Exoskeleton system for assisting hip replacement postoperative medical rehabilitation

Abstract

The present invention relates to an exoskeleton system for assisting hip replacement postoperative medical rehabilitation. Said system comprises a series connection elastic driver and a wearable exoskeleton, the series connection elastic driver being fixedly connected to a driving control cabinet. The series connection elastic driver is connected to the wearable exoskeleton by means of first and second wire conduits; a first steel wire rope passes through a first wire conduit, one end of the first steel wire rope being connected to a steel wire rope fixing base of the series connection elastic driver, and the other end of same being connected to a first eye bolt of the wearable exoskeleton; and a second steel wire rope passes through the second wire conduit, one end of the second steel wire rope being connected to a steel wire rope fixing base of the series connection elastic driver, and the other end thereof being connected to a second eye bolt of the wearable exoskeleton. The present invention can provide controllable assisting force in full gait cycles for patients undergone hip replacement, and can eliminate a mechanical stress generated by traditional hip replacement postoperative rehabilitation robots and parasitic force formed by direct rope traction, thereby achieving assisted rehabilitation training of standing-posture autonomous walking for patients, and improving the efficiency and safety of rehabilitation.

Description

An exoskeleton system for assisting medical rehabilitation after hip replacement surgery Technical Field

[0001] The present invention belongs to the technical field of exoskeleton rehabilitation and relates to an exoskeleton system for auxiliary medical rehabilitation after hip replacement surgery. Background Art

[0002] Hip arthritis is a condition that causes severe pain in the hip joint, leading to severe discomfort when standing or walking, severely impacting patients' daily lives. Joint replacement surgery replaces the top of the thighbone and the hip socket with artificial components, freeing patients from pain and allowing them to resume daily activities. Postoperative rehabilitation exercises are crucial for patients to regain their ability to move freely.

[0003] Currently, exoskeleton systems for assisting medical rehabilitation after hip replacement surgery mainly focus on limiting and protecting hip joint movement, but are unable to provide active and flexible assistance. There are three main problems:

[0004] 1. The power assist method is too simple, most of which cannot provide full gait cycle assistance. The use of rigid drive results in poor human-machine interaction, low compliance, and is prone to injury.

[0005] 2. The mismatch between human and machine kinematics causes the axis between the human hip joint and the mechanical structure to shift (i.e., human-machine joint mismatch). This in turn leads to mechanical stress during the power-assistance process, compressing the joints and tissues and causing serious secondary damage.

[0006] 3. The lack of a gravity compensation device causes excessive consumption of the patient's healthy leg during the rehabilitation process, making it difficult to achieve continuous and long-term assisted walking rehabilitation training. Therefore, the existing rehabilitation methods focus on lying and supine positions, and walking training is not possible, resulting in a very limited rehabilitation effect. Technical issues

[0007] In summary, how to provide this group of people with an exoskeleton that meets their rehabilitation exercise needs and can provide on-demand assistance, so as to help them achieve timely and efficient rehabilitation, is a question worthy of study. Technical Solutions

[0008] In order to solve the above technical problems, the present invention proposes an auxiliary medical rehabilitation exoskeleton system after hip replacement surgery, which can provide controllable assistance to patients undergoing hip replacement surgery throughout the entire gait cycle, eliminating the mechanical stress and parasitic force formed by direct traction of the rope caused by the mismatch between the mechanical joints and the human biological joint axes (referred to as human-machine joint mismatch) of traditional hip replacement rehabilitation robots. At the same time, combined with a gravity compensation device, it changes the previous rehabilitation strategy for patients in lying or supine positions, realizes assisted rehabilitation training for patients in standing and autonomous walking, and improves the efficiency and safety of rehabilitation.

