CN103714738A - Method and device for simulating cervical traction lifting-pulling characteristics by adopting mechanical device and application - Google Patents
Method and device for simulating cervical traction lifting-pulling characteristics by adopting mechanical device and application Download PDFInfo
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- CN103714738A CN103714738A CN201310751105.6A CN201310751105A CN103714738A CN 103714738 A CN103714738 A CN 103714738A CN 201310751105 A CN201310751105 A CN 201310751105A CN 103714738 A CN103714738 A CN 103714738A
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Abstract
Provided are a method and a device for simulating a cervical traction lifting-pulling characteristic by adopting a mechanical device and application. The device comprises a frame including a housing and a vertical polish shaft connected with the housing, a pre-loading simulation assembly including an adjustable variable stiffness mechanism, and a lifting-pulling simulation assembly including a driving part connected with a lifting-pulling slide block and a separated driven part. The adjustable variable stiffness mechanism mainly consists of the lifting-pulling slide block and a spring loading mechanism, wherein the spring loading mechanism is fixedly connected with the housing of the frame, the lifting-pulling slide block is movably connected with the vertical polish shaft, and a distance D between the pressed face in the motion direction of the lifting-pulling slide block and the surface of the vertical polish shaft is in a non-equidistance state so as to provide varying stiffness for cervical vertebra stiffness simulation. The driving part and the driven part have mutually attracted magnetic force and are separated when exerted pulling force overcomes the magnetic force. The method and the device can simulate the biomechanical characteristic of the cervical vertebra of a person, are suitable for practice of a rotary lifting-pulling method, the characteristic can serve as one of reference indexes assessed by the method for assessment, and popularization of the rotary lifting-pulling method can be promoted.
Description
Technical field
The present invention relates to a kind of mechanical hook-up simulation cervical vertebra that adopts and propose the method for the mechanical characteristic in the process of pulling and the application of the mechanical cervical vertebra device adopting and this device thereof in traction.
Background technology
Cervical spondylopathy claims again cervical spine syndrome, it is the general name of osteoarthritis of cervical spine, proliferative cervical spondylosis, cervical syndrome, Cervical disc extrusion, being a kind ofly with degeneration pathology, to change into basic illness, is common disease, the frequently-occurring disease of orthopaedics, have touching difficulty more, the feature of outbreak repeatedly.In the < < whole world ten large chronic disease > > that WHO announces, cervical spondylopathy is listed in second largest chronic disease.According to clinical statistics, there is Patients with Cervical Spondylopathy 5,000 ten thousand-1.5 hundred million in China, and wherein spondylotic radiculopathy accounts for 60%.
Non-operative treatment is the Main Means for the treatment of nerve root cervical vertebra sickness.Wherein, rotation is pulled class gimmick and is had convenient effective feature, and without the inconvenience of taking medicine, without the worry of poisonous side effect of medicine, without the misery of acupuncture, is easy to be accepted by patient, is this sick important means of Chinese traditional treatment, is day by day subject to the great attention of domestic and international medical science.But such gimmick lacks working specification, scientific evaluation and mechanism research, and time have bad reaction generation, become and affect the key issue that such gimmick is applied.
Wangjing Hospital, China Academy Of Traditional Chinese Medicine, by rotation being pulled to the long-term clinical practice of class gimmick, is adjusted and innovates, and having set up working specification on the basis of traditional method.Its maximum feature is that core operation is decomposed into patient's autorotation location and patient to be carried and pull reset.For outstanding its operating characteristics, called after revolves handle method.This gimmick is through country's 15 brainstorm subjects and state natural sciences fund project verification research, proved the effectiveness and reliability of its treatment nerve root cervical vertebra sickness, obtain colleague's approval, be listed as hundred tcm clinical practice practical technique promotion projects of State Administration of Traditional Chinese Medicine and apply in the whole nation.
