Shoulder joint structure for exoskeleton and exoskeleton assistive device

Abstract

The shoulder joint structure for an exoskeleton and an exoskeleton assisting device, the shoulder joint structure comprising a connecting rod, a first rotating assembly and a second rotating assembly: the length of the connecting rod is adjustable; the first rotating assembly is connected with one end of the connecting rod, the rotation axis of the first rotating assembly extends along the front-back direction of the human body to adapt to the abduction and adduction movement of the human shoulder joint; the second rotating assembly is connected with the other end of the connecting rod, and the rotation axis of the second rotating assembly is perpendicular to the rotation axis of the first rotating assembly to adapt to the flexion and extension movement of the human shoulder joint. Through the above technical scheme, the shoulder joint structure with two degrees of freedom in the present disclosure can simulate the rotation of the human shoulder joint, can follow the upper limbs of the human body to complete the complex actions such as abduction, adduction, flexion and extension, has high flexibility, and is also more portable. When the shoulder joint structure is applied to the exoskeleton assisting device, the flexibility of the exoskeleton assisting device is improved.

Description

Technical Field

[0001] This disclosure relates to the field of exoskeleton assistance, and more particularly to a shoulder joint structure for an exoskeleton and an exoskeleton assistance device. Background Technology

[0002] During surgery, surgeons need to maintain an arm suspended in the air for extended periods. In this position, certain muscle groups in the upper limb must continuously contract to counteract the effects of gravity. This sustained muscle contraction not only leads to metabolic fatigue but also causes unavoidable tremors in the upper limb, affecting the precision of the surgical procedure. Over time, this can even threaten the surgeon's occupational health. Related technologies allow surgeons to wear exoskeletons to support their arms and assist during surgery. However, existing exoskeletons have limited flexibility, making it difficult to perform complex upper limb movements, thus limiting their usability. Utility Model Content

[0003] To overcome the problems existing in the related technologies, this disclosure provides a shoulder joint structure for an exoskeleton and an exoskeleton assist device.

[0004] According to a first aspect of the present disclosure, a shoulder joint structure for an exoskeleton is provided, comprising: The connecting rod has an adjustable length. The first rotating component is connected to one end of the connecting rod. The rotation axis of the first rotating component extends along the front-back direction of the human body to accommodate the abduction and adduction movements of the human shoulder joint. The second rotating component is connected to the other end of the connecting rod. The rotation axis of the second rotating component is perpendicular to the rotation axis of the first rotating component to accommodate the flexion and extension movements of the human shoulder joint.

[0005] In some possible implementations, the first rotating component includes: The first fixed seat is equipped with a friction plate; and A clamping assembly includes two opposing clamping plates, the two clamping plates being closable, and a friction pad being accommodated between the two clamping plates; The clamping plate and the friction plate can rotate relative to each other.

[0006] In this way, the friction pads provide a uniform contact surface, and the clamping pads can generate a controllable clamping force, preventing the first rotating component from suddenly slipping or loosening, thus enhancing safety.

[0007] In some possible implementations, the first rotating component further includes: A boss is provided on the first fixed seat and extends along the rotation axis of the friction plate; A second fixing seat is rotatably sleeved outside the boss, and the clamping assembly is connected to the second fixing seat; and The third fixing seat is fixed on the boss, and the friction plate is mounted on the third fixing seat.

[0008] In this way, the design of multiple fixing seats makes the first rotating component more compact and can withstand repeated clamping and rotational loads, ensuring the reliability of the shoulder joint structure for long-term use.

[0009] In some possible implementations, the shoulder joint structure further includes a drive assembly, the first rotation assembly including a pull cord, one end of which is connected to the drive assembly for tightening or loosening the pull cord, and the other end of which is connected to at least one of the clamping plates, the pull cord being configured to drive two of the clamping plates to close when tightened.

[0010] This rope-driven clamping mechanism is simple and reliable, enhancing the stability and controllability of the shoulder joint structure. Furthermore, the rope method allows for remote control of the first rotating component, eliminating the need for the drive component to be mounted on it and preventing excessive mass in the first rotating component.

[0011] In some possible implementations, the shoulder joint structure further includes a guide sleeve connected to the first fixing seat, through which the pull rope is movably threaded, the guide sleeve defining the movement path of the pull rope.

[0012] In this way, the guide sleeve is fitted over the pull rope to protect it. At the same time, the guide sleeve can limit and fix the pull rope, guide and limit its movement trajectory. When the pull rope is tightened and loosened, it can move along the trajectory of the guide sleeve, avoiding the pull rope from getting tangled with other structures.

[0013] In some possible implementations, the shoulder joint structure further includes a foot switch wirelessly connected to the drive assembly for controlling the start and stop of the drive assembly.