[0009] The technical solution of the present invention to solve the above problems is: an exoskeleton system for assisting medical rehabilitation after hip replacement surgery, which is special in that:

[0010] It includes a drive control cabinet, a series elastic driver, a wearable exoskeleton, a first wire tube, a second wire tube, a first steel rope, and a second steel rope;

[0011] The series elastic drive includes a servo motor, a first and a second wire tube fixing seat, and a base; the first and the second wire tube fixing seat are respectively fixed to the two ends of the base, the first wire tube fixing seat is fixed on the top of the first wire tube fixing seat, and the second wire tube is fixed on the bottom of the second wire tube fixing seat, the servo motor is fixed on the first wire tube fixing seat, and its output shaft is connected to one end of the screw rod through a coupling, and the other end of the screw rod is fixed to the second wire tube fixing seat through a bearing; the first and the second guide rails are provided on both sides of the screw rod; the screw rod nut cooperates with the screw rod, and the screw rod nut has through holes on both sides, and the first and the second guide rails pass through them; the power transmission frame forms a moving pair with the second guide rail and the first guide rail respectively through a sliding bearing, and can move parallel to the direction of the screw rod nut on the guide rail, and is flexibly connected to the screw rod nut through the first and second elastic power components;

[0012] One end of the first and second steel wire ropes passes through the first and second wire tubes and is fixed to a steel wire rope fixing base, which is fixed to the outside of the power transmission frame; a magnetic strip is attached to the lead screw nut, and a magnetic displacement meter is fixed to the steel wire rope fixing base;

[0013] The wearable exoskeleton includes a rigid waist belt and resin leg guards;

[0014] The rigid waist seal is fixed with a first, second and third fixing seats, the first, second and third fixing seats are respectively provided with a first Hooke's hinge, a second Hooke's hinge and a third Hooke's hinge, and the resin leg guard is respectively provided with a first ball joint, a second ball joint and a fourth Hooke's hinge;

[0015] The rigid waistband and the resin leg guard are connected by the first, second, and third connecting rods. The upper end of the first connecting rod is connected to the second Hooke's hinge, and the lower end is connected to the first ball joint. The upper end of the second connecting rod is connected to the first Hooke's hinge, and the lower end is connected to the fourth Hooke's hinge. The upper end of the third connecting rod is connected to the third Hooke's hinge, and the lower end is connected to the second ball joint. Inertial sensors (IMUs) are installed on the sides of the resin leg guard to measure spatial angles and angular velocity.

[0016] The first fixing seat is connected to the first pre-tightening plate through a pre-tightening bolt, the first wire tube passes through the through hole on the first fixing seat and is fixed to the first pre-tightening plate, and the other end of the first steel wire rope passes through the first wire tube and is connected to the first ring bolt fixed on the resin leg guard; the second fixing seat is connected to the second pre-tightening plate through a pre-tightening bolt, the second wire tube passes through the through hole on the second fixing seat and is fixed to the second pre-tightening plate, and the other end of the second steel wire rope passes through the second wire tube and is connected to the second ring bolt fixed on the resin leg guard.

[0017] Furthermore, the first and second guide rails are arranged parallel to the screw rod, and the first and second guide rails are fixed and constrained by reserved countersunk holes on the first and second wire tube fixing seats respectively.

[0018] Furthermore, the first elastic power assembly comprises a first outer sleeve, a first inner sleeve and a first compression spring;

[0019] The first outer sleeve is fixed to the power transmission frame, the first inner sleeve is fixed to the screw nut, the first compression spring is placed between the first outer sleeve and the first inner sleeve, and the screw passes through the first outer sleeve, the first compression spring and the first inner sleeve;

[0020] The composition and installation method of the second elastic power component are consistent with those of the first elastic power component.

[0021] Furthermore, an installation gap is left on the rigid waist belt, and the waist belt passes through the installation gap to adjust the tightness of the belt for different patients.

[0022] Furthermore, the above-mentioned post-hip replacement surgery auxiliary medical rehabilitation exoskeleton system also includes a weight-reducing suspension and a training treadmill; the weight-reducing suspension sleeve is used to provide weight reduction, and the training treadmill is used to provide patients with in-situ walking training.

[0023] Furthermore, the drive control cabinet is used to receive the compression of the compression spring fed back by the magnetic displacement meter and the thigh posture and rotation speed fed back by the inertial sensor IMU, determine the movement direction of the thigh, and control the exoskeleton series elastic driver to output assistance that matches the thigh rehabilitation movement.

