617 results about "Socket hip" patented technology

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.

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 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 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.

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.

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.

The invention discloses a lower limb exoskeleton robot layered cooperative walking aid control method. The method comprises the steps of data acquisition and preprocessing; human-machine coupling dynamics modeling is carried out, and required moments tau < hip >, tau < knee > and tau < ankle > of the hip joint, the knee joint and the ankle joint are obtained; low-layer joint control, including hip joint moment, knee / ankle virtual impedance moment and friction compensation calculation; middle-layer multi-axis cooperation and gait phase judgment; high-rise energy is optimally distributed, assistance is distributed to three joints in a phase and a safety boundary, meanwhile, the requirements for labor saving and stability are considered, a minimization problem is written in a unified mode, J serves as the total amount, and torque of the hip joint, torque of the knee joint and torque of the ankle joint are solved in a combined mode; according to the step-by-step self-adaption of myoelectricity driving, in order to cope with human body fatigue changes, step-by-step updating is carried out on the virtual stiffness within the movement distance. The method has the advantages of improving man-machine cooperation level, man-machine adaptability and walking aid efficiency.

The hip joint exoskeleton device comprises a waist exoskeleton, a leg exoskeleton and a driving mechanism, the driving mechanism is used for driving the leg exoskeleton to move relative to the waist exoskeleton, and a protruding structure penetrating through a waist exoskeleton shell is arranged on the waist exoskeleton. The protruding structure is connected with a controller in the waist exoskeleton and used for displaying the electric quantity of the driving mechanism and / or controlling the driving mechanism, the protruding structure comprises a flexible layer and a supporting piece, and the flexible layer is arranged on the outer side of a waist exoskeleton shell and provided with a folded edge extending towards the inner side of the waist exoskeleton shell; the supporting piece and the shell are used for conducting extrusion sealing from the inner side and the outer side of the folded edge. When it rains, water is not prone to accumulating on the periphery of the protruding structure, the waterproof effect is good, during installation, the flexible layer is arranged on the periphery of the supporting piece in a sleeving mode, then the supporting piece with the flexible layer is clamped into the opening of the waist exoskeleton shell, installation of the protruding structure can be completed, and convenience and rapidness are achieved.

The invention relates to the technical field of rehabilitation robots, in particular to a rigid-flexible coupling trunk rehabilitation robot and a control method thereof. The invention comprises: a flexible wearing garment; the upper-layer protector is mounted at the upper part of the flexible wearing clothes; the lower-layer protector is mounted at the lower part of the flexible wearing clothes; two lumbar vertebra branch mechanisms; the URS branch chain mechanism is used for adjusting the rehabilitation center to be consistent with the lumbar vertebra rotation center of the human body; the thoracic vertebra branch mechanism is arranged on the inner wall of the upper-layer protector; during wearing, the upper-layer protector is worn at the thoracic vertebra position of a human body, and the lower-layer protector corresponds to the hip joint of the human body. The thoracic vertebra branch mechanism is arranged on the upper-layer protector, the lumbar vertebra branch mechanism is arranged between the upper-layer protector and the lower-layer protector, and the thoracic vertebra branch mechanism and the lumbar vertebra branch mechanism act on the thoracic vertebra and the lumbar vertebra in a synergistic mode, so that partitioned targeted rehabilitation is achieved, namely independent stretching, forward flexion, backward stretching and lateral flexion rehabilitation training of the thoracic vertebra is achieved; therefore, the rehabilitation action of the human trunk is more targeted, the rehabilitation effect is good, and the applicability and the rehabilitation efficiency in the rehabilitation process are greatly improved.

Aspects include a surgical robot for use in a total hip arthroplasty (THA) procedure, and related methods. In some cases, the surgical robot includes: a robot arm for holding a surgical instrument; and a controller coupled with the robot arm, the controller programmed to: detect a position of the surgical instrument in at least one attraction volume corresponding with a planned trajectory of the surgical instrument for the THA procedure, the at least one attraction volume defined in part by a point and an axis extending from the point; and while the surgical instrument is in the at least one attraction volume during the THA procedure, provide assistance to movement of the surgical instrument in a direction toward the at least one attraction volume.

