A medical support exoskeleton mechanism for assisting surgeons in clinical surgery

Abstract

This invention belongs to the field of medical device technology, specifically a surgical support exoskeleton for clinical surgeons, aiming to solve the comfort problem caused by lower limb fatigue during prolonged surgeries. The surgical support exoskeleton of this invention includes a chest pad, a lumbar pad, a left and right lumbar-leg connector, a left and right thigh pad, a left and right thigh pad, a left and right limiting pin, a left and right lower leg pad, a left and right foot pad, and a right foot pad. Through biomimetic structure and mechanical optimization, this invention provides dynamic support and adjustable functions for the entire body from chest to foot, ensuring that surgeons of different heights and body types can maintain a comfortable and stable posture during surgery, reducing muscle fatigue and local tissue compression, significantly improving surgical comfort and efficiency, and protecting the health rights of medical personnel.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, specifically to a medical support exoskeleton mechanism for assisting doctors in clinical surgery. Background Technology

[0002] During surgery, surgeons typically need to maintain a forward-leaning standing posture, which can easily lead to lower limb fatigue due to their high level of concentration, placing a significant burden on their physical strength and mental energy.

[0003] Currently, medical exoskeletons are developing rapidly in the rehabilitation field and have reached a considerable scale. However, assistive devices for medical personnel are still largely undeveloped. Existing assistive exoskeletons are mostly designed for patient rehabilitation scenarios, such as elderly care and disability assistance, postoperative rehabilitation, and medical-assisted sports, but lack adaptability for addressing the fatigue caused by surgeons maintaining a prolonged surgical posture during operations. In clinical surgery, surgeons typically need to maintain a forward-leaning standing posture and a state of high concentration for extended periods. This leads to muscle and joint fatigue after prolonged work, placing significant demands on the surgeon's physical strength and energy.

[0004] Current exoskeletons mostly use traditional strap-type fixation structures, which can easily lead to excessive compression and discomfort of local tissues after prolonged use. In terms of comfort, they are not as comfortable as shell structures that are designed in accordance with ergonomics.

[0005] Therefore, there is an urgent need to develop a medical support exoskeleton suitable for clinical surgical scenarios to reduce the physical burden on doctors during surgery and provide them with a more efficient and safer surgical environment. Summary of the Invention

[0006] This invention addresses the problems of existing technologies by proposing a medical support exoskeleton mechanism for assisting surgeons in clinical surgery. The specific technical solution is as follows:

[0007] A medical support exoskeleton mechanism for assisting surgeons in clinical surgery, characterized in that it includes a chest pad 1, a lumbar pad 2, a left waist-leg connector 31, a right waist-leg connector 32, a left thigh pad 41, a right thigh pad 42, a left limiting pin 51, a right limiting pin 52, a left calf pad 61, a right calf pad 62, a left foot pad 71, and a right foot pad 72.

[0008] The chest pad 1 is connected to the waist pad 2. The two ends of the waist pad 2 are connected to the left waist and leg connection 31 and the right waist and leg connection 32, respectively. The left waist and leg connection 31 is connected to the left thigh pad 41. The right waist and leg connection 32 is connected to the right thigh pad 42. The left thigh pad 41 is connected to the left limiting pin 51. The right thigh pad 42 is connected to the right limiting pin 52. The left limiting pin 51 is connected to the left calf pad 61. The right limiting pin 52 is connected to the right calf pad 62. The left calf pad 61 is connected to the left foot pad 71. The right calf pad 62 is connected to the right foot pad 72.

[0009] Preferably, the lumbar support plate 2 includes a left lumbar connector 201, a right lumbar connector 202, a rear lumbar connector 203, a left lumbar fixed hinge 204, and a right lumbar fixed hinge 205.

[0010] The cross-sections of the left waist connector 201, right waist connector 202, and rear waist connector 203 are arc-shaped to conform to the curve of the human waist, and the surfaces have several weight-reducing holes. The front and side parts of the left waist connector 201 and right waist connector 202 are flat surfaces with several threaded holes. The left waist connector 201 and right waist connector 202 are fixed to the chest and waist connecting frame 102 by bolts through the threaded holes on the front flat surface, and the bolt holes on the side surface are fixed to the structure below the waist pad 2 by bolts. The left waist connector 201 and the rear waist connector 203 are fixed by the left waist fixed hinge 204, so that the rear waist connector 203 can be rotated and opened. The right waist connector 202 and the rear waist connector 203 are connected by the right waist fixed hinge 205, which locks the waist pad structure when the rear waist connector 203 is closed.

[0011] Preferably, the left waist-leg connector 31 and the right waist-leg connector 32 are symmetrical structures, each including a left waist-side mounting section 311, a left limiting bolt 312, a left thigh-side mounting section 313, a right waist-side mounting section 321, a right limiting bolt 322, and a right thigh-side mounting section 323. The left waist-side mounting section 311 and the right waist-side mounting section 321 have several threaded holes, which are bolted to the bolt holes on the side surfaces of the left waist-side connector 201 and the right waist-side connector 202, respectively. The lower half of section 313 and right thigh side mounting section 323 has a groove, which is connected and fixed to the lower part of the waist and leg left connection 31 and waist and leg right connection 32. The upper half of left thigh side mounting section 313 and right thigh side mounting section 323 has several hole structures, which pass through left waist side mounting section 311 and right waist side mounting section 321 respectively. Left limit bolt 312 and right limit bolt 322 pass through the holes in the upper half of left thigh side mounting section 313 and right thigh side mounting section 323 to fix each part.