[0024] Furthermore, the shapes of the first, second and third connecting rods are all spiral lines, the spiral directions of the first and third connecting rods are consistent, and the spiral direction of the second connecting rod is opposite to that of the first and third connecting rods.

[0025] Furthermore, in the above initial state, the first and second elastic power components maintain their original lengths, that is, the first and second compression springs are at their original lengths and are not compressed. At this time, the tensions on the first and second steel ropes are both zero. When providing rehabilitation assistance, the transmission frame will produce a relative displacement ∆x relative to the lead screw nut due to the limb movement load power. ∆x can be detected by a magnetic displacement meter. The drive control cabinet calculates the magnitude of the rehabilitation assistance using Hooke's law: F=k∆x, where k is the stiffness coefficient of the compression spring. The direction of the assistance depends on the direction or positive or negative sign of the relative displacement ∆x, which corresponds to the tension on the first and second steel ropes, respectively. Beneficial effects

[0026] Advantages of the present invention:

[0027] The present invention provides an exoskeleton system for assisting medical rehabilitation after hip replacement surgery, including a distal series elastic drive (providing flexible assistance), a wearable exoskeleton (eliminating mechanical stress), a double-lasso transmission (power transmission) and an auxiliary device (for walking weight reduction). It provides flexible and controllable assistance in both directions throughout the entire gait cycle, covering all stages of leg movement during walking, making human-computer interaction safer, more comfortable and efficient. The wearable exoskeleton structure provided by the present invention eliminates the problem of human joint mismatch, converts flexible and controllable assistance into pure torque, avoids the generation of parasitic forces and mechanical stress, and is more suitable for the rehabilitation needs of the sensitive and fragile hip joint after hip surgery. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 is a diagram showing the implementation of an exoskeleton system for assisting medical rehabilitation after hip replacement surgery;

[0029] Figure 2 shows a side view and an isometric view of the wearable exoskeleton;

[0030] FIG3 is a structural diagram and an exploded view of a series elastic actuator;

[0031] Figure 4 is a structural diagram of the power transmission frame.

[0032] Among them, 1. Drive control cabinet, 2. Series elastic drive, 3. Wearable exoskeleton, 4-1. First wire tube, 4-2. Second wire tube, 5-1. First steel wire rope, 5-2. Second steel wire rope, 6. Weight reduction suspension, 7. Training treadmill, 8. Rigid waist belt, 9. Resin leg guard, 10. Inertial sensor IMU, 11-1. First connecting rod, 11-2. Second connecting rod, 11-3. Third connecting rod, 12-1. First Hooke's joint, 12-2. Second Hooke's joint, 1 2-3 Third Hooke's hinge, 12-4 Fourth Hooke's hinge, 13-1 First ball hinge, 13-2 Second ball hinge, 14-1 First preload plate, 14-2 Second preload plate, 15-1 First fixing seat, 15-2 Second fixing seat, 15-3 Third fixing seat, 16 Belt, 17-1 First ring bolt, 17-2 Second ring bolt, 18-1 First preload bolt, 18-2 Second preload bolt, 18-3 Third preload bolt, 18- 4. Fourth pre-tightening bolt, 19-1. First conduit fixing nut, 19-2. Second conduit fixing nut, 19-3. Third conduit fixing nut, 19-4. Fourth conduit fixing nut, 20. Servo motor, 21-1. First conduit fixing seat, 21-2. Second conduit fixing seat, 22. Base, 23. Coupling, 24. Wire rope fixing seat, 25. Magnetic displacement meter, 26. Screw nut, 27. Screw, 28. Magnetic strip, 29-1. First outer sleeve, 2 9-2, second outer sleeve, 30-1, first compression spring, 30-2, second compression spring, 31-1, first inner sleeve, 31-2, second inner sleeve, 32-1, first guide rail, 32-2, second guide rail, 33, power transmission frame, 34-1, first elastic power assembly, 34-2, second elastic power assembly, 35-1, first sliding bearing, 35-2, second sliding bearing, 35-3, third sliding bearing, 35-4, fourth sliding bearing. Modes for Carrying Out the Invention

[0033] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the invention for which protection is claimed, but merely represents selected embodiments of the present invention.