The invention provides a hip joint prosthesis. The hip joint prosthesis comprises a femoral stem body; the driving part is arranged on the femoral stem main body; the transmission part is movably arranged in the femoral stem main body, and the driving part drives the transmission part to move; the plug connector is telescopically arranged on the femoral stem main body to have a plug-in position and a first storage position, and the transmission part moves to drive the plug connector; when the plug connector is located at the plug-in position, the plug connector extends out of the femoral stem main body; when the plug connector is located at the first storage position, the plug connector retracts into the femoral stem main body; the force measuring piece comprises a dynamometer and a first elastic piece connected to the dynamometer, the dynamometer is movably arranged in the femoral stem body, and the dynamometer drives the first elastic piece to stretch out and draw back on the femoral stem body so that the first elastic piece can have a force measuring position and a second containing position. According to the technical scheme, the problem that the hip joint prosthesis in the related technology cannot give consideration to the stability after implantation and the convenience of later maintenance at the same time is solved.

The invention discloses a kinematics monitoring method for rehabilitation after hip replacement, and relates to the technical field of kinematics monitoring. Comprising the following steps that monitoring elements are arranged, IMU sensor groups are arranged at hip joints and thighs, and a power module, a processor and a Bluetooth communication module are worn on a human body; data acquisition: the IMU sensor group acquires vector data of hip joints and thighs and transmits the vector data to the processor, the processor transmits the data to the PC terminal through the Bluetooth communication module, the PC terminal calculates a quadruple of hip bone angles and a quadruple of leg bone angles at the same time, then subtracts the quadruple of hip bone angles and the quadruple of leg bone angles to obtain a quadruple of relative included angles, and calibrates the quadruple of relative included angles; a plurality of standard poses in rehabilitation evaluation after hip replacement are selected as calibration references. A corresponding monitoring scheme is designed based on the multiple IMU sensors, a software and hardware system is formed, the hip joint angle of the patient is measured and calculated in real time, and a doctor is assisted in evaluating and guiding the postoperative rehabilitation exercise intensity of the patient.

The invention discloses a hip joint surgical robot grinding and rubbing detection system and a detection tool thereof, and relates to the technical field of medical instruments. The device comprises a bottom plate and a grinding and rubbing assembly, a hip model assembly is fixedly connected to one side of the top of the bottom plate, an acetabular fossa model assembly is fixedly connected to the other side of the top of the bottom plate, and a tracer support is fixedly connected to the position, located at the rear end of the acetabular fossa model assembly, of the top of the bottom plate. The grinding and rubbing precision can be monitored in real time in the operation process, immediate feedback is provided, an operation team can find and correct errors in the grinding and rubbing process in time, the success rate of the operation is increased, tiny grinding and rubbing errors can be detected by accurately measuring the ball center position of the grinding and rubbing contour, it is ensured that the surgical robot achieves high-precision grinding and rubbing operation, and the working efficiency is improved. Multiple times of X-ray or CT scanning needed by traditional postoperative imaging evaluation are avoided, the radiation risk of a patient is reduced, the grinding and rubbing precision detection process is simplified, the operation time is shortened, and the operation complexity is reduced.

The invention belongs to the technical field of robots, and provides a hip joint exoskeleton and a walking assistance control method.The hip joint exoskeleton comprises three active driving units, and a hip joint exoskeleton sagittal plane driving unit is used for achieving forward flexion / backward extension of a human hip joint; the hip joint exoskeleton coronal plane driving unit is used for realizing human hip joint adduction / abduction; the hip joint exoskeleton horizontal plane driving unit is used for realizing inward rotation / outward rotation of the hip joint of the human body; the hip joint exoskeleton sagittal plane driving unit, the hip joint exoskeleton coronal plane driving unit and the hip joint exoskeleton horizontal plane driving unit are connected through the remote rotating center mechanism, so that a rotating plane corresponding to the horizontal plane driving unit is aligned with a hip joint rotating center through a virtual axis. The hip joint exoskeleton is compact in structure and saves space. According to the control method, when the user wears the exoskeleton to walk, the exoskeleton can accurately assist the walking of the user without time delay.

