1094 results about "Socket hip" patented technology

The present disclosure provides a humanoid robot with an arrangement of components that allows the robot to mimic the movements, functionality and capabilities of a human being. The robot includes a torso coupled to a waist, an arm assembly, and a head assembly. A pelvis is coupled to the waist and has left and right actuator mounts. Left and right hip assemblies are coupled to the respective actuator mounts. Each hip assembly includes a hip pitch actuator assembly, a hip roll actuator assembly, and a leg twist actuator assembly. The hip pitch actuator assembly has a portion positioned within the pelvis and is coupled to the actuator mount. The hip roll actuator assembly is coupled to the hip pitch actuator assembly, with a non-90 degree angle formed between their axes. The leg twist actuator assembly is coupled to the hip roll actuator assembly and positioned below extents of both the hip pitch and hip roll actuator assemblies.

The invention discloses a compact humanoid robot leg structure and a robot, and belongs to the technical field of humanoid robots. In order to solve the problems that an existing humanoid robot leg is complex and redundant in structure, low in structure and form bionic degree and the like, the humanoid robot leg which is small in size, modularized, simple and compact in structure and high in structure bionic degree is provided, and the manufacturing difficulty, cost, size and total structure weight of the robot leg are reduced. The leg structure comprises a hip joint module, a thigh module, a knee joint module, a shank module and an ankle-sole module which are sequentially connected, and three-degree-of-freedom movement of a bionic hip joint, three-degree-of-freedom movement of a knee joint and two-degree-of-freedom movement of an ankle joint can be achieved. The method can be used for humanoid robots and biped robots.

The invention discloses a multifunctional exoskeleton robot. The robot comprises a basic support; the two groups of lower limb units are used for supporting legs; the lower limb units are connected with the basic support through hip driving units, and the hip driving units are used for driving the lower limb units to rotate around a vertical shaft so as to simulate internal and external rotation actions of hip joints. And when the lower limb unit rotates around the vertical shaft, the position of the rotating shaft is always unchanged, and the rotating shaft coincides with the internal and external rotation axis of the hip joint of the human body. The hip driving unit is used for connecting the lower limb unit and driving the lower limb unit to rotate so as to simulate the internal and external rotation action of the hip joint, the hip driving unit can enable the position of a rotating shaft of the lower limb unit to be unchanged all the time when the lower limb unit rotates around a vertical shaft, and the rotating shaft always coincides with the internal and external rotation axis of the hip joint of the human body. The exoskeleton robot can adjust the lower limb postures more naturally, and it is guaranteed that the motion of the human body during steering has better stability.

The invention relates to the technical field of medical image analysis, computer vision and deep learning, in particular to a texture perception and multi-scale feature adaptive fusion hip joint osteophyte detection method. According to the method, firstly, a bone texture feature extraction module is used for carrying out feature extraction and enhancement on a hip joint X-ray image, a parallel double-branch structure is adopted, gradient and space structure features are extracted through a Sobel operator and pooling operation, and feature maps are fused; then, the fused features are input into a double-backbone network, the first backbone network extracts local fine textures and long-range dependence features by combining convolution, self-attention and a gating mechanism, and the second backbone network extracts multi-scale semantic features through hierarchical grouping and depth separable convolution; and double-trunk output is dynamically weighted and fused through an adaptive fusion module, features are optimized through a multi-scale semantic fusion module, and finally the position and confidence of osteophyte are output.

The invention relates to a hip and knee joint walking aid exoskeleton robot. The double-motor hip joint mechanism is composed of a back frame, an adjustable waist mechanism, two bilaterally-symmetrical double-motor hip joint mechanisms, two bilaterally-symmetrical thigh length adjusting mechanisms and two bilaterally-symmetrical knee joint mechanisms. The two double-motor hip joint mechanisms are connected to the two sides of the back frame and the two sides of the adjustable waist mechanism respectively, the thigh length adjusting mechanisms are connected with the double-motor hip joint mechanisms, and the knee joint mechanisms are connected with the thigh length adjusting mechanisms. When the wearer performs low-speed or low-load movement, only a second motor, close to the thigh length adjusting mechanism, of the dual-motor hip joint mechanism is activated, and when the wearer performs high-speed or high-load movement, the first motor and the second motor are activated at the same time. The hip and knee joint combined assisting mode is adopted, the walking assisting performance and the wearing comfort degree of the exoskeleton are balanced, on the premise that the wearing comfort degree is not affected, the maneuverability and the load capacity are enhanced to the maximum degree, and the fatigue degree is greatly reduced.