[0034] Example

[0035] 1 , the present invention proposes an exoskeleton system for assisting medical rehabilitation after hip replacement surgery, comprising a drive control cabinet 1, a series elastic driver 2, a wearable exoskeleton 3, first and second wire tubes 4-1, 4-2, and first and second steel cables 5-1, 5-2.

[0036] Specifically, referring to FIG3 , the series elastic driver 2 includes a servo motor 20, first and second wire tube fixing seats 21-1, 21-2, and a base 22. The first and second wire tube fixing seats 21-1, 21-2 are respectively fixed to the two ends of the base 22, the first wire tube fixing seat 21-1 is fixed to the top of the first wire tube fixing seat 21-1, and the second wire tube 4-2 is fixed to the bottom of the second wire tube fixing seat 21-2. The servo motor 20 is connected to the first wire tube fixing seat 21-1, and its output shaft is connected to one end of the screw rod 27 through a coupling 23, and the other end of the screw rod 27 is fixed to the second wire tube fixing seat 21-2 through a bearing; the first and second guide rails 32-1, 32-2 are separated on both sides of the screw rod 27; the screw rod nut 26 is mechanically engaged with the screw rod 27 through a thread, and there are through holes on both sides of the first and second guide rails 32-1, 32-2. The second guide rails 32-1 and 32-2 pass through it. When the servo motor 20 rotates, the screw 27 rotates to drive the screw nut 26 to move parallel to the first and second guide rails 32-1 and 32-2; the power transmission frame 33 forms a moving pair with the second guide rail 32-2 through the first and second sliding bearings 35-1 and 35-2, and forms a moving pair with the first guide rail 32-1 through the third and fourth sliding bearings 35-3 and 35-4. It can move parallel to the direction of the screw nut 26 on the guide rails, and it is flexibly connected to the screw nut 26 through the first and second elastic power components 34-1 and 34-2.

[0037] The first and second steel wire ropes 5-1 and 5-2 pass through the first and second wire tubes 4-1 and 4-2 and are fixed together on the steel wire rope fixing seat 24. At the same time, the steel wire rope fixing seat 24 is also fixed on the outside of the power transmission frame 33. A magnetic strip 28 is attached to the screw nut 26, and a magnetic displacement meter 25 is fixed to the steel wire rope fixing seat 24. In the initial state, the first and second elastic power components 34-1 and 34-2 maintain their original lengths, that is, the first and second compression springs 30-1 and 30-2 are at their original lengths and are not compressed. At this time, the tension on the first and second steel wire ropes 5-1 and 5-2 is zero. When providing rehabilitation assistance, the power transmission frame 33 will produce a relative displacement ∆x relative to the screw nut 26 due to the limb movement load. ∆x can be detected by the magnetic displacement meter 25. The drive control cabinet 1 calculates the size of the rehabilitation assistance through Hooke's law: F=k∆x, where k is the stiffness coefficient of the compression spring, and the assistance The direction of ∆x depends on the direction or sign of the relative displacement, which corresponds to the tension in the first and second wire ropes 5-1 and 5-2, respectively. As shown in Figure 1, taking the forward swing of a thigh as an example, the drive control cabinet 1 determines the direction of the thigh's movement based on the feedback from the inertial sensor IMU 10. It then controls the downward movement of the lead screw nut 26, compressing the second compression spring 30-2. This spring 30-2 simultaneously exerts a vertical downward force on the power transmission frame 33, pushing it downward. At this point, the first wire rope 5-1 is pulled by the power transmission frame 33, generating tension, which can be considered equal to the spring force calculated by Hooke's law. Under this tension, the wearable exoskeleton 3 generates an assistive force to assist the thigh's forward swing. The magnitude of this assistive force is constantly controlled by the drive control cabinet 1 by adjusting the magnitude of ∆x.

