture changes, and outputs an unlocking signal to make the wearer more flexible and fast when the posture changes.

[0081] Judge the angle between two adjacent support sections 4 through the number of turns difference in the rotation between the symmetrical winding wheels 19. The number of turns of the winding wheel 19 represents the pulling distance of the pull rope 10. The number of turns difference of the symmetrical winding wheels 19 represents that the upper support section 4 bends towards the side with fewer turns. The number of turns difference of the symmetrical winding wheels 19 in each section can be calculated to judge the overall posture of the bionic support column, so as to reflect the spinal posture of the wearer. Through spinal posture analysis, the behavior habits and movement postures of the wearer can be obtained, some bad habits of the wearer can be revealed to remind the wearer to improve, and it can also be used as the material for training the learning module.

[0082] By collecting the change value of the number of rotations of the winch wheel 19 within the same annular groove 20, the judgment module can calculate and determine whether the wearer is in a twisting state. Because the ends of the pulling ropes 10 within the same annular groove 20 are all fixed to the side surfaces at the same horizontal level of the hinge seat 9, when the wearer twists, the pulling ropes 10 within the same annular groove 20 all drive the winch wheel 19 to rotate, and the rotation values are roughly the same. However, due to different vertebrae being at different twisting angles and inclination angles, the twisting direction of the wearer can be distinguished according to the overall posture of the bionic support column, so as to control the reversing air pump 3 to differentially pump air to the pneumatic muscle arrays 11 on both sides to provide torque assistance.

[0083] Since the change in the spinal posture of the wearer belongs to a continuous action, it is necessary to input the temporally continuous key points of the support section 4 into the spatio-temporal graph convolutional network that can capture the relationship and temporal relationship characteristics of the support section 4 for learning. Through the preprocessing of the angle data between each support section 4 and the graph partitioning of the point-line graph, multiple motion states, such as standing upright, forward flexion, and torsion, are established. Substitute the partitioned point-line graph data into the graph convolution formula, that is, the graph convolution expression with k convolutional kernels in the following formula.

[0084]

[0085] In the formula, k represents the number of convolutional kernels, c represents the feature number of the support section, t represents the key frame number of the point-line graph, and v and w represent the number of support sections.

[0086] By simultaneously performing data training during the pre-training and use of the spatio-temporal graph convolutional network, the controller can better know the special spinal postures of the wearer when doing different actions. Through adaptive adjustment, the bionic support column can be closely attached to the wearer's spine, while improving the prediction ability of the convolutional network, improving the reaction sensitivity of the device, making the wearer more flexible and stable when using, improving the work efficiency of medical staff, and reducing waist fatigue and wear.

[0087] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "including", "comprising" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device.

[0088] The above are only embodiments of the present invention. Specific structures and common knowledge such as characteristics that are well-known in the art are not described in detail herein. Those of ordinary skill in the art know all the common general technical knowledge in the technical field to which the invention pertains before the filing date or the priority date, can learn all the prior art in this field, and have the ability to apply the conventional experimental means before this date. Those of ordinary skill in the art can, under the inspiration given in this application, complete and implement this solution in combination with their own abilities. Some typical well-known structures or well-known methods should not become obstacles for those of ordinary skill in the art to implement this application. It should be noted that for those skilled in the art, without departing from the structure of the present invention, several modifications and improvements can also be made, and these should also be regarded as the protection scope of the present invention, and these will not affect the implementation effect of the present invention and the practicality of the patent. The protection scope claimed in this application should be based on the content of its claims, and the specific implementation manners described in the specification and the like can be used to interpret the content of the claims.

Claims

1. A waist assist device for medical staff, comprising a waist belt (1) and a waist seat (2), the waist seat (2) being fixedly connected to the waist belt (1), characterized in that: A bionic support column is fixedly connected to the waist seat (2), a controller (14) is fixedly connected to the waist seat (2), a reversing air pump (3) is symmetrically and fixedly connected to the outer side of the back of the waist seat (2), leg straps (13) are symmetrically arranged at the bottom of the waist belt (1), an air muscle array (11) is fixedly connected between the waist belt (1) and the leg straps (13), the air muscle arrays (11) are respectively communicated with the corresponding reversing air pumps (3), the bionic support columns are all communicated with the reversing air pumps (3), a back strap (6) is fixedly connected to the top end of the bionic support column, and the reversing air pumps (3) and the bionic support columns are all signal-connected to the controller (14); The bionic support column is used to simulate the real spine curvature to fit the wearer's back and share the pressure and torque of the wearer's spine; the air muscle array (11) is used to provide torque to the waist belt (1) through inflation and contraction, assist medical staff in twisting movements, and reduce lumbar muscle fatigue and lumbar spine wear.