The invention relates to an ultrasonic image processing method and system for infant developmental dysplasia of hip joints, and the method comprises the steps: obtaining an infant hip joint ultrasonic image to be diagnosed, and segmenting the ultrasonic image into independent image frames; performing target detection on the picture frame to obtain a hip joint bounding box, and preliminarily screening a standard image based on the hip joint bounding box; key point detection is carried out on the basis of the hip joint bounding box, and key point coordinates and confidence are obtained; screening the standard image again based on the key points and the confidence thereof; calculating a reference radius for the screened standard image, and further selecting an optimal standard image; and calculating an alpha angle and a beta angle based on the key point position in the optimal standard image. Compared with the prior art, the image meeting the Graf method standard can be quickly screened out from the original ultrasonic image, meanwhile, the target angle is automatically calculated through the standard images, doctors are assisted in evaluating the development state of the hip joint, and the time and workload of the doctors are remarkably saved.

The invention provides a humanoid robot and a leg structure thereof. The leg structure comprises a hip joint module which comprises a hip joint pitching driving module and a hip joint turnover driving module; the thigh module comprises a thigh body; the knee joint module comprises a knee joint pitching driving module; the shank module comprises a shank body, a first ankle joint driving module, a second ankle joint driving module, a first connecting rod and a second connecting rod; and the ankle-foot module comprises an ankle supporting seat, an ankle cross shaft piece and a sole.

Various implementations include an end effector for a total hip arthroplasty (THA) procedure. An example end effector can include: an adapter for holding a surgical instrument, the adapter having an elongate body and a projection extending therefrom; a main body having: a proximal end including an interface for attaching to a robot arm; and a distal end including an elongate recess and a slot for connecting with the surgical instrument; and a connector adapted to secure the projection in the slot to securely attach the adapter to the main body.

This invention relates to the field of industrial automation technology, and in particular to a lightweight hip-assisted exoskeleton, comprising a waist belt assembly and a power unit. The power unit is disposed on both sides of the waist belt assembly. The waist belt assembly includes a rear waist support and side waist supports, with the side waist supports rotatably disposed on both sides of the rear waist support. The rear waist support corresponds to the wearer's lower back, and the side waist supports correspond to the wearer's side waist. The power unit is disposed at the end of the side waist support away from the rear waist support. A mounting plate is disposed on the side waist support, corresponding to the position of the human hip joint. The mounting plate is rotatably connected to the side waist support, and the rotation axis of the mounting plate is arranged along the length direction of the side waist support. The output shaft of the power unit is disposed on the mounting plate, and the power unit can rotate along the output shaft. The power unit is disposed perpendicular to the side waist support, and a leg-binding assembly for fixing the thigh is disposed at the bottom of the power unit. This design alters the power distribution and improves the fit.

An acetabular bone defect filling block design method based on a force conduction path comprises the steps that a mechanical conduction target path is determined, specifically, the stress condition of a hip joint in a gait cycle is simulated on the basis of a three-dimensional model of a pelvis of a patient, a bone defect area Vdefect and a three-dimensional model of an implanted supporting bracket which are obtained in advance, and the mechanical conduction target path is determined; determining an expected force flow conduction path from the acetabular cup loading area to the host bone main bearing area; a filling space determining step: calculating a residual defect space Vremain formed after the support is implanted; a filling block main body generation step: taking the residual defect space Vremain as a design boundary, taking following of the expected force flow conduction path and realization of matching of the structural rigidity and the host bone as an optimization target, generating a filling block main body three-dimensional model with an internal support truss through a topological optimization algorithm, and steering a strong gluteus column by depending on an incomplete acetabular ring, and a fixed foundation which cannot be shaken is provided. An intelligent structure with the optimal mechanical property is generated by converting empirical shape matching into simulation driving generation type design.