[0014] In this way, during the operation, the doctor can control the foot pedal switch to start and stop the drive components, thereby controlling the shoulder joint structure in the exoskeleton assistive device. The exoskeleton assistive device can better meet the needs of use in surgical scenarios, and its use is also more convenient.

[0015] In some possible implementations, the first mounting base has an annular first mounting groove, and the second mounting base has an annular second mounting groove disposed opposite to the first mounting groove. The first rotating assembly further includes a torsion spring disposed in the first mounting groove and the second mounting groove, the torsion spring being configured to return to its original position when the upper limb of the human body is abducted and flexed.

[0016] In this way, the torsion spring provides passive assistance to the first rotating component, further reducing upper limb fatigue for the doctor. When the doctor's upper limb moves against gravity, such as raising the arm, the torsion spring twists back to release energy, assisting the upper limb movement; when the arm is lowered or moved, the torsion spring twists to store energy. This mechanism reduces the muscle strength required by the doctor to raise and hold the arm, making the upper limb less prone to fatigue.

[0017] In some possible implementations, the second rotating component is identical to the first rotating component. This facilitates the manufacture and assembly of the shoulder joint structure.

[0018] In some possible implementations, the link is configured as an arc, and the link includes: The first segment has a first stepped portion at its end; and The second segment has an end portion that is opposite to and abuts against the first stepped portion. The relative positions of the first step portion and the second step portion in the length direction of the connecting rod are adjustable, and the first rod segment and the second rod segment are connected by fasteners passing through the first step portion and the second step portion.

[0019] In this way, the design of the two stepped sections allows for adjustable length of the link without increasing its volume, making the link lighter and avoiding any increase in the weight of the exoskeleton assistive device. The link can be constructed in an arc shape to conform to the curvature of the human shoulder joint.

[0020] According to a second aspect of the present disclosure, an exoskeleton assistive device is provided, comprising a shoulder joint structure for an exoskeleton as described above, the exoskeleton assistive device having a backplate fixed to the back of a human body and having an adjustable width, and the shoulder joint structure being connected to the backplate.

[0021] The technical solutions provided by the embodiments of this disclosure may include the following beneficial effects: Through the above technical solution, the two-degree-of-freedom shoulder joint structure disclosed herein can simulate the rotation of the human shoulder joint and follow the upper limb to complete complex movements such as abduction, adduction, flexion, and extension, exhibiting high flexibility and being more lightweight. Simultaneously, through an adjustable-length linkage, the shoulder joint structure can be matched with human shoulder joints of different sizes, ensuring the adaptability and versatility of the shoulder joint structure. When the shoulder joint structure is applied to an exoskeleton assistive device, the exoskeleton assistive device can support the upper limb in various postures, improving the flexibility of the exoskeleton assistive device. This makes the exoskeleton assistive device more adaptable to situations where the surgeon's upper limb posture needs to change frequently during surgery, better meeting the needs of surgical scenarios, and offering higher adaptability and versatility.

[0022] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0023] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure.

[0024] Figure 1 This is a schematic diagram illustrating the use of a shoulder joint structure in an exoskeleton assistive device according to an exemplary embodiment. Figure 2 yes Figure 1 Enlarged view of section A; Figure 3 This is a schematic diagram of the structure of a first rotating component according to an exemplary embodiment; Figure 4 This is an exploded view of the first rotating component according to an exemplary embodiment; Figure 5 This is a cross-sectional view of a first rotating component according to an exemplary embodiment; Figure 6 This is a schematic diagram of the structure of a driving component according to an exemplary embodiment.

[0025] Explanation of reference numerals in the attached figures 10-Shoulder joint structure, 101-First rotating assembly, 1011-First fixing seat, 1011a-Friction pad, 1011b-First mounting groove, 1012-Clamping assembly, 1012a-Pull rope, 1012b-Clamping piece, 1013-Boss, 1013a-Bearing, 1014-Second fixing seat, 1014a-Second mounting groove, 1015-Third fixing seat, 1016-Torsion spring, 102-Then... Two rotating components, 103-connecting rod, 1031-first rod segment, 1031a-first step, 1032-second rod segment, 1032a-second step, 104-drive assembly, 1041-fourth fixed seat, 1041a-slide groove, 1041b-drive motor, 1042-rack, 1042a-fixed head, 1043-gear, 20-back plate, 30-support mechanism, 40-upper limb wearable component. Detailed Implementation

[0026] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this disclosure as detailed in the appended claims.

[0027] Generally, during surgery, doctors need to hold and manipulate surgical instruments to perform the procedure. During this process, doctors need to keep their arms in a flexed and suspended position for an extended period. In this position, the muscles in the doctor's upper limbs need to continuously contract to counteract the effects of gravity. This prolonged and continuous muscle contraction not only leads to metabolic fatigue but also causes unavoidable tremors in the doctor's upper limbs, affecting the precision of the surgical procedure.