Although revolve the working specification that handle method is existing clear and definite and be proved to be safe and effective, revolve handle method and remain a medical skill that craftsmenship is strong, need to can grasp through standard training.Yet existing beginner's training scheme is only confined to explanation on classroom and professor's demonstration, beginner rarely has practice opportunity, causes gimmick to grasp process poor efficiency and slowly, serious restriction revolve popularizing of handle law technology.
By above-mentioned analysis, provide one can there is very high scientific research value and practical value towards the cervical vertebra mechanical analogue device that revolves the training of handle method.On the one hand, towards the cervical vertebra mechanical analogue device that revolves the training of handle method, can provide Practice Platform for beginner; On the other hand, can assess revolving each stage of handle method, thereby revolve handle method qualification reference is provided for can doctor possess clinical practice.
Summary of the invention
In order to solve the problems of the technologies described above, the object of the invention is to provide a kind of mechanical hook-up simulation cervical vertebra that adopts to put forward the method for the mechanical characteristic in the process of pulling in traction, and the application of the mechanical cervical vertebra device adopting and this device, it can adopt mechanical hook-up simulating human cervical vertebra to be drawn and carry the mechanical characteristic while pulling, and utilize mechanical hook-up to replace human individual, make this device that the platform of an exercise can be provided (comprising the new hand who did not learn) for the unskilled personnel of operation technique, especially can provide a kind of practice for beginner, training and evaluating platform, can be for rapidly, cultivate in high quality qualified manipulation person Practice Platform and technical support are provided, can effectively avoid the possibility in clinical manipulation process (comprising exercise process), human body being damaged.
In order to achieve the above object, main technical schemes provided by the invention is:
Adopt mechanical hook-up simulation cervical vertebra to put forward the method for the mechanical characteristic in the process of pulling in traction, it comprises:
Adopt change rigidity mechanism to simulate the viscoelasticity mechanical characteristic that cervical vertebra presents in trailed process;
And/or
Adopt magnetic desorption mechanism to simulate the mutability mechanical characteristic that cervical vertebra is presented in being put forward the process of pulling.
A cervical vertebra mechanical analogue device, it comprises:
Framework, described framework comprise shell and be connected in shell vertically to optical axis;
Prestrain simulated assembly, it comprises adjustable rigidity-changing mechanism, slide block is mainly pulled and spring-feel mechanism forms by carrying by this adjustable rigidity-changing mechanism, this is carried and pulls slide block and be provided with compacted, this spring-feel mechanism is pressed in this with snap-in force F and carries and pull compacted of slide block, this snap-in force F is that the Hookean spring in spring-feel mechanism provides, wherein, described spring-feel mechanism is fixedly connected with the shell of framework, described carrying pulled vertically can being dynamically connected to optical axis of slide block and framework, the direction of the elastic force that described Hookean spring provides is the roughly angles of 90 degree with the vertical bearing of trend to optical axis, and, described carrying pulled compacted identity distance that slide block is contacted with spring-feel mechanism and vertically to the distance D on optical axis surface, along putting forward the direction of motion of pulling slide block, is non-equidistant state, and the difference that the size that makes snap-in force F is pressed in the position of compacted with spring-feel mechanism changes, so that being provided, the rigidity of variation simulates the stiffness variation of cervical vertebra in being pulled process,
And
Carry and pull simulated assembly, the driving link and the driven member that comprise separated state, this driving link is pulled slide block and is connected with carrying, between this driving link and driven member, there is the magnetic force that the two is attracted each other, wherein, when putting on the traction force of described driving link and driven member and be enough to overcome described magnetic force, this driving link is separated with driven member.
An application for cervical vertebra mechanical analogue device, it is mainly used in the teaching for the treatment of of cervical spondylopathy gimmick, puts into practice, trains, assesses.
The invention has the beneficial effects as follows:
The present invention adopts mechanical hook-up simulating human cervical vertebra, and there is the mechanical characteristic similar with mankind's cervical vertebra, can adopt mechanical hook-up to replace human individual, making to provide (comprising the new hand who did not learn) platform of an exercise for the unskilled personnel of operation technique, especially can provide a kind of practice for beginner, training and evaluating platform, can be for rapidly, cultivate in high quality qualified manipulation person Practice Platform and technical support are provided, and can effectively avoid in clinical manipulation process (comprising exercise process), human body being damaged may, be conducive to promote to revolve popularizing of handle method.