[0012] Preferably, the left thigh pad 41 and the right thigh pad 42 include a rear surround 411, a front surround 412, a left thigh main support rod 413, a left thigh support lower end telescopic rod 414, a left thigh first limiting bolt 415, a left thigh second limiting bolt 416, a left thigh lower leg linkage slider 417, a left thigh connecting hinge 418, a rear surround 421, a front surround 422, a right thigh main support rod 423, a right thigh support lower end telescopic rod 424, a right thigh first limiting bolt 425, a right thigh second limiting bolt 426, a right thigh lower leg linkage slider 427, and a right thigh connecting hinge 428.

[0013] The left thigh pad 41 and the right thigh pad 42 are symmetrical structures; the rear surround of the left thigh pad 411, the front surround of the left thigh pad 412, the rear surround of the right thigh pad 421, and the front surround of the right thigh pad 422 have cross-sections that conform to the curves of the human thigh, with thicker upper ends and thinner lower ends, and are connected to the left thigh main support rod 413 and the right thigh main support rod 423. The rear surround of the left thigh pad 411 and the rear surround of the right thigh pad 421 can rotate.

[0014] Preferably, the rear surround 411 and front surround 412 of the left thigh pad are locked in the waist pad structure when the rear surround 411 of the left thigh pad is closed via the left thigh connecting hinge 418. The rear surround 421 and front surround 422 of the right thigh pad are locked in the waist pad structure when the rear surround 421 of the right thigh pad is closed via the right thigh connecting hinge 428. The left thigh main support rod 413 and the right thigh main support rod 423 are respectively inserted into the grooves in the left thigh side mounting section 313 and the right thigh side mounting section 323, and the left thigh pad 41 and the right thigh pad 42 are connected and fixed to the left waist and leg connection 31 and the right waist and leg connection 32 respectively through interference fit.

[0015] The left main support rod 413 and the right main support rod 423 of the thigh are fixed structures with several holes. The left first limiting bolt 415 of the thigh and the left linkage slider 417 of the thigh and calf, and the right first limiting bolt 425 of the thigh and the right linkage slider 427 of the thigh and calf can slide on the left main support rod 413 and the right main support rod 423 of the thigh, respectively. The left first limiting bolt 415 of the thigh and the right first limiting bolt 425 of the thigh fix the left linkage slider 417 of the thigh and the right linkage slider 427 of the thigh and calf by inserting into the hole structure. The left linkage slider 417 of the thigh and the right linkage slider 427 of the thigh and calf are connected and fixed with the corresponding parts of the calf. The lower end telescopic rod 414 of the left thigh support and the lower end telescopic rod 424 of the right thigh support can be adjusted in height by telescopic movement and fixed in position by the left second limiting bolt 416 of the thigh and the right second limiting bolt 426 of the thigh, and are connected and fixed to the lower part of the left thigh pad 41 and the right thigh pad 42.

[0016] Preferably, the left limiting pin 51 and the right limiting pin 52 include an upper connecting groove 511 on the left limiting plate, a lower connecting groove 512 on the left limiting plate, a lower left limiting plate 513, a upper left limiting plate 514, a left limiting indexing groove 515, a left limiting locking pin 516, an upper connecting groove 521 on the right limiting plate, a lower connecting groove 522 on the right limiting plate, a lower right limiting plate 523, a upper right limiting plate 524, a right limiting indexing groove 525, and a right limiting locking pin 526. The left limiting pin 51 and the right limiting pin 52 have symmetrical structures. The upper connecting groove 511 on the left limiting plate and the lower connecting groove 522 on the right limiting plate have grooves. The lower end telescopic rod 414 of the left thigh support and the lower end of the right thigh support... The telescopic rod 424 is inserted into the groove to form an interference fit, thus connecting and fixing the left thigh pad 41 to the left limit pin 51 and the right thigh pad 42 to the right limit pin 52. The lower left limit plate 513 and the upper left limit plate 514, the lower right limit plate 523 and the upper right limit plate 524 can be adjusted by relative rotation. The left limit lock pin 516 and the right limit lock pin 526 are fixed by angle locking by inserting into the left limit indexing groove 515 and the right limit lock pin 526. The lower connecting groove 512 of the left limit plate and the lower connecting groove 522 of the right limit plate have grooves and are connected and fixed to the lower part of the left limit pin 51 and the right limit pin 52.

[0017] Preferably, the left lower leg pad 61 and the right lower leg pad 62 include a left rear lower leg surround 611, a left front lower leg surround 612, a left forward tilting lower leg support rod 613, a left side lower leg support rod 614, a left ground support end 615, a left lower leg support limiting bolt 616, a left lower leg hinge 617, a left lower leg connecting hinge, a left upper and lower leg connecting bearing 619, a right rear lower leg surround 621, a right front lower leg surround 622, a right forward tilting lower leg support rod 623, a right side lower leg support rod 624, a right ground support end 625, a right lower leg support limiting bolt 626, a right lower leg hinge, a right lower leg connecting hinge 628, and a right upper and lower leg connecting bearing 629. The left lower leg pad 61 and the right lower leg pad 62 have a symmetrical structure; the left rear lower leg surround 611 and the left front lower leg surround 612;

[0018] The right rear calf surround 621 and the right front calf surround 622 have cross-sections that conform to the curve of the human calf. The left rear calf surround 611 and the left front calf surround 612 are connected to the left side support rod 614 of the calf via the left calf hinge 617. The left front calf surround 612 can rotate. On the other side, the left calf connecting hinge locks the left calf pad structure when closed. The left calf connecting hinge connects the right rear calf surround 621 and the right front calf surround 622 to the right side support rod 624 of the calf via the right calf hinge. The right front calf surround 622 can rotate. On the other side, the right calf pad structure is locked when closed via the right calf connecting hinge 628.