The invention relates to a chair for accommodating a person. The chair includesan upper body section having an upper body contact surface adapted or adaptable to at least parts of a front of a torso or a rear of a torso of a person placed on the chair, anda lower body section having a lower body contact surface adapted or adaptable to at least parts of at least a front of a thigh of the person, wherein the upper body section and the lower body section are arranged or arrangeable and fixable in a position relative to each other such that the upper body contact surface and the lower body contact surface cause a hyperextension posture of the hip joint of the person with a predetermined hyperextension angle. By forming the hyperextension angle of the hip on the chair, shortening of the anterior thigh and hip muscles can be counteracted. Also disclosed are a pressing device for application to the human body, which is adapted for use on a chair and which includes one or more pressure units each having at least one pressure head adapted to apply local or point pressure at a predetermined pressure location on the body of a person accommodated on the chair, and a chair having such a pressing device.

A trial neck for hip surgery and a method of attaching a trial neck to a femoral canal implement. The trial neck includes a body portion including a bore for receiving a proximal end of a femoral canal implement. The trial neck also includes an elongate neck extending from the body portion. The trial neck further includes a locking mechanism comprising a lever. The lever has a first end. The lever also has a second end. The lever further has an engagement surface. The second end of the lever is actuable to urge the engagement surface against the proximal end of the femoral canal implement to secure the proximal end of the femoral canal implement within the bore.

The invention discloses a hip replacement postoperative gait dynamics prediction method based on discrete optimal control, and belongs to the field of clinical medical auxiliary prediction. The implementation method comprises the steps that kinematics data are collected through a preoperative gait motion capture experiment, muscle activation signals are collected through a surface myoelectricity system, and on this basis, a neuromuscular control strategy of a patient is obtained through a neural network; predicting the gait motion characteristics of the postoperative patient based on discrete mechanics and an optimal control method, and predicting the postoperative muscle activation degree by using the neuromuscular control strategy; by comparing the muscle activation degrees before and after the operation, the influence of the replacement operation on the muscle force change of the hip joint of the patient is investigated. According to the method, discrete optimal control and the neural network are combined, the learning characteristics of human nerve-muscle control are considered while the physical characteristics of the system are not deviated, personalized muscle control strategies better conforming to different patients can be found, and personalized prediction of postoperative gait dynamic characteristics is achieved.

Hip arthroplasty trial systems and associated medical devices, methods, and kits are described that can be utilized in situ to complete a femoral head trial. An example embodiment of a hip arthroplasty trial system includes a medical device and a femoral stem. The medical device has a head member, a spacer, a shaft, and a locking member. The spacer is disposed within the head member and is moveable from a first position to a second position. The shaft is disposed within the head member and contacts the femoral stem. The shaft is moveable from a first position to a second position. Movement of the shaft from the first position to the second position moves the spacer from its first position to its second position. The locking member is disposed within the head member and releasably attaches the shaft to the head member.

The invention provides a hip joint exoskeleton robot anti-falling detection method, and relates to the technical field of exoskeleton robots, and the method comprises the following steps: setting a hip joint angle threshold value of a robot; collecting a hip joint real-time angle value of the robot; based on the collected hip joint real-time angle value and the hip joint angle threshold value, whether leg binding of the robot fails or not is judged; and in response to failure of leg binding of the robot, stopping applying forward current to a motor of the robot, applying reverse current to the motor of the robot according to the real-time angle value of the hip joint and the angle threshold value of the hip joint, and when it is detected that the leg binding is in a falling state and the rotation angle of the leg rod exceeds the set angle threshold value, stopping applying forward current to the motor of the robot. The motor timely provides reverse current to counteract inertia of upward movement of the leg rod, the leg rod is prevented from hitting the abdomen, the motor stops assisting when the leg rod falls back to the angle threshold value, the leg rod is prevented from hitting the thigh, and the robot can be used simply, efficiently, conveniently and safely.

