医用多位姿辅助支撑外骨骼机构设计与支撑性能评估

Design and support performance evaluation of medical multi-position auxiliary support exoskeleton mechanism

针对外科医生长时间保持手术姿态而造成的肌肉和关节损伤的现状,本文通过分析手术姿态,分别对不同关节进行构型研究,设计了一种具有多关节机构的医用多位姿辅助支撑外骨骼。然后通过建立人机静力学模型,本研究得到人体穿戴外骨骼前后的关节扭矩、关节力,并用有限元分析软件对外骨骼强度校核。结果表明,外骨骼最大应力小于材料强度要求,整体形变小,外骨骼结构强度满足使用需求。最后,本研究选取受试者参与足底压力试验,并结合人机静力学模型进行生物力学仿真,从足底压力、关节扭矩和关节力、肌肉力和肌肉总体代谢三个方面进行结果分析,以评估外骨骼支撑性能。结果表明,外骨骼对全身有较好的支撑性,能够减轻肌肉骨骼负担。本研究的外骨骼机构更匹配外科医生的实际工作需求,为医用支撑外骨骼机构设计提供了一种新的范例。

Aiming at the status of muscle and joint damage caused on surgeons keeping surgical posture for a long time,this paper designs a medical multi-position auxiliary support exoskeleton with multi-joint mechanism by analyzing the surgical postures and conducting conformational studies on different joints respectively.Then by establishing a human-machine static model,this study obtains the joint torque and joint force before and after the human body wears the exoskeleton,and calibrates the strength of the exoskeleton with finite element analysis software.The results show that the maximum stress of the exoskeleton is less than the material strength requirements,the overall deformation is small,and the structural strength of the exoskeleton meets the use requirements.Finally,in this study,subjects were selected to participate in the plantar pressure test and biomechanical simulation with the man-machine static model,and the results were analyzed in terms of plantar pressure,joint torque and joint force,muscle force and overall muscle metabolism to assess the exoskeleton support performance.The results show that the exoskeleton has better support for the whole body and can reduce the musculoskeletal burden.The exoskeleton mechanism in this study better matches the actual working needs of surgeons and provides a new paradigm for the design of medical support exoskeleton mechanism.