Design and support performance evaluation of medical multi-position auxiliary support exoskeleton mechanism_Journal of Biomedical Engineering

Authors：

QI Kaicheng ^1,2,3 , YIN Zhiyang ^1,2,3 ,  ZHANG Jianjun ^1,2,3 , SONG Jingke ^1,2,3 , QIAO Gaokun ^1,2,3

1. School of Mechanical Engineering, Hebei University of Technology, Tianjin 300401, P. R. China;
2. Hebei Provincial Key Laboratory of Robot Perception and Human-Machine Fusion, Tianjin 300401, P. R. China;
3. Engineering Research Center of the Ministry of Education for Intelligent Rehabilitation Devices and Testing Technology, Tianjin 300401, P. R. China;

Corresponding author：

ZHANG Jianjun, Email: zhjjun96@139.com

Keywords：

Supporting exoskeleton; Medical multi-position; Mechanism design; Static analysis; Support performance

DOI：

10.7507/1001-5515.202210040

Video：

Export PDF Favorites Scan Get Citation

Abstract Full text Figures/Tables Video References Cited by

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.

Citation： QI Kaicheng, YIN Zhiyang, ZHANG Jianjun, SONG Jingke, QIAO Gaokun. Design and support performance evaluation of medical multi-position auxiliary support exoskeleton mechanism. Journal of Biomedical Engineering, 2024, 41(2): 295-303. doi: 10.7507/1001-5515.202210040 Copy

1.	Gadjradj P S, Ogenio K, Voigt I, et al. Ergonomics and related physical symptoms among neurosurgeons. World Neurosurgery, 2020, 134: 432-441.
2.	Epstein S, Sparer E H, Tran B N, et al. Prevalence of work-related musculoskeletal disorders among surgeons and interventionalists: a systematic review and meta-analysis. JAMA Surgery, 2018, 153(2): 35-42.
3.	Bergmann A, Bolm-Audorff U, Krone D, et al. Occupational strain as a risk for hip osteoarthritis. Deutsches Arzteblatt International, 2017, 114(35-36): 581-588.
4.	Mcdonough C M, Jette A M. The contribution of osteoarthritis to functional limitations and disability. Clinics in Geriatric Medicine, 2010, 26(3): 387-399.
5.	Tetteh E, Hallbeck M S, Mirka G A. Effects of passive exoskeleton support on EMG measures of the neck, shoulder and trunk muscles while holding simulated surgical postures and performing a simulated surgical procedure. Applied Ergonomics, 2022, 100: 103646.
6.	Esquenazi A, Talaty M, Packel A, et al. The ReWalk powered exoskeleton to restore ambulatory function to individuals with thoracic-level motor-complete spinal cord injury. American Journal of Physical Medicine & Rehabilitation, 2012, 91(11): 911-921.
7.	Kawamoto H, Sankai Y. Power assist system HAL-3 for gait disorder person. Lecture Notes in Computer Science, 2002, 2398(1): 19-29.
8.	Matsuzaki I, Ebara T, Tsunemi M, et al. Sit-stand endoscopic workstations equipped with a wearable chair. VideoGIE, 2019, 4(11): 498-500.
9.	Kawahira H, Nakamura R, Shimomura Y, et al. Clinical use of a wearable lower limb support device for surgeries involving long periods of standing. Journal of Japan Society of Computer Aided Surgery, 2018, 20(3): 121-125.
10.	Yan Z, Han B, Du Z, et al. Development and testing of a wearable passive lower-limb support exoskeleton to support industrial workers. Biocybernetics and Biomedical Engineering, 2021, 41(1): 221-238.
11.	Zhu A, Shen Z, Shen H, et al. Design of a passive weight-support exoskeleton of human-machine multi-link// 2018 15th International Conference on Ubiquitous Robots. IEEE, 2018: 296-301.
12.	Ridger R S, Ashford A I, Wattie S, et al. Sustained attention when squatting with and without an exoskeleton for the lower limbs. International Journal of Industrial Ergonomics, 2018, 66: 230-239.
13.	Luger T, Seibt R, Cobb T J, et al. Influence of a passive lower-limb exoskeleton during simulated industrial work tasks on physical load, upper body posture, postural control and discomfort. Applied Ergonomics, 2019, 80(1): 152-160.
14.	Anderson J, Williams A E, Nester C. Musculoskeletal disorders, foot health and footwear choice in occupations involving prolonged standing. International Journal of Industrial Ergonomics, 2021, 81: 103079.
15.	Szeto G P, Ho P, Ting A c, et al. Work-related musculoskeletal symptoms in surgeons. Journal of Occupational Rehabilitation, 2009, 19(2): 175-184.
16.	Albayrak A, van Veelen M A, Prins J F, et al. A newly designed ergonomic body support for surgeons. Surgical Endoscopy, 2007, 21(10): 1835-1840.
17.	国家技术监督局. GB 10000-88 中国成年人人体尺寸. 北京: 中国标准出版社, 1988.
18.	崔家硕. 用于下蹲时重力支撑的下肢外骨骼设计和分析. 武汉: 华中科技大学, 2019.
19.	Su Q, Pei Z, Tang Z, et al. Design and analysis of a lower limb loadbearing exoskeleton. Actuators, 2022, 11(10): 285.
20.	Scott S H, Winter D A. Talocrural and talocalcaneal joint kinematics and kinetics during the stance phase of walking. Journal of Biomechanics, 1991, 24(8): 743-752.
21.	刘玉娇. 快速力量训练对优势侧与非优势侧腿力量素质影响效果的研究. 西安: 西安体育学院学报, 2010.
22.	Lee M, Kim J, Son J, et al. Kinematic and kinetic analysis during forward and backward walking. Gait Posture, 2013, 38(4): 674-678.
23.	宋和胜, 钱竞光, 唐潇. 基于软件OpenSim的人体运动建模理论及其应用领域概述. 医用生物力学, 2015, 30(4): 373-379.
24.	Thelen D G, Anderson F C, Delp S L. Generating dynamic simulations of movement using computed muscle control. Journal of Biomechanics, 2003, 36(3): 321-328.