The invention provides a hip structure and a robot, and relates to the technical field of robots, in particular to the technical field of hip structures of robots. A hip structure includes: a first hip actuator and a second hip actuator for performing hip movement of a robot; wherein the first hip joint actuator and the second hip joint actuator are obliquely arranged. The size of the hip structure is reduced, the space compactness of the hip of the robot is improved, the flexibility of the hip is improved, and the movement range of the hip is expanded.

A dynamic reference base (DRB) and associated method are provided for rigidly affixing an array frame to bone for use in navigated or robotic surgery. The DRB includes a bridge element that includes a connecting rod having a distal end and a proximal end; a clamp coupled to the distal end of the connecting rod; a first and a second pin guide extending distally from the clamp; a locking nut disposed on the clamp; and a clutch coupled to the proximal end of the connecting rod, the clutch being adapted to couple to the array frame. The DRB also includes the array frame, which is couplable to the clutch, and is adapted to include a plurality of tracking markers disposed thereon.

The invention relates to the technical field of robots, and discloses an electro-hydraulic hybrid driving and driven humanoid robot lower limb and waist assembly which serves as a connection foundation of lower limbs and a robot trunk. The near ends of the thigh assemblies are connected with the waist assembly through hip joints; the near end of the shank assembly is connected with the far end of the thigh assembly through a knee joint; the foot component is connected with the far end of the shank component through an ankle joint; the hip joint is provided with three rotational degrees of freedom, the knee joint is provided with one rotational degree of freedom, and the ankle joint is provided with two rotational degrees of freedom; the rotational degree of freedom of each joint in a sagittal plane is driven by an active hydraulic actuator and a passive hydraulic actuator; the rotational degree of freedom of each joint in a horizontal plane and a coronal plane is driven by a motor joint module; the advantages of electric drive and hydraulic drive are brought into full play, and the problems of high power consumption in the negative work stage, complex traditional hydraulic drive pipelines and the like are solved by adopting an active and passive combined distributed hydraulic drive technology.

The invention discloses a quadruped robot driving leg structure which comprises a first driving unit, a hip joint assembly, a thigh assembly and a shank assembly, the hip joint assembly is transversely arranged on a driving output shaft of the first driving unit, and the hip joint assembly comprises a hip joint shell, a second driving unit and a second driving connecting plate; the second driving connecting plate is arranged on the outer wall of the hip joint shell, a driving output shaft of the first driving unit is connected to one side of the front face of the second driving connecting plate, the first driving unit is used for driving the second driving unit to rotate within a specified angle range, and the thigh assembly is downwards obliquely provided with the driving output shaft of the second driving unit. The lower end of the thigh assembly is movably connected with the upper end of the shank assembly, and the lower end of the shank assembly is provided with a foot end. Radial impact borne by the driving motor during operation can be reduced, the accuracy and reliability of leg movement can be effectively ensured, and the effective loading capacity of the robot is further improved.

The invention relates to a humanoid robot leg structure and sole assembly based on rope driving, which comprises a hip assembly, a thigh assembly, a shank assembly and a sole assembly, the joint of the hip assembly and the thigh assembly is a hip joint, the joint of the thigh assembly and the shank assembly is a knee joint, and the joint of the shank assembly and the sole assembly is an ankle joint. A first driving source is arranged on the upper side of a hip joint and used for driving the hip to roll, a second driving source and a third driving source are arranged on the left side and the right side of the hip joint respectively and used for driving the hip to pitch and yaw, and a fourth driving source and a fifth driving source are arranged on the left side and the right side of the upper portion of a thigh assembly respectively and used for driving the hip to roll. The fourth driving source is used for driving the knee joint to move, the fifth driving source is used for driving the ankle to do pitching motion, and the sixth driving source is arranged at the joint of the shank assembly and the sole assembly and used for driving the ankle to do rolling motion. The dynamic performance of the whole robot can be improved.