[0038] Specifically, referring to Figure 2, the wearable exoskeleton 3 includes a rigid waist belt 8 and a resin leg guard 9. The rigid waist belt 8 is fixed with a first, second and third fixing seats 15-1, 15-2, and 15-3. The first, second and third fixing seats 15-1, 15-2, and 15-3 are respectively provided with a first Hooke's joint 12-1, a second Hooke's joint 12-2 and a third Hooke's joint 12-3. The resin leg guard 9 is respectively provided with a first ball joint 13-1, a second ball joint 13-2 and a fourth Hooke's joint 12-4.

[0039] The rigid waist seal 8 and the resin leg guard 9 are connected by the first, second and third connecting rods 11-1, 11-2 and 11-3. The shape of the three connecting rods is a spiral line. In the local coordinate system, the path of the three connecting rods can be defined as , , ,in is the central angle, satisfying , is the diameter of the human waist, It is the vertical distance from the navel to the upper edge of the knee; the upper end of the first connecting rod 11-1 is connected to the second Hooke's joint 12-2, and the lower end is connected to the first ball joint 13-1; the upper end of the second connecting rod 11-2 is connected to the first Hooke's joint 12-1, and the lower end is connected to the fourth Hooke's joint 12-4; the upper end of the third connecting rod 11-3 is connected to the third Hooke's joint 12-3, and the lower end is connected to the second ball joint 13-2; the inertial sensor IMU10 is installed on the side of the resin leg guard 9, which is used to measure the spatial angle and angular velocity, and to sense the posture and movement direction of the patient's leg swinging, and to feed back to the drive control cabinet 1 to control the exoskeleton to provide assistance corresponding to the movement state of the rehabilitation leg.

[0040] The first pre-tightening plate 14-1 is movably connected to the first fixing seat 15-1 through the first and second pre-tightening bolts 18-1 and 18-2. The distance between the first pre-tightening plate 14-1 and the first fixing seat 15-1 can be adjusted by screwing the first and second pre-tightening bolts 18-1 and 18-2; the first wire tube 4-1 passes through the through hole on the first fixing seat 15-1 and is fixed to the first pre-tightening plate 14-1 using the first and second wire tube fixing nuts 19-1 and 19-2; the first steel wire rope 5-1 passes through the first wire tube 4-1 and is connected to the first annular bolt 17-1 fixed on the resin leg guard 9; similarly The second pre-tightening plate 14-2 is movably connected to the second fixing seat 15-2 through the third and fourth pre-tightening bolts 18-3 and 18-4. By screwing the third and fourth pre-tightening bolts 18-3 and 18-4, the distance between the second pre-tightening plate 14-2 and the second fixing seat 15-2 can be adjusted; the second wire tube 4-2 passes through the through hole on the second fixing seat 15-2, and is fixed to the second pre-tightening plate 14-2 using the third and fourth wire tube fixing nuts 19-3 and 19-4, and the second steel wire rope 5-2 passes through the second wire tube 4-2 and is connected to the second annular bolt 17-2 fixed on the resin leg guard 9.

[0041] The present invention proposes an auxiliary medical rehabilitation exoskeleton system for hip replacement surgery, wherein the serial elastic driver 2 is fixedly connected to the drive control cabinet 1, and the serial elastic driver 2 is connected to the wearable exoskeleton 3 through the first and second wire tubes 4-1 and 4-2. One end of the first wire tube 4-1 is fixed to the first wire tube fixing seat 21-1 of the serial elastic driver 2, and the other end is fixed to the first pre-tensioning plate 14-1 of the wearable exoskeleton 3; the first steel wire rope 5-1 passes through the first wire tube 4-1, one end of which is connected to the steel wire rope fixing seat 24 of the serial elastic driver 2, and the other end is connected to the first annular bolt 17-1 of the wearable exoskeleton 3; one end of the second wire tube 4-2 is fixed to the second wire tube fixing seat 21-2 of the serial elastic driver 2, and the other end is fixed to the second pre-tensioning plate 14-2 of the wearable exoskeleton 3; the second steel wire rope 5-2 passes through the second wire tube 4-2, one end of which is connected to the steel wire rope fixing seat 24 of the serial elastic driver 2, and the other end is connected to the second annular bolt 17-2 of the wearable exoskeleton 3.