[0019] Preferably, the left side support rod 614 and the right side support rod 624 of the lower leg are fixed structures, and their lower parts are connected and fixed to the lower structures of the left side pad 61 and the right side pad 62 of the lower leg; the left forward tilting support rod 613 and the right forward tilting support rod 623 of the lower leg are respectively fixed on the left side support rod 614 and the right side support rod 624 of the lower leg, and can rotate around the center. The bottom has a plurality of holes, and the left connecting bearing 619 and the right connecting bearing 629 of the lower leg are respectively located on the left side support rod 614 and the right side support rod 624 of the lower leg. The top of the side support rod 624 is connected and fixed to the left linkage slider 417 and the right linkage slider 427 of the thigh and calf respectively through an interference fit, forming a triangular structure of thigh support rod - calf support rod - calf forward tilting support rod. The left ground support end 615 and the right ground support end 625 of the calf are located at the bottom of the left forward tilting support rod 613 and the right forward tilting support rod 623 of the calf respectively. The length can be adjusted and fixed by inserting the left ground support end 615 and the right ground support end 625 of the calf into the hole structure respectively.

[0020] Preferably, the left foot pad 71 and the right foot pad 72 include a left foot connecting groove 711, a left foot connecting rod 712, a left foot limiting device 713, a right foot connecting groove 721, a right foot connecting rod 722, and a right foot limiting device 723. The left foot pad 71 and the right foot pad 71 have a symmetrical structure. The left foot connecting groove 711 and the right foot connecting groove 721 have grooves, which are connected to the left foot limiting device 713 and the right foot limiting device 723 respectively through the left foot connecting rod 712 and the right foot connecting rod 722. The left side support rod 614 and the right side support rod 624 of the lower leg are inserted into the left foot connecting groove 711 and the right foot connecting groove 721 respectively, and are fixed by interference fit.

[0021] Preferably, the chest pad 1 includes a chest pad support frame 101 and a chest-waist connecting frame 102; the chest pad support frame 101 has an arc-shaped cross section that conforms to the human chest, and the surface is provided with reinforcing ribs and several weight-reducing holes; the chest-waist connecting frame 102 has several bolt holes on its surface, and the chest pad 1 is fixed to other parts by bolts.

[0022] Beneficial effects

[0023] This invention provides a medical support exoskeleton for clinical surgical surgeons, which can provide effective lower limb support for surgeons during prolonged surgical procedures, reducing surgeon fatigue. Specific beneficial effects are as follows:

[0024] Ergonomic pressure distribution: Adopting an integral biomimetic shell structure, the lower limb pressure is evenly distributed to the exoskeleton frame through the arc-shaped support surface and multi-point contact design. Compared with the traditional strap fixation method, the local pressure is reduced, which significantly relieves the surgeon's muscle fatigue and tissue compression during the operation.

[0025] Dynamic joint synergistic support: Through the bidirectional knee joint limiting disc and the scissor-type upper and lower leg linkage structure, precise limiting and dynamic following of the knee joint range of motion are achieved, ensuring the smoothness of the surgeon's natural flexion and extension movements during the operation and avoiding postural damage caused by reverse joint compensation.

[0026] Anti-tipping stability optimization: The forward-leaning support rod and adjustable ground support feet, designed based on the principle of triangular mechanics, combined with the foot restraint device, form a multi-level anti-tipping mechanism to ensure the doctor's body balance during complex surgical procedures.

[0027] Fully adjustable: Supports a three-level adjustment mechanism for height, angle and length, covering most adult body size ranges, adapting to the personalized needs of doctors of different body types, and allowing for quick switching between various surgical postures such as standing and squatting. Attached Figure Description

[0028] Figure 1This is an isometric drawing of a medical support exoskeleton mechanism for assisting doctors in clinical surgery according to the present invention;

[0029] Figure 2 This is a front view of a medical support exoskeleton mechanism for assisting doctors in clinical surgery according to the present invention;

[0030] Figure 3 This is a schematic diagram of a lumbar support pad for a medical support exoskeleton mechanism for assisting doctors in clinical surgery, as described in this invention.

[0031] Figure 4 This is a schematic diagram of a chest pad of a medical support exoskeleton mechanism for assisting doctors in clinical surgery according to the present invention.

[0032] Figure 5 This is a schematic diagram of the waist and leg connection of a medical support exoskeleton mechanism for assisting doctors in clinical surgery according to the present invention.

[0033] Figure 6 This is a schematic diagram of the thigh pad of a medical support exoskeleton mechanism for assisting doctors in clinical surgery according to the present invention.

[0034] Figure 7 This is a schematic diagram of the left and right limiting pins of a medical support exoskeleton mechanism for assisting doctors in clinical surgery according to the present invention;

[0035] Figure 8 This is a schematic diagram of a calf pad for a medical support exoskeleton mechanism to assist doctors in clinical surgery, according to the present invention.

[0036] Figure 9 This is a schematic diagram of the foot limiting device of a medical support exoskeleton mechanism for assisting doctors in clinical surgery according to the present invention.