The present invention discloses a cross-double-joint rigid powered lower limb exoskeleton, comprising a waist support and two groups of lower limb supports respectively arranged on both lateral sides of the waist support for assisting the lower limbs on the corresponding sides of the human body; the lower limb support comprises a hip joint connection component, a thigh protector, a plantar support and an electric push rod used as an actuator module, wherein: the thigh protector is connected to the waist support through the hip joint connection component to adapt to the multi-degree-of-freedom movement of the human hip joint; the telescopic direction of the electric push rod is arranged along the length direction of the human calf, and the telescopic end of the electric push rod extends upward and then crosses the human knee joint and is hinged to the rear of the thigh protector, and the fixed end of the electric push rod extends downward and then crosses the human ankle joint and is hinged to the rear of the plantar support; the exoskeleton has the advantages of better ensuring the comfort of the wearer and enhancing the gain effect of the exoskeleton on the human body, and can achieve a better effect of both lightweight and performance.

A wearable exercise device may obtain a left hip joint angle and a right hip joint angle of a user using at least one angle sensor, process the left hip joint angle and the right hip joint angle to correct a direct current (DC) component of each of the left hip joint angle and the right hip joint angle, determine a first torque value based on the processed left hip joint angle, determine a second torque value based on the processed right hip joint angle, determine one of the first torque value and the second torque value as a target torque value based on movement information of the user, and control a driving module such that a torque based on the determined target torque value is output by the driving module.

Systems and methods for impingement analysis are disclosed herein. A method includes receiving a three-dimensional model of a human anatomy comprising a spinopelvic joint; receiving input related to a spinopelvic condition of a patient; determining at least one of a sacral slope or a lumbar lordosis of the patient based on the input; classifying the spinopelvic condition of the patient based on at least one of the sacral slope or the lumbar lordosis in a plurality of positions; modifying the three-dimensional model based on the spinopelvic condition and a placement of an implant; performing at least one simulation of one or more activities with the modified three-dimensional model; and displaying an impingement analysis on a display device based on the at least one simulation.

The invention relates to the technical field of robots, and discloses an electro-hydraulic hybrid drive active and passive humanoid robot which is characterized in that a head assembly adopts pure electric drive configuration, and three-degree-of-freedom rotation of a neck is realized through driving of a parallel-series hybrid mechanism; the upper limb assembly is purely electrically driven and comprises a two-degree-of-freedom waist joint driven by a differential parallel transmission mechanism and a seven-degree-of-freedom mechanical arm driven by a near-end motor through a spherical parallel mechanism, a four-bar mechanism and the differential parallel transmission mechanism; the lower limb assembly adopts mixed configuration of active and passive hydraulic main drive and motor auxiliary drive, the single leg has six degrees of freedom, sagittal plane degrees of freedom of hip joints, knee joints and ankle joints are driven by active and passive hydraulic actuators, and other degrees of freedom are driven by a motor joint module; high-dynamic, high-outbreak, high-energy-efficiency, large-load and impact-resistant operation of the upper limbs is achieved while high-dynamic, large-load, high-rigidity and high-precision operation of the upper limbs is guaranteed, and the movement, operation and cruising ability of the whole machine is remarkably improved.

The invention relates to the technical field of exoskeletons, in particular to a high-degree-of-freedom light lower limb assisting exoskeleton. The invention provides a high-degree-of-freedom light lower limb assisting exoskeleton. The high-degree-of-freedom light lower limb assisting exoskeleton comprises a back assembly, a waist assembly, hip joint motors, thigh assemblies, knee joint motors, shank assemblies and ankle joint and foot assemblies which are sequentially connected. Wherein the thigh assembly comprises a hip joint motor connecting piece, a thigh rod and a knee joint motor connecting piece which are connected in sequence, and the end, close to the hip joint motor connecting piece, of the thigh rod is hinged to the hip joint motor connecting piece through a first hinge shaft. The multi-degree-of-freedom hip joint mechanism and the multi-degree-of-freedom knee joint mechanism are adopted, so that the exoskeleton can better coincide with contour curves of all parts of a human body and better adapt to complex movement of human joints, and the problems that the exoskeleton is poor in wearing comfort, effective assisting force is lost and the like due to man-machine discordance are solved.

