A Novel Passive Neck and Trunk Exoskeleton for Surgeons:Design and Validation  

作　　者：Ce Zhang Juha M.Hijmans Christian Greve Han Houdijk Gijsbertus Jacob Verkerke Charlotte Christina Roossien 

机构地区：[1]University of Groningen,University Medical Center Groningen,Department of Rehabilitation Medicine,Hanzeplein 1,Groningen,9713 GZ,the Netherlands [2]University of Groningen,University Medical Center Groningen,Department of Human Movement Sciences,Hanzeplein 1,Groningen,9713 GZ,the Netherlands [3]University of Twente,Department of Biomechanical Engineering,Drienerlolaan 5,Enschede,7522 NB,the Netherlands [4]University of Groningen,Faculty of Science and Engineering,Engineering and Technology Institute Groningen(ENTEG),Department of Bio-inspired MEMS and Biomedical Devices,Nijenborgh 4,Groningen,9747 AG,the Netherlands

出　　处：《Journal of Bionic Engineering》2025年第1期226-237,共12页仿生工程学报(英文版)

基　　金：funded by China Scholarship Council,Grant Number 201906840121;department of rehabilitation medicine,University Medical Center Groningen,University of Groningen,grant number:O/085350.

摘　　要：Musculoskeletal Symptoms(MSS)often arise from prolonged maintenance of bent postures in the neck and trunk during surgical procedures.To prevent MSS,a passive exoskeleton utilizing carbon fiber beams to offer support to the neck and trunk was proposed.The application of support force is intended to reduce muscle forces and joint compression forces.A nonlinear mathematical model for the neck and trunk support beam is presented to estimate the support force.A validation test is subsequently conducted to assess the accuracy of the mathematical model.Finally,a preliminary functional evaluation test is performed to evaluate movement capabilities and support provided by the exoskeleton.The mathematical model demonstrates an accuracy for beam support force within a range of 0.8–1.2 N Root Mean Square Error(RMSE).The exoskeleton was shown to allow sufficient Range of Motion(ROM)for neck and trunk during open surgery training.While the exoskeleton showed potential in reducing musculoskeletal load and task difficulty during simulated surgery tasks,the observed reduction in perceived task difficulty was deemed non-significant.This prompts the recommendation for further optimization in personalized adjustments of beams to facilitate improvements in task difficulty and enhance comfort.

关 键 词：Neck exoskeleton Trunk exoskeleton Passive exoskeleton Surgeon support Nonlinear modeling 

分 类 号：R318[医药卫生—生物医学工程]