[0037] The component numbers are as follows:

[0038] Chest pad 1, chest pad support frame 101, chest-waist connection frame 102, waist pad 2, left waist connector 201, right waist connector 202, rear waist connector 203, left waist fixing hinge 204, right waist fixing hinge 205, left waist-leg connection 31, right waist-leg connection 32, left waist mounting section 311, left limit bolt 312, left thigh mounting section 313, right waist mounting section 321, right limit bolt 322, right thigh mounting section 323, left thigh pad 41, right thigh pad 42, rear side enclosure of left thigh pad 411, front side enclosure of left thigh pad Side surround 412, left thigh main support rod 413, lower end telescopic rod of left thigh support 414, left thigh first limiting bolt 415, left thigh second limiting bolt 416, left thigh-lower leg linkage slider 417, left thigh connecting hinge 418, rear side surround of right thigh pad 421, front side surround of right thigh pad 422, right thigh main support rod 423, lower end telescopic rod of right thigh support 424, right thigh first limiting bolt 425, right thigh second limiting bolt 426, right thigh-lower leg linkage slider 427, right thigh connecting hinge 428, left limiting pin 51, right limiting pin 52, left Limiting plate upper connecting groove 511, left limiting plate lower connecting groove 512, left lower limiting plate 513, left upper limiting plate 514, left limiting indexing groove 515, left limiting lock pin 516, right limiting plate upper connecting groove 521, right limiting plate lower connecting groove 522, right lower limiting plate 523, right upper limiting plate 524, right limiting indexing groove 525, right limiting lock pin 526, lower leg left pad 61, lower leg right pad 62, lower leg left rear surround 611, lower leg left front surround 612, lower leg left forward tilting support rod 613, lower leg left side support rod 614, lower leg left ground support end 615, lower leg left support Support limiting bolt 616, lower leg left hinge 617, lower leg left connecting bearing 619, lower leg right rear surround 621, lower leg right front surround 622, lower leg right forward tilting support rod 623, lower leg right side support rod 624, lower leg right ground support end 625, lower leg right support limiting bolt 626, lower leg right connecting hinge 628, lower leg right connecting bearing 629, foot left pad 71, foot right pad 72, foot left connecting groove 711, foot left connecting rod 712, foot left limiting device 713, foot right connecting groove 721, foot right connecting rod 722, foot right limiting device 723. Detailed Implementation

[0039] The following is in conjunction with the appendix Figures 1 to 9 The present invention further details a specific embodiment of a medical support exoskeleton for assisting doctors in clinical surgery.

[0040] like Figure 1 , Figure 2As shown, 1. A medical support exoskeleton mechanism for assisting doctors in clinical surgery, characterized in that it includes a chest pad 1, a waist pad 2, a left waist-leg connection 31, a right waist-leg connection 32, a left thigh pad 41, a right thigh pad 42, a left limiting pin 51, a right limiting pin 52, a left calf pad 61, a right calf pad 62, a left foot pad 71, and a right foot pad 72;

[0041] The chest pad 1 is connected to the waist pad 2. The two ends of the waist pad 2 are connected to the left waist and leg connection 31 and the right waist and leg connection 32, respectively. The left waist and leg connection 31 is connected to the left thigh pad 41. The right waist and leg connection 32 is connected to the right thigh pad 42. The left thigh pad 41 is connected to the left limiting pin 51. The right thigh pad 42 is connected to the right limiting pin 52. The left limiting pin 51 is connected to the left calf pad 61. The right limiting pin 52 is connected to the right calf pad 62. The left calf pad 61 is connected to the left foot pad 71. The right calf pad 62 is connected to the right foot pad 72.

[0042] like Figure 4 As shown, the lumbar support plate 2 includes a left lumbar connector 201, a right lumbar connector 202, a rear lumbar connector 203, a left lumbar fixed hinge 204, and a right lumbar fixed hinge 205.

[0043] The cross-sections of the left waist connector 201, right waist connector 202, and rear waist connector 203 are arc-shaped to conform to the curve of the human waist, and the surfaces have several weight-reducing holes. The front and side parts of the left waist connector 201 and right waist connector 202 are flat surfaces with several threaded holes. The left waist connector 201 and right waist connector 202 are fixed to the chest and waist connecting frame 102 by bolts through the threaded holes on the front flat surface, and the bolt holes on the side surface are fixed to the structure below the waist pad 2 by bolts. The left waist connector 201 and the rear waist connector 203 are fixed by the left waist fixed hinge 204, so that the rear waist connector 203 can be rotated and opened. The right waist connector 202 and the rear waist connector 203 are connected by the right waist fixed hinge 205, which locks the waist pad structure when the rear waist connector 203 is closed.

[0044] like Figure 5As shown, the left waist-leg connector 31 and the right waist-leg connector 32 are symmetrical structures, each including a left waist-side mounting section 311, a left limiting bolt 312, a left thigh-side mounting section 313, a right waist-side mounting section 321, a right limiting bolt 322, and a right thigh-side mounting section 323. The left waist-side mounting section 311 and the right waist-side mounting section 321 have several threaded holes, which are bolted to the bolt holes on the side surfaces of the left waist-side connector 201 and the right waist-side connector 202, respectively. The left thigh-side mounting section... The lower half of mounting section 313 and right thigh side mounting section 323 has a groove, which is connected and fixed to the lower part of the left waist leg connection 31 and right waist leg connection 32. The upper half of mounting section 313 and right thigh side mounting section 323 has several hole structures, which pass through the left waist side mounting section 311 and right waist side mounting section 321 respectively. The left limit bolt 312 and right limit bolt 322 pass through the holes in the upper half of the left thigh side mounting section 313 and right thigh side mounting section 323 to fix each part.

[0045] like Figure 6 As shown, the left thigh pad 41 and the right thigh pad 42 include a rear surround 411, a front surround 412, a left thigh main support rod 413, a left thigh support lower end telescopic rod 414, a left thigh first limiting bolt 415, a left thigh second limiting bolt 416, a left thigh lower leg linkage slider 417, a left thigh connecting hinge 418, a rear surround 421, a front surround 422, a right thigh main support rod 423, a right thigh support lower end telescopic rod 424, a right thigh first limiting bolt 425, a right thigh second limiting bolt 426, a right thigh lower leg linkage slider 427, and a right thigh connecting hinge 428.