The application provides a leg-ski type desert robot, which can realize switching between foot end contact and ski plate contact, so that the robot has two advancing modes, i.e. hoof step advancing and ski plate sliding advancing. The robot comprises a head, a body connected with the head, a wind and sand prevention mechanism arranged on the body, and a leg-ski mixed leg arranged on the body. The leg-ski mixed leg comprises a hip joint part fixedly connected with the body, a thigh joint part rotatably connected with the hip joint part, a lower leg joint part rotatably connected with the thigh joint part, a thigh part fixedly connected with the lower leg joint part, a lower leg part rotatably connected with the thigh part, and a leg-ski switching mechanism. The leg-ski switching mechanism comprises a ski plate and an electric push rod. One end of the electric push rod is hinged to the middle part of the lower leg part, and the other end of the electric push rod is hinged to the front end of the ski plate. The rear end of the ski plate is hinged to the tail end of the lower leg part.

The invention discloses a hip joint moment prediction method and system based on general cooperative constraint, and belongs to the technical field of sports biomechanics and artificial intelligence. The method comprises the following steps: S1, inputting only hip, knee and ankle joint angles as input data; s2, moment collaborative feature extraction; s3, collaborative constraint loss design; s4, training a plurality of models and optimizing parameters; and S5, model verification and performance evaluation. According to the method, the hip joint moment data is subjected to collaborative analysis to extract the collaborative matrix, and the collaborative matrix is embedded into the loss function of any deep learning model to serve as a biomechanical prior constraint, so that the accuracy and physiological rationality of prediction of the hip joint moment of the ONFH patient are improved, and a universal, extensible and interpretable intelligent prediction framework is realized.

The invention relates to the technical field of mechanical exoskeletons, in particular to a shoulder and back integrated upper limb exoskeleton which comprises a shoulder and back integrated supporting module composed of a Y-shaped carbon fiber back plate and two arc-shaped carbon fiber shoulder plates, and a hip joint module composed of a carbon fiber waist plate and two carbon fiber connecting rods. The carbon fiber back plate is connected with the carbon fiber waist plate, the upper end of the carbon fiber connecting rod is connected with the carbon fiber waist plate through a rotating shaft structure in the horizontal direction, and the lower end of the carbon fiber connecting rod is connected with a rotating joint connected with a lower limb exoskeleton. The robot is suitable for tasks such as backpack type load bearing and front lifting type carrying, weight can be better borne, pressure is transmitted to the ground, the robot has front-back and left-right bending freedom degrees, and the use requirement and the comfort requirement of human bowing and left-right swinging are met.

The application provides a hip joint prosthesis, which comprises a first end of a first stem body connected with a ball head part, an accommodating space arranged in the inside of the first stem body, a first mounting port and a second mounting port arranged on the side wall of the first stem body, an operation hole arranged on the top of the first stem body and communicated with the accommodating space, a moving piece movably arranged in the accommodating space, a first transmission piece and a second transmission piece both movably connected with the moving piece, the moving piece moving being capable of driving the first transmission piece and the second transmission piece to move close to or away from each other, a first pressing piece connected with the first transmission piece and located outside the first mounting port, and a second pressing piece connected with the second transmission piece and located outside the second mounting port; and an adjusting piece penetrating through the operation hole and driving the moving piece to move. The technical scheme of the application effectively solves the problem of insufficient stability of the hip joint prosthesis after implantation in the related art.

The utility model relates to the field of postoperative care devices, in particular to an adjustable plastic hip joint fixing pillow which comprises a supporting mechanism, the supporting mechanism comprises a first supporting plate and a second supporting plate, and the first supporting plate and the second supporting plate are platy. The tops and the bottoms of the outer walls of the first supporting plate and the second supporting plate are fixedly connected with bearing plates, and the bearing plates are of elastic metal plate structures. Through the supporting mechanism, the distance between the two groups of bearing plates can be adjusted by adjusting the distance between the first supporting plate and the second supporting plate, so as to adapt to the distance between the legs of different patients; through the L-shaped first supporting plate, the situation that the hip joint of the patient bends by more than 90 degrees due to excessive curl-up of the patient is avoided.