[0028] In related technologies, wearable exoskeletons can support the upper limbs of surgeons during surgery, reducing upper limb fatigue. However, existing wearable exoskeletons are generally modified from industrial exoskeletons, such as those used for industrial handling, or from rehabilitation exoskeletons, such as those for lower limb rehabilitation. They have limited flexibility, struggle to perform complex upper limb movements, fail to fully consider the actual clinical needs of surgical scenarios, and cannot meet the frequent posture changes required by surgeons during surgery.

[0029] In order to solve the problems existing in the related technologies, the solution of this disclosure will be described in detail below with reference to the accompanying drawings.

[0030] Generally speaking, the human upper limb has four movements: abduction, adduction, flexion, and extension. The shoulder joint also rotates in response to these movements. These four movements require the upper limb to overcome gravity to move. The combination of these movements allows the upper limb to perform complex movements in multiple directions, thus enabling surgical procedures. Abduction refers to the movement of the upper limb from the side of the body upwards or outwards, increasing the angle of the shoulder joint and moving the arm away from the body. Adduction refers to the movement of the arm from the abducted position towards the center line of the body, decreasing the angle of the shoulder joint and bringing the arm closer to the body. Flexion refers to the movement of the arm from the side of the body forward, such as raising the arm forward. Extension refers to the movement of the arm backwards, such as moving a raised arm to the side of the body or moving the arm from the side of the body backwards. It is understood that "front," "back," and "sides" mentioned here are relative to the human body, referring to the front, back, and sides of the body.

[0031] This disclosure provides a shoulder joint structure 10 for an exoskeleton. The shoulder joint structure 10 has high flexibility. When the shoulder joint structure 10 is applied to an exoskeleton device, the flexibility of the exoskeleton assistive device can also be improved. The exoskeleton assistive device can be applied in surgical scenarios with complex upper limb postures. Generally, an exoskeleton assistive device has a backplate 20 and a support mechanism 30. The backplate 20 is used to fix to the back of the human body, and the support mechanism 30 is used to fix the upper limb of the human body to ensure the maintenance of the upper limb posture. In this disclosure, the shoulder joint structure 10 can be disposed between the support mechanism 30 and the backplate 20. The shoulder joint structure 10 can improve the range of motion of the support mechanism 30, enabling the exoskeleton assistive device to realize the aforementioned complex upper limb movements such as abduction, adduction, flexion, and extension, thereby improving the flexibility of the exoskeleton assistive device.

[0032] Reference Figure 1 and Figure 2 The shoulder joint structure 10 disclosed herein may include a connecting rod 103, a first rotating assembly 101, and a second rotating assembly 102. The first rotating assembly 101 and the second rotating assembly 102 are respectively connected to the two ends of the connecting rod 103. Both the first rotating assembly 101 and the second rotating assembly 102 are rotatable. The first rotating assembly 101 is used to adapt the shoulder joint structure 10 to the abduction and adduction movements of the human upper limb, and the second rotating assembly 102 is used to adapt the shoulder joint structure 10 to the flexion and extension movements of the human upper limb. It is understood that the rotation axis of the first rotating assembly 101 needs to extend along the anterior-posterior direction of the human body, and the rotation axis of the second rotating assembly 102 needs to extend along the width direction of the human body. In this case, the rotation axis of the second rotating assembly 102 is perpendicular to the rotation axis of the first rotating assembly 101. The shoulder joint structure 10 can complete rotation in multiple directions and at multiple angles through the two rotating assemblies, exhibiting high flexibility and simulating the rotation of the human shoulder joint.

[0033] Taking the application of the shoulder joint structure 10 in an exoskeleton assistive device in a surgical setting as an example, when the doctor controls the upper limb movement to the posture required for surgical operation, or when the doctor needs to adjust the posture of the upper limb, the shoulder joint structure 10 can move along with the rotation of the human shoulder joint when the human upper limb performs four movements: abduction, adduction, flexion, and extension, ensuring the flexibility of the exoskeleton assistive device. When the first rotating component 101 and the second rotating component 102 rotate with the human shoulder joint, the support mechanism 30 moves synchronously. The support mechanism 30 can move to the corresponding position along with the movement of the upper limb, always maintaining support for the upper limb. This design fully considers that the exoskeleton assistive device needs to be applied in surgical scenarios, focusing on the actual clinical needs in surgical scenarios, making the exoskeleton assistive device with the shoulder joint structure 10 of this disclosure more suitable for use in surgical scenarios.