[0046] The left thigh pad 41 and the right thigh pad 42 are symmetrical structures; the rear surround of the left thigh pad 411, the front surround of the left thigh pad 412, the rear surround of the right thigh pad 421, and the front surround of the right thigh pad 422 have cross-sections that conform to the curves of the human thigh, with thicker upper ends and thinner lower ends, and are connected to the left thigh main support rod 413 and the right thigh main support rod 423. The rear surround of the left thigh pad 411 and the rear surround of the right thigh pad 421 can rotate.

[0047] The left thigh pad rear surround 411 and the left thigh pad front surround 412 lock the waist pad structure when the left thigh pad rear surround 411 is closed via the left thigh connecting hinge 418. The right thigh pad rear surround 421 and the right thigh pad front surround 422 lock the waist pad structure when the right thigh pad rear surround 421 is closed via the right thigh connecting hinge 428. The left thigh main support rod 413 and the right thigh main support rod 423 are respectively inserted into the grooves in the left thigh side mounting section 313 and the right thigh side mounting section 323. Through interference fit, the left thigh pad 41 and the right thigh pad 42 are respectively connected and fixed to the left waist and leg connection 31 and the right waist and leg connection 32.

[0048] The left main support rod 413 and the right main support rod 423 of the thigh are fixed structures with several holes. The left first limiting bolt 415 of the thigh and the left linkage slider 417 of the thigh and calf, and the right first limiting bolt 425 of the thigh and the right linkage slider 427 of the thigh and calf can slide on the left main support rod 413 and the right main support rod 423 of the thigh, respectively. The left first limiting bolt 415 of the thigh and the right first limiting bolt 425 of the thigh fix the left linkage slider 417 of the thigh and the right linkage slider 427 of the thigh and calf by inserting into the hole structure. The left linkage slider 417 of the thigh and the right linkage slider 427 of the thigh and calf are connected and fixed with the corresponding parts of the calf. The lower end telescopic rod 414 of the left thigh support and the lower end telescopic rod 424 of the right thigh support can be adjusted in height by telescopic movement and fixed in position by the left second limiting bolt 416 of the thigh and the right second limiting bolt 426 of the thigh, and are connected and fixed to the lower part of the left thigh pad 41 and the right thigh pad 42.

[0049] like Figure 7As shown, the left limit pin 51 and the right limit pin 52 include an upper connecting groove 511 on the left limit plate, a lower connecting groove 512 on the left limit plate, a lower left limit plate 513, an upper left limit plate 514, a left limit indexing groove 515, a left limit locking pin 516, an upper connecting groove 521 on the right limit plate, a lower connecting groove 522 on the right limit plate, a lower right limit plate 523, an upper right limit plate 524, a right limit indexing groove 525, and a right limit locking pin 526. The left limit pin 51 and the right limit pin 52 have a symmetrical structure. The upper connecting groove 511 on the left limit plate and the lower connecting groove 522 on the right limit plate have grooves. The lower end telescopic rod 414 of the left thigh support and the lower end of the right thigh support... The telescopic rod 424 is inserted into the groove to form an interference fit, thus connecting and fixing the left thigh pad 41 to the left limit pin 51 and the right thigh pad 42 to the right limit pin 52. The lower left limit plate 513 and the upper left limit plate 514, the lower right limit plate 523 and the upper right limit plate 524 can be adjusted by relative rotation. The left limit lock pin 516 and the right limit lock pin 526 are fixed by angle locking by inserting into the left limit indexing groove 515 and the right limit lock pin 526. The lower connecting groove 512 of the left limit plate and the lower connecting groove 522 of the right limit plate have grooves and are connected and fixed to the lower part of the left limit pin 51 and the right limit pin 52.

[0050] like Figure 8 As shown, the left lower leg pad 61 and the right lower leg pad 62 include a left rear lower leg surround 611, a left front lower leg surround 612, a left forward tilting lower leg support rod 613, a left side lower leg support rod 614, a left ground support end 615, a left support limiting bolt 616, a left lower leg hinge 617, a left lower leg connecting hinge, a left upper and lower leg connecting bearing 619, a right rear lower leg surround 621, a right front lower leg surround 622, a right forward tilting lower leg support rod 623, a right side lower leg support rod 624, a right ground support end 625, a right lower leg support limiting bolt 626, a right lower leg hinge, a right lower leg connecting hinge 628, and a right upper and lower leg connecting bearing 629. The left lower leg pad 61 and the right lower leg pad 62 have a symmetrical structure; the left rear lower leg surround 611 and the left front lower leg surround 612...

[0051] The right rear calf surround 621 and the right front calf surround 622 have cross-sections that conform to the curve of the human calf. The left rear calf surround 611 and the left front calf surround 612 are connected to the left side support rod 614 of the calf via the left calf hinge 617. The left front calf surround 612 can rotate. On the other side, the left calf connecting hinge locks the left calf pad structure when closed. The left calf connecting hinge connects the right rear calf surround 621 and the right front calf surround 622 to the right side support rod 624 of the calf via the right calf hinge. The right front calf surround 622 can rotate. On the other side, the right calf pad structure is locked when closed via the right calf connecting hinge 628.