The invention relates to the technical field of exoskeletons, in particular to a multi-degree-of-freedom hip joint mechanism which comprises a motor outer ring and a motor inner ring, two sets of positioning pins are fixedly connected to the top of the motor outer ring, a limiting block is fixedly connected to one side of the motor inner ring, and a ball bearing is slidably connected to the outer side of a transmission shaft. A self-reset spring is installed at the bottom of the connecting piece, a coating is arranged on the inner side surface of the connecting piece, and a sensing element is fixedly connected into the second hinge. The connecting piece, the transmission shaft, the ball bearing and the joint shell are arranged, the motion trail of the mechanism is highly matched with the real biomechanical characteristics of the hip joint of the human body, the problems that a traditional mechanism is rigid in motion and poor in fitting degree are solved, the positioning pin, the limiting block, the self-reset spring, the bionic coating and the sensing element are arranged, motion range protection is provided, and the reliability is high. Buffering damping and automatic resetting are achieved, and durability and smoothness are improved.

An apparatus and method for inserting a femoral broach or femoral stem or acetabular cup into a bone. The apparatus includes at least one closed loop insertion mechanism to provide impacts on the associated handles of the broach, stem, or the acetabular cup; at least one sensor to sense a series of impacts, including impact angle, and to provide real-time feedback of the alignment and / or condition of the bone; and a processor operably connected to the at least one sensor. The processor includes an algorithm that receives the real-time feedback to control the force, frequency, and alignment of the impacts by the at least one closed loop insertion mechanism.

The present application belongs to the field of biomedical materials and computer aided design technology, and discloses a kind of porosity gradient adjustable hip joint prosthesis porous coating topological optimization method.The present application is aimed at solving the problems of existing design, such as unadjustable porosity distribution, gradient mutation, difficult to balance mechanical properties and bone integration, and the gap between topological optimization and manufacturing constraints.The method introduces nonlinear porosity gradient constraints and adaptive optimization mechanism in the process of topological optimization through the steps of geometric modeling and boundary condition definition, nonlinear porosity gradient field generation, finite element analysis, sensitivity analysis, density filtering and porosity constraint processing, optimization criterion updating and convergence judgment, and realizes the smooth transition of porosity from the core to the surface of the prosthesis.The present application can optimize the mechanical support and biological integration performance simultaneously, eliminate non-manufacturable structures, and adjust the gradient parameters and modularize the extension, providing an efficient and reliable calculation method for personalized hip joint prosthesis design, and having significant engineering and clinical application value.

A dual mobility prosthetic bearing comprises: an outer femoral head component (9020) having a part-spherical outer bearing surface (9022) and a head recess (9024) comprising a proximal portion (9026) defined by a part-spherical inner bearing surface and a distal portion (9028) defined by a generally tubular inner bearing surface, the proximal portion having a maximum diameter that is greater than a maximum diameter of the distal portion; an inner femoral head component (9030) having a neck recess (9032) for receipt of a femoral neck component (9004), and a part-spherical outer bearing surface (9034) configured to be received within the proximal portion of the head recess; wherein the part-spherical outer bearing surface of the outer femoral head component and the part-spherical outer bearing surface of the inner femoral head component have a coincident centre of rotation; and wherein the inner femoral head component comprises a generally tubular skirt (9036) configured for receipt within the distal portion of the head recess.

1. Name of the product in this design: Hip-assisted exoskeleton. 2. Purpose of this design: This design is used for a lower limb exoskeleton that assists the hip joint. 3. The key design feature of this product is its shape. 4. The image or photograph that best illustrates the design's key points: a 3D model.