2. The waist assistance device for medical staff according to claim 1, characterized in that: The bionic support column includes a plurality of support sections (4), piston grooves (17) are respectively formed inside the support sections (4), pistons (18) are slidably fitted in the piston grooves (17), connecting rods (16) are vertically and fixedly connected to the tops of the pistons (18), clamping balls (15) are fixedly connected to the tops of the connecting rods (16), air pressure grooves (25) are communicated with the bottom walls of the piston grooves (17), air pressure holes are symmetrically formed on the side of the piston grooves (17) away from the wearer, the air pressure holes are all communicated with the air pressure grooves (25), air pressure sensors (27) are arranged in the air pressure grooves (25), air valves (26) are arranged in the air pressure holes, and the air pressure sensors (27) and the air valves (26) are all signal-connected to the controller (14).

3. The lumbar auxiliary device for medical staff according to claim 2, characterized in that: Vent pipes (7) are symmetrically arranged on the outer side of the bionic support column, the vent pipes (7) are respectively communicated with the air pressure holes on the corresponding side, and the bottom ends of the vent pipes (7) are communicated with the reversing air pumps (3).

4. The waist assistance device for medical staff according to claim 2, characterized in that: The inside of each support section (4) is also provided with an annular groove (20). The bottom of the annular groove (20) is communicated with a locking groove (23). A plurality of winch wheels (19) are radially rotatably connected in the annular groove (20). A torsion spring is provided in each winch wheel (19). A locking gear (28) is fixedly connected to the side of each winch wheel (19) close to the piston groove (17). A plurality of locking blocks (21) are rotatably connected in the annular groove (20). An arc-shaped tooth is provided on the bottom wall of each locking block (21), and a locking tooth is provided on one side of each locking block (21). The locking gears (28) are all located on the movement tracks of the corresponding locking teeth and are engaged with the locking teeth. A locking motor (24) with an output shaft facing downwards is fixedly connected in each locking groove (23). A locking tooth disc (22) is coaxially fixedly connected to the output shaft of each locking motor (24). The arc-shaped teeth and the locking gears (28) in the same support section (4) are all engaged. A hinge seat (9) is fixedly connected to the bottom wall of each support section (4). The hinge seat (9) is hinged to the ball (15) on the next support section (4). A plurality of pull ropes (10) are fixedly connected to the outer circumference of each hinge seat (9). The pull ropes (10) all pass through the top wall of the next support section (4) and enter the locking groove (23) and are fixedly connected to the winch wheels (19) in the corresponding directions. A rotation sensor is provided on each winch wheel (19). The rotation sensor and the locking motor (24) are both in signal connection with the controller (14).

5. The lumbar auxiliary device for medical staff according to claim 2, wherein: The side of each support section (4) close to the wearer is arc-shaped. A storage battery (8) is symmetrically and fixedly connected to both sides of each support section (4).

6. The waist assistance device for medical staff according to claim 2, wherein: A heat dissipation layer (5) is sleeved on the outer circumference of each support section (4). The heat dissipation layer (5) is composed of a honeycomb-shaped silica gel layer, a graphene heat conduction film and a reinforced TPU mesh cloth in a composite manner.

7. The waist assistance device for medical staff according to claim 6, characterized in that: A far-infrared layer is laid on the side of the heat dissipation layer (5) close to the wearer.

8. The waist assistance device for medical staff according to claim 1, characterized in that: The pneumatic muscle array (11) includes a plurality of muscle air bags with uneven thicknesses. A plurality of air holes (12) are provided on the pneumatic muscle array (11) formed by the mutual winding and connection of the muscle air bags.

9. The waist assistance device for medical staff according to claim 1, characterized in that: The controller (14) includes a sensing module, a judgment module, a learning module and an output module; The sensing module is used to collect and calculate the data of the above-mentioned pressure sensors (27) and rotation sensors, including the air pressure difference between the support sections (4), the air pressure change value in the piston groove (17), the number of turns difference in the rotation between the symmetric winch wheels (19), and the number of turns change value of the winch wheels (19) in the same annular groove (20); The judgment module is used to judge the position of the wearer's spinal posture change according to the air pressure difference between the support sections (4) obtained by collection and calculation, judge and output an unlocking signal and a locking signal according to the air pressure change value in the piston groove (17), judge the angle between two adjacent support sections (4) and the vertical change mode of the wearer's spinal posture according to the number of turns difference in the rotation between the symmetric winch wheels (19), and judge the horizontal change mode of the wearer's spinal posture according to the number of turns change value of the winch wheels (19) in the same annular groove (20) and output a commutation signal and an air pump signal; The learning module is used to pre-judge the spinal change mode of the wearer using a trained convolutional neural network to assist the judgment module to speed up the judgment; An output module, configured to receive the unlocking signal and the locking signal output by the determination module, control the startup of the locking motor (24), receive the commutation signal and the air pump signal, and control the air pump to inflate the air pressure tank (25) or the muscle airbag.

10. The waist assistance device for medical staff according to claim 9, characterized in that: The convolutional neural network is a spatio-temporal graph convolutional network that can simultaneously capture the support segment (4) relationship and the temporal relationship features. The early training materials are the relative position sequence data of the support segment (4) in different spinal posture modes.

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