[0052] The left calf support rod 614 and the right calf support rod 624 are fixed structures, with their lower parts connected and fixed to the lower structures of the left calf pad 61 and the right calf pad 62. The left calf forward tilting support rod 613 and the right calf forward tilting support rod 623 are respectively fixed to the left calf support rod 614 and the right calf support rod 624, and can rotate around the center. The bottom has several holes, and the left and right calf connecting bearings 619 and 629 are located on the left calf support rod 614 and the right calf support rod 624, respectively. The top of the support rod 624 is connected and fixed to the left linkage slider 417 and the right linkage slider 427 of the thigh and calf respectively by interference fit, forming a triangular structure of thigh support rod - calf support rod - calf forward tilting support rod. The left ground support end 615 and the right ground support end 625 of the calf are located at the bottom of the left forward tilting support rod 613 and the right forward tilting support rod 623 of the calf respectively. The length can be adjusted and fixed by inserting the left ground support end 615 and the right ground support end 625 of the calf into the hole structure respectively.

[0053] like Figure 9 As shown, the left foot pad 71 and the right foot pad 72 include a left foot connecting groove 711, a left foot connecting rod 712, a left foot limiting device 713, a right foot connecting groove 721, a right foot connecting rod 722, and a right foot limiting device 723. The left foot pad 71 and the right foot pad 71 have symmetrical structures. The left foot connecting groove 711 and the right foot connecting groove 721 have grooves, which are connected to the left foot limiting device 713 and the right foot limiting device 723 respectively through the left foot connecting rod 712 and the right foot connecting rod 722. The left side support rod 614 and the right side support rod 624 of the lower leg are inserted into the left foot connecting groove 711 and the right foot connecting groove 721 respectively, and are fixed by interference fit.

[0054] like Figure 3 As shown, the chest pad 1 includes a chest pad support frame 101 and a chest-waist connecting frame 102; the chest pad support frame 101 has an arc-shaped cross section that conforms to the human chest, and the surface is provided with reinforcing ribs and several weight-reducing holes; the chest-waist connecting frame 102 has several bolt holes on its surface, and the chest pad 1 is fixed to other parts by bolts.

[0055] Principle Explanation

[0056] This invention intersects mechanics, materials science, and clinical medicine, with its core principle lying in the transmission of forces and multi-degree-of-freedom dynamic support. The main principles are explained below:

[0057] Pressure Dispersion Mechanism: This invention designs multiple support devices to provide external support for the surgeon during the operation. The load on the surgeon is transferred to the exoskeleton frame through mechanical transmission between the various devices. Specifically: the curved surface design of the chest pad 1 and the waist pad 2 provides external support for the upper body, transferring the load on the upper body of the surgeon to the exoskeleton frame; the left thigh support rod 413 and the right thigh support rod 423 provide external support for the thighs, and the left lower leg forward tilting support rod 613 and the right lower leg support rod 623 provide external support for the lower legs. The thigh support rods and lower leg support rods form a rigid triangular structure, transferring the load on the lower body to the left lower leg ground support end 615 and the right lower leg ground support end 625, realizing the chain decomposition of axial load and reducing the physical burden on the surgeon.

[0058] Joint dynamic coordination: The left limiting plate 51 and the right limiting plate 52 engage with the left limiting locking pin 516 and the right limiting locking pin 526 respectively through the left limiting indexing groove 515 and the right limiting indexing groove 525, thereby limiting abnormal internal rotation and abnormal external rotation of the knee joint; the left linkage slider 417 and the right linkage slider 427 of the thigh and calf are connected to the left connecting bearing 619 and the right connecting bearing 629 of the thigh and calf respectively, so that the thigh and calf support rods can complete synchronous movement and maintain a normal natural gait posture trajectory.

[0059] Anti-overturning stability: The left and right forward tilting support rods 613 and 623 of the lower leg form a forward tilting angle with the left and right ground support ends 615 and 625 of the lower leg, respectively. The lever arm can be adjusted by extending and retracting the length of the support rods. Combined with the gripping of the left and right foot limiting devices 713 and 723, a "three-point contact-lever balance" anti-overturning model is formed, which effectively counteracts the impact of sudden lateral forces during surgery.

[0060] Adjustability: Multiple parts of this invention are adjustable to meet the needs of doctors of different body types performing different types of surgeries. The distance between the lumbar support plate 2 and the left thigh support plate 31 and right thigh support plate 32 can be adjusted by adjusting the position of the left limiting bolt 312 inserted into the hole in the left thigh side mounting section 313, the right limiting bolt 322 inserted into the hole in the right thigh side mounting section 323, the left thigh first limiting bolt 415 inserted into the hole in the left thigh main support rod 413, and the right thigh first limiting bolt 425 inserted into the hole in the right thigh main support rod 423. The distance between the lumbar support plate 2 and the left thigh support plate 31 and right thigh support plate 32 can be adjusted by adjusting the position of the left thigh second limiting bolt 416 inserted into the lower end telescopic rod 4 of the left thigh main support. The distance between the left thigh pad 41 and the left limit pin 51 is adjusted by the position of the hole in the 14th hole. The distance between the right thigh pad 42 and the right limit pin 52 is adjusted by the position of the right thigh second limit bolt 426 inserted into the hole in the lower end telescopic rod 424 of the right thigh main support. The relative angles of the left lower limit plate 513 and the left upper limit plate 514, and the right lower limit plate 523 and the right upper limit plate 524 are adjusted by adjusting the locking positions of the left limit locking pin 515 and the right limit locking pin 525, respectively, to meet the requirements of different conditions.