[0042] As a preferred embodiment of the present invention, the first and second guide rails 32-1 and 32-2 are arranged parallel to the screw rod 27, and the first and second guide rails 32-1 and 32-2 are fixed and constrained by reserved countersunk holes on the first and second wire tube fixing seats 21-1 and 21-2 respectively.

[0043] As a preferred embodiment of the present invention, the first outer sleeve 29-1 of the first elastic power component 34-1 is fixed on the power transmission frame 33, and has a through hole therein, through which the screw rod 27 passes; the first inner sleeve 31-1 of the first elastic power component 34-1 is fixed on the screw nut 26, and has a through hole therein, allowing the screw rod 27 to pass through the through hole; the first compression spring 30-1 is placed between the first outer sleeve 29-1 and the first inner sleeve 31-1, allowing the screw rod 27 to pass through the middle; the composition and installation method of the second elastic power component 34-2 are consistent with those of the first elastic power component 34-1.

[0044] As a preferred embodiment of the present invention, the waist belt 16 passes through the installation gap left on the rigid waist seal 8 so as to adjust the tightness of the waist belt for different patients.

[0045] As a preferred embodiment of the present invention, it also includes a weight-reducing suspension 6 and a training treadmill 7; the weight-reducing suspension 6 is put on the patient's upper body, passes through the armpits, and the upper part is fixed to the indoor ceiling. It provides a weight-reducing effect alone and is not connected to other parts of the system; the training treadmill 7 is used to provide patients with in-situ walking training, and it is not connected to other parts of the system.

[0046] The drive control cabinet 1 determines the direction of thigh movement based on signals fed back by the inertial sensor IMU 10 and controls the movement of the lead screw nut 26 of the series elastic actuator 2. Upward movement compresses the first compression spring 30-1, while downward movement compresses the second compression spring 30-2. Regardless of the direction, one of the compression springs deforms, transmitting this force to the power transmission frame 33. When the lead screw nut 26 moves upward, the force pushes the power transmission frame 33 upward, at which point the second wire rope 5-2 is pulled by the power transmission frame 33, generating tension. When the lead screw nut 26 moves downward, the force pushes the power transmission frame 33 downward, at which point the first wire rope 5-1 is pulled by the power transmission frame 33, generating tension. Therefore, by adjusting the position of the lead screw nut 26, any tension can be generated in any direction. Its magnitude can be considered equal to the spring force calculated by Hooke's law. This mechanism imparts a compliant nature to the assist.

[0047] In this application, the wearable exoskeleton 3 is connected to the resin leg guard 9 via first, second, and third connecting rods 11-1, 11-2, and 11-3. The resin leg guard 9 is not tied to the human thigh in any way. Its unique kinematic properties give the resin leg guard 9 a virtual rotation center that substantially coincides with the rotation center of the thigh's biological hip joint, allowing the resin leg guard 9 to move around this rotation center. When pulled by the first or second steel wire ropes 5-1 and 5-2, the leg guard 9 can provide assistance perpendicular to the leg surface during thigh movement without generating mechanical stress.

[0048] In summary, the present invention provides an auxiliary medical rehabilitation exoskeleton system for hip replacement surgery, which mainly includes a drive control cabinet, a series elastic driver, a wearable exoskeleton, first and second wire tubes, first and second steel cables, a weight-reducing suspension, and a training treadmill. The series elastic driver is located at the distal end, and the driving force is transmitted through a double-lasso transmission system composed of the first and second wire tubes and the first and second steel cables. The wearable exoskeleton is worn by the patient before training. Its unique mechanical structure enables it to have the same flexion / extension and abduction / adduction degrees of freedom as the thigh, while allowing the patient's thigh to have internal / external rotation degrees of freedom. It can convert the driving tension of the double-lasso into a pure auxiliary torque perpendicular to the leg plane, eliminating the parasitic force along the leg plane formed by the driving tension and the mechanical stress caused by the mismatch between the human and machine joints. The weight-reducing suspension can prevent the patient from excessively using the healthy leg to support the body weight, making it possible for the patient to independently stand and walk for a long time, thereby improving training efficiency and safety.