[0034] For doctors of different body types and builds, the size of their shoulder joints varies. To improve the versatility and adaptability of the shoulder joint structure 10, the length of the connecting rod 103 is adjustable. When the length of the connecting rod 103 is adjustable, the relative positions of the first rotating component 101 and the second rotating component 102 in the width direction of the human body will change, and their relative positions in the front-back direction of the human body will also change. The shoulder joint structure 10 can be matched with shoulder joints of different sizes, and the versatility and adaptability of the exoskeleton assistive device with the shoulder joint structure 10 of this disclosure will also increase. In order to adapt to doctors of different body types and builds, there is no need to prepare multiple existing exoskeleton products; only the shoulder joint structure 10 needs to be adjusted.

[0035] Through the above technical solution, the shoulder joint structure 10 with two degrees of freedom (two rotational directions) disclosed in this invention can simulate the rotation of the human shoulder joint and follow the human upper limb to complete complex movements such as abduction, adduction, flexion, and extension, exhibiting high flexibility and being more lightweight. Simultaneously, through the adjustable-length connecting rod 103, the shoulder joint structure 10 can be matched with human shoulder joints of different sizes, ensuring the adaptability and versatility of the shoulder joint structure 10. When the shoulder joint structure 10 is applied in an exoskeleton assistive device, the exoskeleton assistive device can support the upper limb in various postures, improving the flexibility of the exoskeleton assistive device and making it more adaptable to situations where the surgeon's upper limb posture needs to change frequently during surgery. The exoskeleton assistive device better meets the needs of surgical scenarios, and its adaptability and versatility are also higher.

[0036] In some embodiments, the rotation axis of the first rotating component 101 and the rotation axis of the second rotating component 102 may intersect at a point that can be aligned with the center of the shoulder joint. This maximizes the range of rotation of each structure, increasing the workspace of the shoulder joint structure 10. This design also allows for smoother movement of the shoulder joint structure 10 during use.

[0037] In this disclosure, the shoulder joint structure 10 is lockable. This lockability can be understood as preventing movement of the shoulder joint structure 10. Specifically, when the rotation of the first rotating component 101 and the second rotating component 102 is locked, the movement of the shoulder joint structure 10 and the position of the support mechanism 30 connected to the shoulder joint structure 10 can be fixed. In this way, when the upper limb of the human body needs to maintain a certain posture, the support mechanism 30 can continuously support the upper limb of the human body, avoiding upper limb fatigue.

[0038] In some embodiments, the first rotating component 101 and the second rotating component 102 may be identical, which facilitates the manufacture and assembly of the shoulder joint structure 10. Unless otherwise specified, this disclosure uses the first rotating component 101 as an example, and also describes the structure of the first rotating component 101 and the second rotating component 102. The structures of the first rotating component 101 and the second rotating component 102 are identical, only their orientations differ.

[0039] In some embodiments, to achieve locking of the first rotating assembly 101, the first rotating assembly 101 may include a friction plate 1011a and a clamping assembly 1012, see reference. Figures 3 to 5 The clamping assembly 1012 may include two opposing clamping plates 1012b. The clamping plates 1012b and the friction plate 1011a are rotatable relative to each other, and the two clamping plates 1012b can be closed. The friction plate 1011a is housed between the two clamping plates 1012b. The friction plate 1011a provides a uniform contact surface, and the clamping plates 1012b can generate a controllable clamping force, preventing the first rotating assembly 101 from suddenly sliding or loosening, thus enhancing safety.

[0040] In some embodiments, the first rotating assembly 101 may further include a first fixed seat 1011, a second fixed seat 1014, and a third fixed seat 1015. The first fixed seat 1011 may be connected to the connecting rod 103. The first fixed seat 1011 is provided with a boss 1013 extending along the axis of the friction plate 1011a. A bearing 1013a is provided on the boss 1013. The second fixed seat 1014 is sleeved on the bearing 1013a. The clamping assembly 1012 is installed on the second fixed seat 1014. The second fixed seat 1014 is connected to the connecting rod 103. The third fixed seat 1015 is fixed on the boss 1013. The friction plate 1011a is disposed on the third fixed seat 1015. In this way, the clamping assembly 1012 can be rotatably mounted on the first fixed base 1011 via the second fixed base 1014 and the bearing 1013a. The friction plate 1011a can be fixed on the first fixed base 1011 via the third fixed base 1015. At this time, the clamping assembly 1012 can rotate relative to the friction plate 1011a. When the two clamping plates 1012b are closed, the position of the second fixed base 1014 can be locked, and the relative position of the first fixed base 1011 and the second fixed base 1014 is locked. The design of multiple fixed bases makes the first rotating assembly 101 more compact and can withstand repeated clamping and rotational loads, ensuring the reliability of the shoulder joint structure 10 for long-term use. Taking the second rotating assembly 102 as an example, the first fixed base 1011 in the second rotating assembly 102 can also be connected to the connecting rod 103.