[0061] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A medical support exoskeleton mechanism for assisting surgeons in clinical surgery, characterized in that, Including chest pad (1), waist pad (2), left waist-leg connection (31), right waist-leg connection (32), left thigh pad (41), right thigh pad (42), left limiting pin (51), right limiting pin (52), left calf pad (61), right calf pad (62), left foot pad (71), and right foot pad (72); The chest pad (1) is connected to the waist pad (2). The two ends of the waist pad (2) are connected to the left waist and leg connection (31) and the right waist and leg connection (32) respectively. The left waist and leg connection (31) is connected to the left thigh pad (41). The right waist and leg connection (32) is connected to the right thigh pad (42). The left thigh pad (41) is connected to the left limiting pin (51). The right thigh pad (42) is connected to the right limiting pin (52). The left limiting pin (51) is connected to the left calf pad (61). The right limiting pin (52) is connected to the right calf pad (62). The left calf pad (61) is connected to the left foot pad (71). The right calf pad (62) is connected to the right foot pad (72). The left thigh pad (41) and the right thigh pad (42) include a rear surround (411) of the left thigh pad, a front surround (412) of the left thigh pad, a left thigh main support rod (413), a left thigh support lower end telescopic rod (414), a left thigh first limiting bolt (415), a left thigh second limiting bolt (416), a left thigh lower leg linkage slider (417), a left thigh connecting hinge, a rear surround (421) of the right thigh pad, a front surround (422) of the right thigh pad, a right thigh main support rod (423), a right thigh support lower end telescopic rod (424), a right thigh first limiting bolt (425), a right thigh second limiting bolt (426), a right thigh lower leg linkage slider (427), and a right thigh connecting hinge (428). The left main support rod (413) and the right main support rod (423) of the thigh are fixed structures with several holes. The left first limiting bolt (415) of the thigh and the left linkage slider (417) of the thigh and the right first limiting bolt (425) of the thigh and the right linkage slider (427) of the thigh and the lower leg can slide on the left main support rod (413) and the right main support rod (423) of the thigh, respectively. The left first limiting bolt (415) and the right first limiting bolt (425) of the thigh complete the thigh and lower leg by inserting into the hole structure. The left linkage slider (417) and the right linkage slider (427) of the thigh and calf are fixed. The left linkage slider (417) and the right linkage slider (427) of the thigh and calf are connected and fixed with the corresponding part of the calf. The lower end telescopic rod (414) of the left thigh support and the lower end telescopic rod (424) of the right thigh support are adjusted in height by telescopic movement and fixed in position by the second limit bolt (416) of the left thigh and the second limit bolt (426) of the right thigh, and connected and fixed with the lower part of the left thigh pad (41) and the right thigh pad (42). The left lower leg pad (61) and the right lower leg pad (62) include a left rear lower leg surround (611), a left front lower leg surround (612), a left forward tilting lower leg support rod (613), a left side lower leg support rod (614), a left ground support end (615), a left lower leg support limiting bolt (616), a left lower leg hinge (617), a left lower leg connecting hinge, a left upper and lower leg connecting bearing (619), a right rear lower leg surround (621), a right front lower leg surround (622), a right forward tilting lower leg support rod (623), a right side lower leg support rod (624), a right ground support end (625), a right lower leg support limiting bolt (626), a right lower leg hinge, a right lower leg connecting hinge (628), and a right upper and lower leg connecting bearing (629). The left lower leg pad (61) and the right lower leg pad (62) are symmetrical structures. The left side support rod (614) and the right side support rod (624) of the lower leg are fixed structures, and their lower parts are connected and fixed to the structure below the left side pad (61) and the right side pad (62) of the lower leg; the left forward tilt support rod (613) and the right forward tilt support rod (623) of the lower leg are fixed on the left side support rod (614) and the right side support rod (624) of the lower leg respectively, and can rotate around the center. The bottom has a number of holes. The left connecting bearing (619) and the right connecting bearing (629) of the lower leg are located on the left side support rod (614) and the lower leg respectively. The top of the right side support rod (624) is connected and fixed to the left linkage slider (417) of the thigh and the right linkage slider (427) of the thigh and the calf through an interference fit, forming a triangular structure of thigh support rod - calf support rod - calf forward tilt support rod. The left ground support end (615) of the calf and the right ground support end (625) of the calf are located at the bottom of the left forward tilt support rod (613) of the calf and the right forward tilt support rod (623) of the calf, respectively. The length can be adjusted and fixed by inserting the left ground support end (615) of the calf and the right ground support end (625) of the calf into the hole structure.

2. The medical support exoskeleton mechanism for assisting surgeons in clinical surgery according to claim 1, characterized in that, The chest pad (1) includes a chest pad support frame (101) and a chest-waist connecting frame (102); the chest pad support frame (101) has an arc shape that fits the human chest, and the surface is provided with reinforcing ribs and several weight-reducing holes; the chest-waist connecting frame (102) has several bolt holes on its surface, and the chest pad (1) is fixed to other parts by bolts.

3. The medical support exoskeleton mechanism for assisting surgeons in clinical surgery according to claim 2, characterized in that, The lumbar support plate (2) includes a left lumbar connector (201), a right lumbar connector (202), a rear lumbar connector (203), a left lumbar fixed hinge (204), and a right lumbar fixed hinge (205). The left waist connector (201), right waist connector (202), and rear waist connector (203) have an arc-shaped cross-section that conforms to the curve of the human waist, and have several weight-reducing holes on their surfaces. The front and side parts of the left waist connector (201) and right waist connector (202) are flat surfaces with several threaded holes. The left waist connector (201) and right waist connector (202) are connected to the thoracolumbar connector (102) by bolts through the threaded holes on the front flat surfaces. The structure below the side flat surface threaded hole and waist pad (2) is fixed by bolts; the waist left side connector (201) and the waist rear side connector (203) are fixed by the waist left side fixed hinge (204), so that the waist rear side connector (203) can be rotated open, and the waist right side connector (202) and the waist rear side connector (203) are connected by the waist right side fixed hinge (205), which locks the waist pad structure when the waist rear side connector (203) is closed.