An orthopaedic prosthesis for use in a hip replacement surgery includes an implantable stem component. The implantable stem component includes a core and a shell extending over the core. The shell includes a polymeric material and is configured to receive a femoral head component. Metal foam may extend over a portion of the shell.

The invention relates to a hip power-assisted exoskeleton control method based on force and position information fusion, which realizes intelligent switching of multiple power-assisted modes by accurately identifying different motion states through multi-mode perception and fusion, and comprises the step of identifying different states through multi-source data such as a pitching angle and an angular velocity of an IMU (Inertial Measurement Unit) of the back of a body, an angle value of a hip motor encoder and the like. Corresponding control is carried out in different motion states; in the walking state, a zero-force dragging algorithm is adopted to reduce resistance, and torque compensation is carried out based on the hip joint speed to enhance the following performance; in the getting-up state, a power assisting algorithm combining PD control based on position errors and supporting force compensation is adopted; supporting force is provided in the squatting stop state and the getting-up stop state. The control part comprises a data processing module, a state recognition module, a control strategy module and a motor control module. The motion state can be accurately recognized, the power assisting efficiency is effectively improved, the physical consumption of a wearer is reduced, and the method is suitable for various task scenes.

The invention provides a bone mineral density measurement method based on a segmented large model and a lightweight semi-supervised model, which comprises the following steps of: acquiring an original hip joint X-ray image, and preprocessing the original hip joint X-ray image to obtain a data set; performing image segmentation on the data set by using a preset segmentation large model to obtain a final femoral head mask pattern; cutting and identifying the original hip joint X-ray image by using the final femoral head mask pattern to obtain a mixed supervision sample set only containing the unilateral femoral head; training a preset semi-supervised lightweight neural network model by using the mixed supervised sample set to obtain a trained semi-supervised lightweight neural network model; and predicting the bone mineral density of a newly input hip joint X-ray image by using the trained semi-supervised lightweight neural network model. According to the method, the segmentation large model SAM and an interactive prompt mechanism are introduced, the femoral head segmentation precision and generalization are remarkably improved, and high-precision prediction of the bone mineral density under the small sample condition can be realized by using the lightweight semi-supervised regression model.

A surgical boot apparatus for use in surgery involving hip distraction includes a boot shell having a sole portion configured for placement adjacent a sole of a foot of a patient and a calf portion configured for placement adjacent a calf of the patient. The boot shell has a heel-receiving opening located between the sole portion and the calf portion and configured for receipt of a heel of the patient. A resilient pad is provided having a main portion configured for engaging an Achilles area of the patient. The main portion includes an end region that extends into the heel-receiving opening. The end region has an end edge that includes a notch configured for receipt of a calcaneus of the patient.

The utility model relates to medical rehabilitation training equipment, in particular to a modularized flexible lower limb exoskeleton robot. Comprising a control part, a driving part, a transmission part, a hip joint body part and an ankle joint body part, the driving part communicates with the control part, the driving part is connected with the hip joint body part and the ankle joint body part through the transmission part, and the hip joint body part is arranged at the hip joint of the human body. The ankle joint body part is arranged at the ankle joint of the human body, and the driving part controls the hip joint body part and the ankle joint body part through the transmission part to assist lower limb movement. The power assisting device is compact in structure, small and exquisite, easy to wear, light in weight, portable, adjustable in height and suitable for being worn by people with different body types, a separated modular design principle is adopted, and a power assisting mode can be configured according to specific requirements so as to meet the use requirements of different users in different environments.

The invention discloses a hip joint rehabilitation method and system based on multi-parameter real-time monitoring and digital twinning, and the method and system are used for postoperative monitoring of hip joints of patients, and the method comprises the steps: S1, collecting medical image data of the patients, and constructing a hip joint biomechanical model of the patients; acquiring a myoelectricity activity signal, a hip joint activity angle and joint bearing pressure of the hip of the patient after the operation; s2, constructing a hip joint digital twinning model of the patient, and dynamically updating the state of the hip joint digital twinning model; s3, guiding the patient to perform rehabilitation training through the intelligent display terminal; s4, collecting and recording rehabilitation myoelectricity activity signals, rehabilitation hip joint activity angles and rehabilitation joint bearing pressure of the hip of the patient in the rehabilitation process in real time, judging the rehabilitation stage of the patient, and dynamically adjusting a rehabilitation training scheme. In the rehabilitation process, the rehabilitation training scheme is dynamically adjusted according to the rehabilitation condition of the patient, and the effectiveness and safety of the rehabilitation process of the patient are guaranteed.