[0041] In some embodiments, the shoulder joint structure 10 may further include a drive assembly 104, and the first rotation assembly 101 may further include a pull cord 1012a, one end of which is connected to the drive assembly 104. The drive assembly 104 is used to tighten or loosen the pull cord 1012a, and the other end of which is connected to at least one clamping piece 1012b. The pull cord 1012a is configured to drive two clamping pieces 1012b to close when tightened. (See also...) Figure 6When the pull cord 1012a is tightened, the two clamping plates 1012b close and clamp the friction plate 1011a. The clamping assembly 1012 and the friction plate 1011a no longer rotate relative to each other, thus locking the rotation of the first rotating assembly 101. When the first rotating assembly 101 needs to move, such as when a doctor needs to move the upper limb, the two closed clamping plates 1012b can be released, allowing the shoulder joint structure 10 to rotate freely, and the doctor can adjust the posture of the upper limb. In actual use, the shoulder joint structure 10 may need to switch quickly between the locked and released states, such as from the ready position to the operating position. The control method of using the pull cord 1012a to drive the clamping plates 1012b is simple and reliable, enhancing the stability and controllability of the shoulder joint structure. At the same time, the pull cord 1012a can also realize remote control of the first rotating assembly 101, and the drive assembly 104 does not need to be set on the first rotating assembly 101, avoiding excessive weight of the first rotating assembly 101.

[0042] The pull rope 1012a can be directly connected to the clamping plate 1012b, in which case the pull rope 1012a can directly pull the clamping plate 1012b. Alternatively, the pull rope 1012a can be indirectly connected to the clamping plate 1012b through a transmission structure. In this case, the pull rope 1012a can pull the transmission structure, which converts the movement of the pull rope 1012a into the movement of the clamping plate 1012b. For example, the transmission structure can be a rotatable cam or an eccentric wheel. Taking a cam as an example, the pull rope 1012a drives the cam to rotate, and the cam abuts against the clamping plate 1012b. When the cam rotates, it can drive the clamping plate 1012b to move. It is understood that this disclosure does not limit the specific structure of the transmission structure.

[0043] Specifically, when the shoulder joint structure 10 is applied in an exoskeleton assistive device, the drive assembly 104 can be disposed on the back plate 20 of the exoskeleton assistive device. In some embodiments, the drive assembly 104 may include a fourth fixing seat 1041, a rack 1042, and a gear 1043. The fourth fixing seat 1041 is disposed on the back plate 20 to provide stable support. The fourth fixing seat 1041 is provided with a slide groove 1041a and a drive motor 1041b. The rack 1042 is slidably disposed in the slide groove 1041a. The gear 1043 is sleeved on the output shaft of the drive motor 1041b and meshes with the rack 1042 to drive the rack 1042 to reciprocate within the slide groove 1041a. The slide groove 1041a ensures that the rack 1042 moves in a straight line. The gear transmission design guarantees the accuracy of the rack 1042's linear movement, enabling precise position control of the rack 1042 and ensuring the clamping force generated by the clamping plate 1012b on the friction plate 1011a. A fixing head 1042a can be provided on the rack 1042 for connecting to the end of the pull rope 1012a. Thus, the pull rope 1012a is connected to the rack 1042 via the fixing head 1042a, allowing the rack 1042 to tighten or loosen the pull rope 1012a during linear movement. The drive motor 1041b can be a stepper motor or a servo motor to drive the gear 1043. The power source for the drive motor 1041b, such as a rechargeable battery, can also be located on the fourth fixing base 1041.

[0044] The shoulder joint structure 10 disclosed herein does not have an external power source. Here, "external power source" refers to a power source located outside the exoskeleton assistive device when the shoulder joint structure 10 is applied to it. When the shoulder joint structure 10 is applied to the exoskeleton assistive device, the shoulder joint structure 10 itself does not integrate a power source. The drive component 104, which serves as the power source for the shoulder joint structure 10, is integrated into the backplate 20 of the exoskeleton assistive device, reducing the size of the device and eliminating the interference of external connecting cables. Doctors can directly wear and use the exoskeleton assistive device, and can turn and walk freely without worrying about tangled cables or tripping. This ensures that the exoskeleton assistive device can be used in operating rooms with limited space.