1. Gadjradj P S, Ogenio K, Voigt I, et al. Ergonomics and related physical symptoms among neurosurgeons. World Neurosurgery, 2020, 134: 432-441.
2. Epstein S, Sparer E H, Tran B N, et al. Prevalence of work-related musculoskeletal disorders among surgeons and interventionalists: a systematic review and meta-analysis. JAMA Surgery, 2018, 153(2): 35-42.
3. Bergmann A, Bolm-Audorff U, Krone D, et al. Occupational strain as a risk for hip osteoarthritis. Deutsches Arzteblatt International, 2017, 114(35-36): 581-588.
4. Mcdonough C M, Jette A M. The contribution of osteoarthritis to functional limitations and disability. Clinics in Geriatric Medicine, 2010, 26(3): 387-399.
5. Tetteh E, Hallbeck M S, Mirka G A. Effects of passive exoskeleton support on EMG measures of the neck, shoulder and trunk muscles while holding simulated surgical postures and performing a simulated surgical procedure. Applied Ergonomics, 2022, 100: 103646.
6. Esquenazi A, Talaty M, Packel A, et al. The ReWalk powered exoskeleton to restore ambulatory function to individuals with thoracic-level motor-complete spinal cord injury. American Journal of Physical Medicine & Rehabilitation, 2012, 91(11): 911-921.
7. Kawamoto H, Sankai Y. Power assist system HAL-3 for gait disorder person. Lecture Notes in Computer Science, 2002, 2398(1): 19-29.
8. Matsuzaki I, Ebara T, Tsunemi M, et al. Sit-stand endoscopic workstations equipped with a wearable chair. VideoGIE, 2019, 4(11): 498-500.
9. Kawahira H, Nakamura R, Shimomura Y, et al. Clinical use of a wearable lower limb support device for surgeries involving long periods of standing. Journal of Japan Society of Computer Aided Surgery, 2018, 20(3): 121-125.
10. Yan Z, Han B, Du Z, et al. Development and testing of a wearable passive lower-limb support exoskeleton to support industrial workers. Biocybernetics and Biomedical Engineering, 2021, 41(1): 221-238.
11. Zhu A, Shen Z, Shen H, et al. Design of a passive weight-support exoskeleton of human-machine multi-link// 2018 15th International Conference on Ubiquitous Robots. IEEE, 2018: 296-301.
12. Ridger R S, Ashford A I, Wattie S, et al. Sustained attention when squatting with and without an exoskeleton for the lower limbs. International Journal of Industrial Ergonomics, 2018, 66: 230-239.
13. Luger T, Seibt R, Cobb T J, et al. Influence of a passive lower-limb exoskeleton during simulated industrial work tasks on physical load, upper body posture, postural control and discomfort. Applied Ergonomics, 2019, 80(1): 152-160.
14. Anderson J, Williams A E, Nester C. Musculoskeletal disorders, foot health and footwear choice in occupations involving prolonged standing. International Journal of Industrial Ergonomics, 2021, 81: 103079.
15. Szeto G P, Ho P, Ting A c, et al. Work-related musculoskeletal symptoms in surgeons. Journal of Occupational Rehabilitation, 2009, 19(2): 175-184.
16. Albayrak A, van Veelen M A, Prins J F, et al. A newly designed ergonomic body support for surgeons. Surgical Endoscopy, 2007, 21(10): 1835-1840.
17. 国家技术监督局. GB 10000-88 中国成年人人体尺寸. 北京: 中国标准出版社, 1988.
18. 崔家硕. 用于下蹲时重力支撑的下肢外骨骼设计和分析. 武汉: 华中科技大学, 2019.
19. Su Q, Pei Z, Tang Z, et al. Design and analysis of a lower limb loadbearing exoskeleton. Actuators, 2022, 11(10): 285.
20. Scott S H, Winter D A. Talocrural and talocalcaneal joint kinematics and kinetics during the stance phase of walking. Journal of Biomechanics, 1991, 24(8): 743-752.
21. 刘玉娇. 快速力量训练对优势侧与非优势侧腿力量素质影响效果的研究. 西安: 西安体育学院学报, 2010.
22. Lee M, Kim J, Son J, et al. Kinematic and kinetic analysis during forward and backward walking. Gait Posture, 2013, 38(4): 674-678.
23. 宋和胜, 钱竞光, 唐潇. 基于软件OpenSim的人体运动建模理论及其应用领域概述. 医用生物力学, 2015, 30(4): 373-379.
24. Thelen D G, Anderson F C, Delp S L. Generating dynamic simulations of movement using computed muscle control. Journal of Biomechanics, 2003, 36(3): 321-328.

Previous Article
Snoring noise removal method for bowel sound signal during sleep
Next Article
Neutrophil extracellular traps extrusion from neutrophils stably adhered to ICAM-1 by lipoteichoic acid stimulation

Journal of Biomedical Engineering

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

Abstract Full text Figures/Tables Video References Cited by

Previous Article

Next Article

Format

Content