Accompanying drawing explanation
Fig. 1 is the one-piece construction schematic diagram of one embodiment of the invention.
Fig. 2 is the one-piece construction schematic diagram of the prestrain simulated assembly in one embodiment of the invention.
Fig. 3 is the whole cross-sectional schematic of the prestrain simulated assembly in one embodiment of the invention.
Fig. 4 is the one-piece construction schematic diagram of the adjustable rigidity-changing mechanism in one embodiment of the invention.
Fig. 5 is the whole cross-sectional schematic of the adjustable rigidity-changing mechanism in one embodiment of the invention.
Fig. 6 is the one-piece construction schematic diagram of the spring-feel mechanism in one embodiment of the invention.
Fig. 7 is the front view that carrying in one embodiment of the invention pulled slide block.
Fig. 8 is the whole cross-sectional schematic of the head movement analogue means in Application Example of the present invention.
Fig. 9 is the one-piece construction schematic diagram of the base in one embodiment of the invention.
[main element symbol description]
Cervical vertebra mechanical analogue device 100;
Framework 1,
Vertically to linear bearing 12, switching bearing 13,
Tension-compression sensor 14, damper 15;
Prestrain simulated assembly 2,
Adjustable rigidity-changing mechanism 20,
Roller 201, roller supporting axle 202,
Level is to optical axis 203, horizontal linear bearing 204;
Carry and pull slide block 21,
Compacted 210, through hole 211, space 212;
Spring-feel mechanism 22,
The second spring bearer plate 222, spring limited post 223,
Mechanism for axial adjusting 224, double-direction thrust ball bearing 225,
Adjust handwheel 226, adjust limiting plate 227;
Prestrain limiting plate 23,
Limiting plate adjusting mechanism 24,
Limiting plate is adjusted optical axis 25,
Limiting plate is adjusted linear bearing 26;
Carry and pull simulated assembly 3,
Driving link 30, driven member 31,
Height control connecting rod 40, height control set bolt 41,
Hold-down support 42, balancing weight 43;
Head movement analogue means 5,
Vertically to optical axis 500, vertically to linear bearing 501,
Rotation band-type brake 510, electric rotating machine 511, axle sleeve 512,
The force transmitting board 513 that rotatablely moves, rotary support housing 514,
Axial-rotation housing 52,
Flexing whirligig 53,
Flexing band-type brake 530, flexing motor 531, axle sleeve 532,
Curvature movement force transmitting board 533, buckling support housing 534,
Servo-actuated flexion device 535,
The servo-actuated support 5350 of flexing, servo axis 5351, deep groove ball bearing 5352,
Flexing rotary shell 54, angular contact ball bearing 55, deep groove ball bearing 56.
Embodiment
In order better to explain the present invention, so that understand, below in conjunction with drawings and Examples, the invention will be further described.
A kind of mechanical hook-up simulation cervical vertebra that adopts provided by the invention is put forward the method for the mechanical characteristic in the process of pulling in traction, and it comprises:
Adopt change rigidity mechanism to simulate the viscoelasticity mechanical characteristic that cervical vertebra presents in trailed process.
In a preferred embodiment of the invention, described employing mechanical hook-up simulation cervical vertebra is put forward the method for the mechanical characteristic in the process of pulling in traction, also comprises:
Adopt magnetic desorption mechanism to simulate the mutability mechanical characteristic that cervical vertebra is presented in being put forward the process of pulling.
In a more preferred embodiment of the present invention, described employing mechanical hook-up simulation cervical vertebra is put forward the method for the mechanical characteristic in the process of pulling in traction, also comprises:
Adopt damping mechanism to simulate the slow self-reparability mechanical characteristic that cervical vertebra is presented in being put forward the viscoelasticity feature before pulling and being put forward the rejuvenation after pulling.