[0045] During surgery, the surgeon's upper limbs are needed for surgical operations. When the surgeon needs to tighten or loosen the pull cord 1012a via the drive component 104 to adjust the locking of the shoulder joint structure 10, they cannot directly operate the drive component 104 via their upper limbs. Therefore, in some embodiments, the shoulder joint structure 10 may also include a foot switch, which is wirelessly connected to the drive component 104 to control its start and stop. For example, the drive motor 1041b in the drive component 104 can be controlled to start and stop the drive component 104. In this way, during surgery, the surgeon can control the start and stop of the drive component 104 via the foot switch, thereby controlling the shoulder joint structure 10 in the exoskeleton assistive device. For example, when the surgeon needs to adjust whether the first rotating component 101 and the second rotating component 102 are locked, they can step on the foot switch to control it without affecting the surgical operations of the upper limbs. In this way, the exoskeleton assistive device can better meet the needs of use in surgical scenarios, and its use is also more convenient.

[0046] In some embodiments, the shoulder joint structure 10 may further include a guide sleeve, which is fitted over the pull rope 1012a to protect it. Simultaneously, the guide sleeve can limit and fix the pull rope 1012a, guiding and restricting its movement trajectory. When the pull rope 1012a is tightened and loosened, it can move along the trajectory of the guide sleeve, preventing the pull rope 1012a from becoming entangled with other structures. Multiple guide sleeves may be segmented and connected to the first fixing seat 1011.

[0047] In some possible implementations, refer to Figures 3 to 5The first rotating component 101 may further include a torsion spring 1016, configured to retract when the upper limb moves against gravity, for example, during abduction and flexion. This retraction refers to the process by which the torsion spring 1016 gradually retracts from a torsional state to a non-torsional state, i.e., the process by which the torsion spring 1016 gradually releases energy. In this way, the torsion spring 1016 can provide passive assistance to the first rotating component 101, further reducing fatigue in the doctor's upper limb. When the doctor's upper limb moves against gravity, such as raising the arm, the torsion spring 1016 retracts to release energy, assisting the upper limb movement; when the arm is lowered or moved, the torsion spring 1016 twists to store energy. This mechanism reduces the muscle strength required for the doctor to raise and hold the arm, making the upper limb less prone to fatigue. Simultaneously, the design of the torsion spring 1016 embedded within the mounting base protects it from external impacts or contamination, ensuring long-term performance stability. In some embodiments, the first fixing seat 1011 may have an annular first mounting groove 1011b, the second fixing seat 1014 may have an annular second mounting groove 1014a opposite to the first mounting groove 1011b, and the torsion spring 1016 may be disposed in the first mounting groove 1011b and the second mounting groove 1014a, so that the torsion spring 1016 is embedded in the first fixing seat 1011 and the second fixing seat 1014.

[0048] As described above, the length of the link 103 is adjustable. In some embodiments, the link 103 in the shoulder joint structure 10 may include a first segment 1031 and a second segment 1032. The end of the first segment 1031 has a first step portion 1031a, and the end of the second segment 1032 has a second step portion 1032a that is opposite to and abuts against the first step portion 1031a. The step surfaces of the two steps can contact each other to achieve limiting. Simultaneously, the relative position of the first step portion 1031a and the second step portion 1032a in the length direction of the link 103 is adjustable. The first segment 1031 and the second segment 1032 are connected by fasteners passing through the first step portion 1031a and the second step portion 1032a. Through the design of the two steps, the length of the link 103 can be adjusted without increasing its volume, making the link 103 lighter and avoiding an increase in the weight of the exoskeleton assistive device. Among them, the connecting rod 103 can be constructed in an arc shape to conform to the curvature of the human shoulder joint.

[0049] This disclosure also provides an exoskeleton assistive device, as described above. Figure 1The shoulder joint structure 10 for exoskeleton, including any of the above embodiments, has all its beneficial effects, which will not be elaborated here. The exoskeleton assistive device has a backplate 20, which is fixed to the back of the human body and has an adjustable width. The width of the backplate 20 is in the same direction as the width of the human body, and the shoulder joint structure 10 is connected to the backplate 20.

[0050] When the exoskeleton assistive device is used in surgical settings, the adjustable width of the backplate 20 allows different surgeons to share a single device. The distance between the two shoulder joint structures 10 is adjustable along the width of the body, enabling the exoskeleton assistive device to match surgeons with different shoulder widths, accommodating surgeons of varying sizes and body types. Simultaneously, the matching of the exoskeleton assistive device to the shoulder width ensures that the rotation trajectory of the shoulder joint structure 10 aligns with that of the human shoulder joint, guaranteeing synchronization between the shoulder joint structure 10 and the exoskeleton assistive device with human movement and preventing obstruction of force application. This shoulder-width matching design reduces the gap between the exoskeleton assistive device and the body, preventing wobbling during use, reducing fatigue from prolonged wear, and improving overall comfort.