[0049] The above descriptions are merely embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention description and drawings, or directly or indirectly applied to other related system fields, are also included in the scope of protection of the present invention.

Claims

1. An exoskeleton system for assisting medical rehabilitation after hip replacement surgery, characterized in that: It comprises a drive control cabinet (1), a series elastic drive (2), a wearable exoskeleton (3), a first wire tube (4-1), a second wire tube (4-2), a first steel wire rope (5-1), and a second steel wire rope (5-1, 5-2); The series elastic driver (2) comprises a servo motor (20), a first wire tube fixing seat (21-1), a second wire tube fixing seat (21-2) and a base (22); the first wire tube fixing seat (21-1) and the second wire tube fixing seat (21-2) are respectively fixed to two ends of the base (22); the first wire tube fixing seat (21-1) is fixed to the top of the first wire tube fixing seat (21-1), and the second wire tube (4-2) is fixed to the bottom of the second wire tube fixing seat (21-2); the servo motor (20) is fixed to the first wire tube fixing seat (21-1), and its output shaft is connected to one end of a screw rod (27) via a coupling (23); the other end of the screw rod (27) is fixed to the first wire tube fixing seat (21-1) via a bearing. The second-line tube fixing seat (21-2) is provided with a first guide rail (32-1) and a second guide rail (32-2) on both sides of the screw rod (27); the screw rod nut (26) cooperates with the screw rod (27), and the screw rod nut (26) has through holes on both sides, through which the first guide rail (32-1) and the second guide rail (32-2) pass; the power transmission frame (33) forms a moving pair with the second guide rail (32-2) and the first guide rail (32-1) respectively through sliding bearings, and can move parallel to the screw rod nut (26) on the guide rails, and is flexibly connected to the screw rod nut (26) through the first elastic power component (34-1) and the second elastic power component (34-2); One end of the first steel wire rope (5-1) and the second steel wire rope (5-2) pass through the first wire tube (4-1) and the second wire tube (4-2) and are fixed together on a steel wire rope fixing seat (24), wherein the steel wire rope fixing seat (24) is fixed on the outside of the power transmission frame (33); a magnetic strip (28) is attached to the screw nut (26), and a magnetic displacement meter (25) is fixed on the steel wire rope fixing seat (24); The wearable exoskeleton (3) comprises a rigid waistband (8) and resin leg guards (9); The rigid waist seal (8) is fixed with a first fixing seat (15-1), a second fixing seat (15-2) and a third fixing seat (15-3); the first fixing seat (15-1), the second fixing seat (15-2) and the third fixing seat (15-3) are respectively provided with a first Hook's hinge (12-1), a second Hook's hinge (12-2) and a third Hook's hinge (12-3); the resin leg guard (9) is respectively provided with a first ball joint (13-1), a second ball joint (13-2) and a fourth Hook's hinge (12-4); The rigid waist seal (8) is connected to the resin leg guard (9) via a first connecting rod (11-1), a second connecting rod (11-2) and a third connecting rod (11-3); the upper end of the first connecting rod (11-1) is connected to the second Hooke's joint (12-2), and the lower end is connected to the first ball joint (13-1); the upper end of the second connecting rod (11-2) is connected to the first Hooke's joint (12-1), and the lower end is connected to the fourth Hooke's joint (12-4); the upper end of the third connecting rod (11-3) is connected to the third Hooke's joint (12-3), and the lower end is connected to the second ball joint (13-2); an inertial sensor IMU (10) is installed on the side of the resin leg guard (9) for measuring spatial angle and angular velocity; The first fixing seat (15-1) is connected to the first pre-tightening plate (14-1) via a pre-tightening bolt, the first wire tube (4-1) passes through a through hole on the first fixing seat (15-1) and is fixed to the first pre-tightening plate (14-1), and the other end of the first steel wire rope (5-1) passes through the first wire tube (4-1) and is connected to a first annular bolt (17-1) fixed to the resin leg guard (9); the second fixing seat (15-2) is connected to the second pre-tightening plate (14-2) via a pre-tightening bolt, the second wire tube (4-2) passes through a through hole on the second fixing seat (15-2) and is fixed to the second pre-tightening plate (14-2), and the other end of the second steel wire rope (5-2) passes through the second wire tube (4-2) and is connected to a second annular bolt (17-2) fixed to the resin leg guard (9).