Referring to Fig. 1 to Fig. 9, a kind of cervical vertebra mechanical analogue device 100 of the present invention, it is mainly used in when simulating human cervical vertebra is pulled carrying the mechanical characteristic (or cervical vertebra state) in the process of pulling in traction, comprising:
Framework 1, described framework 1 comprise shell 10 and be connected in shell 10 vertically to optical axis 11;
Prestrain simulated assembly 2, it comprises adjustable rigidity-changing mechanism 20, this adjustable rigidity-changing mechanism 20 mainly pulls slide block 21 and provides snap-in force F to be pressed in to carry the spring-feel mechanism 22 of compacted 210 of pulling slide block 21 to form by Hookean spring 220 by being provided with compacted 210 carry, wherein, spring-feel mechanism 22 is fixedly connected with the shell 10 of framework 1, carry and pull vertically can being dynamically connected to optical axis 11 of slide block 21 and framework 1, the direction of the elastic force that described Hookean spring 220 provides is the roughly angles of 90 degree with the vertical bearing of trend to optical axis 11, and, described carrying pulled slide block 21 and is contacted with compacted 210 of spring-feel mechanism 22 apart from being vertically non-equidistant state to the distance D on optical axis 11 surfaces along putting forward the direction of motion of pulling slide block 21, and the difference that the size that makes snap-in force F is pressed in the position of compacted 210 with spring-feel mechanism 22 changes, so that being provided, the rigidity of variation simulates the stiffness variation of cervical vertebra in being pulled process, and
Carry and pull simulated assembly 3, the driving link 30 and the driven member 31 that comprise separated state, driving link 30 is pulled slide block 21 and is connected with carrying, between driving link 30 and driven member 31, there is the magnetic force that the two is attracted each other, wherein, when putting on the traction force of described driving link 30 with driven member 31 and be enough to overcome described magnetic force, this driving link 30 is separated with driven member 31.
Because the cervical vertebra of human body presents viscoelasticity in traction process, and be change stiffness characteristics.Therefore, utilization is determined rigid spring and is difficult to simulate really, and adopts non-linear spring to have high requirement to machining precision, nor can simulate the mechanical characteristics of different crowd.And the mechanism of this kind of adjustable rigidity-changing that the present invention adopts both can realize the simulation of cervical vertebra state in prestrain process, overcome again above-mentioned defect.
In a preferred embodiment of the invention, near putting forward distance D 1 integral body of pulling simulated assembly 3 one sides, be not less than the distance D 2 of pulling simulated assembly 3 one sides away from carrying, so that simulation cervical vertebra that can be more true to nature is in the process being pulled, the situation of change of cervical vertebra rigidity.For example, can be to make the increase gradually of pulling the displacement that slide block 21 lifted along with carrying, cause the compression quantitative change of Hookean spring 220 large, and then make the rigidity of whole adjustable rigidity-changing mechanism 20 also become gradually large curved surface (curve form of compacted 210 in embodiment is as shown in Figure 7 progressive curved surface groove), to obtain the stiffness variation similar with cervical vertebra stiffness variation (its shape also can according to needed rigidity Design).
In one embodiment of the invention, described framework 1 comprise two described vertically to optical axis 11, these two are vertically individually fixed in top and the bottom of shell 10 to the two ends of optical axis 11, its middle part is arranged in to be carried in the through hole 211 of pulling slide block 21, make to carry and pull slide block 21 and move along its bearing of trend, realize putting forward the guiding of pulling slide block 21.
In one embodiment of the invention, described in carry in the through hole 211 of pulling slide block 21, be provided with install described vertically to optical axis 11 vertically to linear bearing 12, every vertically to optical axis 11 corresponding two vertically to linear bearing 12.