4. The medical support exoskeleton mechanism for assisting surgeons in clinical surgery according to claim 3, characterized in that, The left waist-leg connector (31) and the right waist-leg connector (32) are symmetrical structures, each including a left waist-side mounting section (311), a left limiting bolt (312), a left thigh-side mounting section (313), a right waist-side mounting section (321), a right limiting bolt (322), and a right thigh-side mounting section (323). The left waist-side mounting section (311) and the right waist-side mounting section (321) have several threaded holes, which are bolted to the threaded holes on the flat surfaces of the left waist-side connector (201) and the right waist-side connector (202). The left thigh-side mounting section... The lower half of the (313) and right thigh side mounting section (323) has a groove, which is connected and fixed to the lower part of the waist and leg left connection (31) and waist and leg right connection (32). The upper half of the left thigh side mounting section (313) and right thigh side mounting section (323) has several hole structures, which pass through the left waist side mounting section (311) and right waist side mounting section (321) respectively. The left limit bolt (312) and right limit bolt (322) pass through the holes in the upper half of the left thigh side mounting section (313) and right thigh side mounting section (323) to fix each part.

5. A medical support exoskeleton mechanism for assisting surgeons in clinical surgery according to claim 4, characterized in that, The left thigh pad (41) and the right thigh pad (42) are symmetrical structures; the rear surround of the left thigh pad (411), the front surround of the left thigh pad (412), the rear surround of the right thigh pad (421) and the front surround of the right thigh pad (422) have a cross-section that conforms to the curve of the human thigh, with a thicker upper end and a thinner lower end, and are connected to the left thigh main support rod (413) and the right thigh main support rod (423). The rear surround of the left thigh pad (411) and the rear surround of the right thigh pad (421) can rotate.

6. A medical support exoskeleton mechanism for assisting surgeons in clinical surgery according to claim 5, characterized in that, The left thigh pad rear surround (411) and the left thigh pad front surround (412) lock the waist pad structure when the left thigh pad rear surround (411) is closed via the left thigh connecting hinge. The right thigh pad rear surround (421) and the right thigh pad front surround (422) lock the waist pad structure when the right thigh pad rear surround (421) is closed via the right thigh connecting hinge (428). The left thigh main support rod (413) and the right thigh main support rod (423) are respectively inserted into the grooves in the left thigh side mounting section (313) and the right thigh side mounting section (323). Through interference fit, the left thigh pad (41) and the right thigh pad (42) are respectively connected and fixed to the left waist and leg connection (31) and the right waist and leg connection (32).

7. A medical support exoskeleton mechanism for assisting surgeons in clinical surgery according to claim 6, characterized in that, The left limit pin (51) and the right limit pin (52) include a connecting groove (511) on the left limit plate, a connecting groove (512) on the lower left limit plate, a lower left limit plate (513), a upper left limit plate (514), a left limit indexing groove (515), a left limit locking pin (516), a connecting groove (521) on the right limit plate, a connecting groove (522) on the lower right limit plate, a lower right limit plate (523), a upper right limit plate (524), a right limit indexing groove (525), and a right limit locking pin (526). The left limit pin (51) and the right limit pin (52) are symmetrical structures. The connecting groove (511) on the left limit plate and the connecting groove (521) on the right limit plate have grooves. The lower end telescopic rod (414) of the left thigh support and the lower end telescopic rod of the right thigh support are... The end telescopic rod (424) is inserted into the groove to form an interference fit to complete the connection and fixation of the left thigh pad (41) and the left limit pin (51), and the right thigh pad (42) and the right limit pin (52); the lower left limit plate (513) and the upper left limit plate (514), the lower right limit plate (523) and the upper right limit plate (524) can be adjusted by relative rotation; the left limit locking pin (516) and the right limit locking pin (526) are fixed by angle by inserting into the left limit indexing groove (515) and the right limit indexing groove (525); the lower connecting groove (512) of the left limit plate and the lower connecting groove (522) of the right limit plate have grooves and are connected and fixed to the lower part of the left limit pin (51) and the right limit pin (52).

8. A medical support exoskeleton mechanism for assisting surgeons in clinical surgery according to claim 7, characterized in that, The right rear calf surround (621) and the right front calf surround (622) have cross-sections that conform to the curve of the human calf. The left rear calf surround (611) and the left front calf surround (612) are connected to the left side support rod (614) of the calf via the left calf hinge (617). The left front calf surround (612) can rotate. The left calf pad structure is locked when closed via the left calf connecting hinge on the other side. The right rear calf surround (621) and the right front calf surround (622) are connected to the right side support rod (624) of the calf via the right calf hinge. The right front calf surround (622) can rotate. The right calf pad structure is locked when closed via the right calf connecting hinge (628) on the other side.

9. A medical support exoskeleton mechanism for assisting surgeons in clinical surgery according to claim 8, characterized in that, The left foot pad (71) and the right foot pad (72) include a left foot connecting groove (711), a left foot connecting rod (712), a left foot limiting device (713), a right foot connecting groove (721), a right foot connecting rod (722), and a right foot limiting device (723). The left foot pad (71) and the right foot pad (71) are symmetrical structures. The left foot connecting groove (711) and the right foot connecting groove (721) have grooves, which are connected to the left foot limiting device (713) and the right foot limiting device (723) respectively through the left foot connecting rod (712) and the right foot connecting rod (722). The left side support rod (614) and the right side support rod (624) of the lower leg are inserted into the left foot connecting groove (711) and the right foot connecting groove (721) respectively, and are fixed by interference fit.

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