[0051] In some embodiments, the exoskeleton assistive device may also include an upper limb wearable component 40, as detailed in the following reference. Figure 1 and Figure 2 For example, the upper limb wearable device 40 can be a tubular elastic strap. The upper limb wearable device 40 is connected to the shoulder joint structure 10 for connection and fixation to the upper limb. For the human body, in addition to the four movements of abduction, adduction, flexion, and extension, the upper limb can also rotate at a certain angle. That is, when the posture of the upper limb changes, the upper limb can also rotate to a certain extent relative to the shoulder joint. Here, rotation refers to the rotation of the upper limb about its own axis. For example, rotating the inner side of the upper limb facing the sides of the upper body to the front of the body, and rotating the inner side of the upper limb facing the front of the body back to the sides of the upper body.

[0052] When a doctor wears an exoskeleton assistive device and the upper limb needs to rotate, the elastic strap can be rotatably configured to prevent the upper limb wear piece 40 from hindering the rotation of the upper limb. This way, when the upper limb needs to rotate, the elastic strap can rotate synchronously with the upper limb, and the upper limb wear piece 40 will not obstruct the rotation of the upper limb. Multiple upper limb wear pieces 40 can be spaced apart on the human upper limb to ensure strong connection with the human upper limb.

[0053] In other words, the exoskeleton assistive device, through the three-degree-of-freedom design of the first rotating component 101, the second rotating component 102, and the upper limb wearable component 40, improves the mobility of the exoskeleton assistive device, making it more suitable for use in the human upper limb. After wearing the exoskeleton assistive device of this disclosure, the doctor can abduct, flex, extend, and adduct the upper limb without affecting the rotation of the upper limb.

[0054] In some embodiments, the rotation axis of the first rotating component 101, the rotation axis of the second rotating component 102, and the rotation axis of the elastic strap (which can be understood as the axis of the upper arm of the human body) can intersect at a point that can be aligned with the center of the human shoulder joint. The intersection of these three lines at the center of the human shoulder joint maximizes the simulation of the human shoulder joint's movement trajectory, avoids interference between the exoskeleton and human movement, and expands the range of motion of the upper limb, ensuring the flexibility of surgical procedures. Maximizing the rotational range of each structure increases the working space of the exoskeleton assistive device, making its operation smoother during use.

[0055] In the exoskeleton assistive device disclosed herein, the backplate 20 and shoulder joint structure 10 can be configured without an external power source; the power source can be integrated into the exoskeleton assistive device. This reduces the size of the exoskeleton assistive device, and the device is not affected by external connecting cables. Doctors can directly wear and use the exoskeleton assistive device, and can turn and walk freely during use without worrying about cable tangles or tripping. At the same time, this design also expands the usable space of the exoskeleton assistive device, ensuring that it can be used in operating rooms with limited space.

[0056] In the above detailed description, reference has been made to the accompanying drawings, which illustrate specific aspects of how this disclosure can be practiced. In this regard, terms indicating direction or positional relationship, such as “center,” “length,” “width,” “upper,” “lower,” “front,” “rear,” “left,” “right,” “vertical,” “horizontal,” “top,” “inner,” “outer,” “axial,” “radial,” and “circumferential,” can be used with reference to the orientation of the described figures. Since components of the described device can be positioned in multiple different orientations, directional terms are used for illustrative purposes and not for limitation. It should be understood that other aspects can be utilized and structural or logical changes can be made without departing from the concept of this disclosure. Therefore, the following detailed description should not be considered limiting.

[0057] It should be understood that, unless otherwise specifically indicated, features of various embodiments of this disclosure described herein can be combined with each other. As used herein, the term "and / or" includes any one of the relevant listed items and any combination of any two or more.

[0058] It should be understood that, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," "fixing," etc., used in the embodiments of this disclosure should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms herein according to the specific circumstances.

[0059] Although terms such as “first,” “second,” and “third” may be used herein to describe various components, parts, regions, layers, or sections, these components, parts, regions, layers, or sections are not limited to these terms. Rather, these terms are used only to distinguish one component, part, region, layer, or section from another. Therefore, without departing from the teachings of the examples described herein, the first component, part, region, layer, or section mentioned in the examples may also be referred to as the second component, part, region, layer, or section. Furthermore, the terms “first” and “second” are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as “first” or “second” may explicitly or implicitly include at least one of that feature. In the description herein, “a plurality” means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0060] It should be understood that spatial relative terms are used herein to describe the relationship between one element and another shown in the figure, intended to include different orientations of the device in use or operation.