In one embodiment of the invention, described carrying pulled slide block 21 middle parts and is provided with certain space 212, this space 212 extends to this through hole 211 and this through hole 211 is divided into two sections, in two sections, be respectively provided with described in one vertically to linear bearing 12, to improve the stability of guiding, especially to put forward the stability of pulling slide block 21 operations.In embodiment as shown in Figure 7, described carrying pulled slide block 21 for the form of hollow, and the part outer rim in the space 212 of its hollow is multi-stage stairs shape, with in the situation that not reducing space 212 volume, put forward the overall mechanical properties of pulling slide block 21, especially physical strength.And this space 212 can provide space 212 for mounting fastener, as can be electromagnet by securing member by driving link 30() be fixed on to carry and pull slide block 21.
Described driving link 30 can or be made by magnetic metal for magnet, electromagnet, and described driven member 31 can be made for magnet, electromagnet or magnetic metal.In embodiment as shown in Figure 3, described driving link 30 is electromagnet 37, the mass 38 that described driven member 31 is made for magnetic metal.
In one embodiment of the invention, coordinate the deadweight of described driven member 31 to make driving link 30 separated with driven member 31.In embodiment as shown in Figure 3, this mass 38 is provided with vertically to linear bearing 12, described vertically to the lower end of optical axis 11, be located at this mass 38 vertically in linear bearing 12, this mass 38 can vertically move to optical axis 11 along this.When pulling slide block 21 tractive driving link 30(as electromagnet 37 by carrying) time, the electromagnet 37 of energising utilizes electromagnetic force adsorbate gauge block 38, and drives it along vertically moving to optical axis 11.When putting on while putting forward the impulsive force of pulling 21 short time of slide block, if impulsive force is greater than the absorption affinity of electromagnet 37, electromagnet 37 departs from mass 38.
In one embodiment of the invention, described driven member 31 is connected with framework 1, utilizes the overall weight being connected with framework 1 to make driving link 30 separated with driven member 31.
In one embodiment of the invention, the size of the magnetic force between driving link 30 and driven member 31 is adjustable.Wherein, described driving link 30 and/or driven member 31 are electromagnet.
In one embodiment of the invention, described spring-feel mechanism 22 comprises provides snap-in force F(snap-in force all or part of of elastic force that F is provided by Hookean spring 220 to form) Hookean spring 220 and with compacted 210 roller contacting 201, so that spring-feel mechanism 22 is pulled 21 of slide blocks and is adopted to roll and contact, minimizing friction force with carrying.
In one embodiment of the invention, in order to make one-piece construction stable, stressed evenly the quantity of the Hookean spring 220 described in each in spring-feel mechanism 22 is two, and level is to being set up in parallel, the quantity of roller 201 is two, level is to being set up in parallel, and two Hookean springs 220 and two rollers 201 arrange (as shown in Figure 6) one to one, make described spring-feel mechanism 22 be symmetrical structure, so that stressed even, be preferably and be left-right and front-back symmetrical structure.
In one embodiment of the invention, described in carry that to pull compacted 210 of slide block 21 be two, a respectively corresponding described spring-feel mechanism 22(is as shown in Figure 4).
In one embodiment of the invention, described in carry and pull slide block 21 integral body and be symmetrical structure, be preferably and be left-right and front-back symmetrical structure.
In one embodiment of the invention, two described spring-feel mechanisms 22 are symmetrical structure and are arranged at and carry the both sides (as shown in Figure 5) of pulling slide block 21, form proposing the clamping of pulling slide block 21.
In one embodiment of the invention, described prestrain simulated assembly 2 integral body are symmetrical structure (as shown in Figure 3), are preferably and are left-right and front-back symmetrical structure.
In one embodiment of the invention, described spring-feel mechanism 22 also comprises first, second two spring bearer plates 221,222 of being located at Hookean spring 220 two ends, and the roller supporting axle 202 that roller 201 is installed on to the first spring bearer plate 221.In one embodiment of the invention, described roller supporting axle 202 quantity are one, and two rollers 201 are sheathed on this roller supporting axle 202(as shown in Figure 6).