The embodiment of the invention is suitable for the technical field of computer-aided medical treatment, and provides a preoperative planning method and planning equipment for a hip joint cushion block prosthesis, and the method comprises the steps: obtaining hip joint image data, and reconstructing according to the hip joint image data to obtain a hip bone three-dimensional model; prosthesis parameters of a hip joint cushion block prosthesis to be implanted are obtained; establishing a hip bone three-dimensional model coordinate system based on the hip bone three-dimensional model; according to the prosthesis parameters, simulating and displaying the hip joint cushion block prosthesis in the hip bone three-dimensional model; and generating preoperative planning information of the hip joint cushion block prosthesis based on the hip joint cushion block prosthesis which is displayed in a simulation manner. By the adoption of the method, the proper placement position and angle of the hip joint cushion block prosthesis can be accurately planned, the accuracy of prosthesis matching is improved, and the success rate of an operation is increased.

The invention relates to the technical field of medical orthopedic simulation devices, and discloses an orthopedic hip arthroscopic surgery simulation device which comprises a base, a supporting assembly is arranged on the upper side of the base, and a longitudinal moving assembly is arranged above one side of the supporting assembly. Transverse moving assemblies are arranged above the other side of the supporting assembly and on one side of the longitudinal moving assembly, one of the two transverse moving assemblies is provided with a thighbone model in a clamping mode, and the other one of the two transverse moving assemblies is provided with a pelvis model in a clamping mode. The supporting assembly comprises a right-angle table fixedly arranged at the position, close to one side, of the upper end of the base. According to the hip joint arthroscopic surgery simulation device for the orthopedics department, through overall cooperative use, movement in different directions under the normal condition is simulated, movement tracks in different spaces are improved, operation simulation is more flexible and real, and the operation ability of doctors in the surgery is improved.

The invention discloses a high-compatibility self-calibration lower limb exoskeleton rehabilitation robot which comprises a first lower limb rehabilitation device, a second lower limb rehabilitation device and a hip joint adjusting device. The hip joint exoskeleton assembly comprises three active driving units, and the active driving units with the rotating surfaces corresponding to the horizontal plane are aligned with the rotating center of the hip joint through the remote motion center mechanism with the virtual axis. According to the high-compatibility self-calibration lower limb exoskeleton rehabilitation robot, rotation of a horizontal plane, a coronal plane and a sagittal plane can be completed at the position corresponding to the hip joint of a user, three degrees of freedom of forward flexion / backward extension, adduction / abduction and inward rotation / outward rotation of the hip joint of the human body are achieved respectively, and the exoskeleton robot is aligned to the rotation center of the hip joint of the human body; therefore, the rehabilitation effect of the high-compatibility self-calibration lower limb exoskeleton rehabilitation robot can be improved.

Disclosed in the present invention is a lower-limb-powered exoskeleton device for rehabilitation assistance, comprising ankle-joint sagittal-plane driving units, knee-joint sagittal-plane driving units, hip-joint sagittal-plane driving units, a hip-joint horizontal-plane driving unit, a joint driver connecting frame, a lower-limb fixing support, sensors, a controller and a power supply. Antagonistic-drive-type linear driving units are used in the sagittal plane of a hip joint so as to enable the bending and extension movements of the hip joint, and a linear driving unit having the function of self-locking when powered off is used in the horizontal plane of the hip joint so as to enable the turning movements of the exoskeleton; and a linear driving unit in cooperation with a magnetorheological brake is used in the sagittal plane of each knee joint, thereby significantly reducing the power consumption of a knee-joint driver while lowering the control difficulty. The powered exoskeleton device can help patients with an impaired lower-limb motor function to carry out walking rehabilitation training.