2. The exoskeleton system for assisting medical rehabilitation after hip replacement surgery according to claim 1, characterized in that: The first guide rail (32-1) and the second guide rail (32-2) are arranged in parallel with the screw rod (27), and the first guide rail (32-1) and the second guide rail (32-2) are fixed and constrained respectively through reserved countersunk holes on the first wire tube fixing seat (21-1) and the second wire tube fixing seat (21-2).

3. The exoskeleton system for assisting medical rehabilitation after hip replacement surgery according to claim 2, characterized in that: The first elastic power component (34-1) comprises a first outer sleeve (29-1), a first inner sleeve (31-1) and a first compression spring (30-1); The first outer sleeve (29-1) is fixed on a power transmission frame (33), the first inner sleeve (31-1) is fixed on a screw nut (26), the first compression spring (30-1) is placed between the first outer sleeve (29-1) and the first inner sleeve (31-1), and the screw (27) passes through the first outer sleeve (29-1), the first compression spring (30-1) and the first inner sleeve (31-1). The composition and installation method of the second elastic power component (34-2) are consistent with those of the first elastic power component (34-1).

4. The exoskeleton system for assisting medical rehabilitation after hip replacement surgery according to any one of claims 1 to 3, characterized in that: The rigid waist seal (8) has a mounting gap, and the waist belt (16) passes through the mounting gap so as to adjust the tightness of the waist seal for different patients.

5. The exoskeleton system for assisting medical rehabilitation after hip replacement surgery according to claim 4, characterized in that: It also includes a weight-reducing suspension (6) and a training treadmill (7); the weight-reducing suspension (6) is used to provide a weight-reducing effect, and the training treadmill (7) is used to provide patients with in-situ walking training.

6. The exoskeleton system for assisting medical rehabilitation after hip replacement surgery according to claim 5, characterized in that: The drive control cabinet (1) is used to receive the compression amount of the compression spring fed back by the magnetic displacement meter (25) and the thigh posture and rotation speed fed back by the inertial sensor IMU (10), determine the movement direction of the thigh, and control the exoskeleton series elastic driver (2) to output a force that matches the thigh rehabilitation movement.

7. The exoskeleton system for assisting medical rehabilitation after hip replacement surgery according to claim 6, characterized in that: The first connecting rod (11-1), the second connecting rod (11-2) and the third connecting rod (11-3) are all in the shape of a spiral line; the spiral directions of the first connecting rod (11-1) and the third connecting rod (11-3) are consistent, and the spiral direction of the second connecting rod (11-2) is opposite to that of the first connecting rod (11-1) and the third connecting rod (11-3).

8. The exoskeleton system for assisting medical rehabilitation after hip replacement surgery according to claim 7, characterized in that: In the initial state, the first elastic power component (34-1) and the second elastic power component (34-2) both maintain their original lengths, that is, the first compression spring (30-1) and the second compression spring (30-2) are both at their original lengths and are not compressed. At this time, the tension on the first steel wire rope (5-1) and the second steel wire rope (5-2) is zero. When providing rehabilitation assistance, the transmission frame (33) is subjected to the load power of the limb movement and will generate a relative displacement ∆x relative to the lead screw nut (26). ∆x can be detected by the magnetic displacement meter (25), and the magnitude of the rehabilitation assistance is calculated by the drive control cabinet (1): F=k∆x, wherein k is the stiffness coefficient of the compression spring, and the direction of the assistance depends on the direction (or positive or negative sign) of the relative displacement ∆x, which corresponds to the tension on the first steel wire rope (5-1) and the second steel wire rope (5-2), respectively.

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