[0061] Furthermore, the term “exemplary” is used herein to mean serving as an example, instance, or illustration. Any aspect or design described herein as “exemplary” is not necessarily to be construed as advantageous compared to other aspects or designs. Rather, the use of the term “exemplary” is intended to present the concept in a concrete manner. As used herein, the term “or” is intended to mean an inclusive “or” rather than an exclusive “or.” That is, unless otherwise specified or clear from the context, “X applies A or B” is intended to mean any of the natural inclusive arrangements. That is, “X applies A or B” satisfies any of the foregoing instances if X applies A; X applies B; or both X applies A and B. Additionally, unless otherwise specified or clear from the context to refer to the singular form, the articles “a” and “an” as used in this application and the appended claims are generally understood to mean “one or more.”

[0062] Similarly, although this disclosure has been shown and described with respect to one or more implementations, equivalent variations and modifications will occur to those skilled in the art upon reading and understanding the specification and drawings. This disclosure includes all such modifications and variations and is limited only by the scope of the claims. In particular, with respect to the various functions performed by the components described above, unless otherwise indicated, the terminology used to describe such components is intended to correspond to any component (functionally equivalent) that performs the specific function of the described component, even if structurally not equivalent to the disclosed structure. Furthermore, although specific features of this disclosure may have been disclosed with respect to only one of several implementations, such features may be combined with one or more other features of other implementations, as may be desired and advantageous to any given or particular application. Moreover, with regard to the terms “comprising,” “owning,” “having,” “having,” or variations thereof as used in the Detailed Description or the claims, such terms are intended to be inclusive in a manner similar to the term “including.”

[0063] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the utility models disclosed herein. This disclosure is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the appended claims.

[0064] It should be understood that this disclosure is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this disclosure is limited only by the appended claims.

Claims

1. A shoulder joint structure for an exoskeleton, characterized in that, The shoulder joint structure includes: The connecting rod has an adjustable length. A first rotating assembly is connected to one end of the connecting rod. The rotation axis of the first rotating assembly extends along the front-back direction of the human body to accommodate the abduction and adduction movements of the shoulder joint. The second rotating component is connected to the other end of the connecting rod. The rotation axis of the second rotating component is perpendicular to the rotation axis of the first rotating component to accommodate the flexion and extension movements of the human shoulder joint.

2. The shoulder joint structure according to claim 1, characterized in that, The first rotating component includes: The first fixed seat is equipped with a friction plate; and A clamping assembly includes two opposing clamping plates, the two clamping plates being closable, and a friction pad being accommodated between the two clamping plates; The clamping plate and the friction plate can rotate relative to each other.

3. The shoulder joint structure according to claim 2, characterized in that, The first rotating component further includes: A boss is provided on the first fixed seat and extends along the rotation axis of the friction plate; A second fixing seat is rotatably sleeved outside the boss, and the clamping assembly is connected to the second fixing seat; and The third fixing seat is fixed on the boss, and the friction plate is mounted on the third fixing seat.

4. The shoulder joint structure according to claim 3, characterized in that, The shoulder joint structure also includes a drive assembly, the first rotation assembly including a pull cord, one end of which is connected to the drive assembly, the drive assembly being used to tighten or loosen the pull cord, and the other end of which is connected to at least one of the clamping plates, the pull cord being configured to drive two of the clamping plates to close when tightened.

5. The shoulder joint structure according to claim 4, characterized in that, The shoulder joint structure also includes a guide sleeve connected to the first fixing seat, and the pull rope is movably threaded through the guide sleeve, which is used to limit the movement path of the pull rope.

6. The shoulder joint structure according to claim 4, characterized in that, The shoulder joint structure also includes a foot switch, which is wirelessly connected to the drive assembly and used to control the start and stop of the drive assembly.

7. The shoulder joint structure according to claim 3, characterized in that, The first fixing seat has an annular first mounting groove, and the second fixing seat has an annular second mounting groove disposed opposite to the first mounting groove. The first rotating assembly further includes a torsion spring disposed in the first mounting groove and the second mounting groove, the torsion spring being configured to return to its original position when the upper limb of the human body is abducted and flexed.

8. The shoulder joint structure according to claim 1, characterized in that, The second rotating component is the same as the first rotating component.

9. The shoulder joint structure according to claim 1, characterized in that, The connecting rod has an arc-shaped structure, and the connecting rod includes: The first segment has a first stepped portion at its end; and The second segment has an end portion that is opposite to and abuts against the first stepped portion. The relative positions of the first step portion and the second step portion in the length direction of the connecting rod are adjustable, and the first rod segment and the second rod segment are connected by fasteners passing through the first step portion and the second step portion.

10. An exoskeleton assistive device, characterized in that, The shoulder joint structure for an exoskeleton, as described in any one of claims 1-9, is provided, wherein the exoskeleton assist device has a backplate fixed to the back of a human body and having an adjustable width, and the shoulder joint structure is connected to the backplate.

Images