Described Hookean spring 220 is column spring, in column spring, be provided with spring limited post 223, spring limited post 223 is connected in the first spring bearer plate 221 and/or the second spring bearer plate 222, the entire length of the spring limited post 223 in column spring is less than the length of column spring, to leave enough compression strokes 212 to column spring.In one embodiment of the invention, in each column spring, be provided with two spring limited posts 223, two spring limited posts 223 are connected to the first spring bearer plate 221 and the second spring bearer plate 222, between the two at a distance of a segment distance over against (as shown in Figure 6) is set.
In one embodiment of the invention, the pre compressed magnitude of described Hookean spring 220 is that size is adjustable, so that the cervical vertebra of simulation different-stiffness, realization is applicable for Different Individual, is especially conducive to realize the altitude simulation to individuation cervical vertebra.In one embodiment of the invention, described spring-feel mechanism 22 comprises the mechanism for axial adjusting 224 of adjusting Hookean spring 220 pre compressed magnitudes.In one embodiment of the invention, described mechanism for axial adjusting 224 one end are provided with external thread, the second spring bearer plate 222 is also provided with the threaded hole (being preferably the centre of form place that is located at the second spring bearer plate 222) coordinating with external thread, the shell 10 of framework 1 is provided with through hole, in this through hole, be provided with double-direction thrust ball bearing 225, described mechanism for axial adjusting 224 supports axial limiting are in this double-direction thrust ball bearing 225, and the other end is fixedly connected with an adjustment handwheel 226(as shown in Figure 5 after passing this through hole).
In one embodiment of the invention, on described the second spring bearer plate 222, be also provided with and adjust limiting plate 227.
In one embodiment of the invention, adjustment limiting plate 227 on each second spring bearer plate 222 is two, adjust the relative both sides (upper and lower sides as shown in Figure 4, Figure 5 can be also front and back sides) that limiting plate 227 is symmetrically arranged in the second spring bearer plate 222 for two.
In one embodiment of the invention, described adjustable rigidity-changing mechanism 20 comprises the horizontal linear bearing 204 of level to optical axis 203 and installation level to optical axis 203.
In one embodiment of the invention, described level is two to optical axis 203, every level is arranged in four horizontal linear bearings 204 to optical axis 203, in embodiment as shown in Figure 4, the first spring bearer plate 221 and the second spring bearer plate 222 are respectively provided with two horizontal linear bearings 204, two levels are arranged in respectively in two the first spring bearer plates 221 of two spring-feel mechanisms 22 and four horizontal linear bearings 204 of two second spring bearer plate 222 the same sides to optical axis 203 totally, so that described prestrain simulated assembly 2 one-piece constructions are stable.
In one embodiment of the invention, described cervical vertebra mechanical analogue device 100 also comprises:
Switching bearing 13, as the external interface being connected with outside (if being connected with head movement analogue means 5); And
Tension-compression sensor 14, is located at switching bearing 13 and carries and pulling between slide block 21, and carries and pull slide block 21 and be connected with the bearing 13 of transferring by tension-compression sensor 14.
In one embodiment of the invention, described switching bearing 13 is provided with vertically to linear bearing 12, and quantity is two, and vertically to optical axis 11, coordinates.
In one embodiment of the invention, described switching bearing 13 is U-shaped, and the leg on the top of U-shaped switching bearing 13 is connected with head movement analogue means 5, and the bottom of U-shaped switching bearing 13 arranges described tension-compression sensor 14, vertically to linear bearing 12.
In one embodiment of the invention, described cervical vertebra mechanical analogue device 100 also comprises:
In one embodiment of the invention, the first end of described damper 15 is fixed on switching bearing 13, the second ends and is fixed on shell 10.
In one embodiment of the invention, the first end of described damper 15 is fixed on to carry and pulls slide block 21, the second ends and be fixed on shell 10.
In an embodiment shown in Fig. 2 of the present invention, the pedestal of described damper 15 is arranged on to carry and pulls on slide block 21, damper 15 adopts bi-directional expansion bar, the two ends of this bi-directional expansion bar are fixed with the both sides up and down of shell 10 respectively, in operating process, when carrying, pull slide block 21 or switching bearing 13 while being subjected to displacement, the pedestal of damper 15 changes with respect to two ends of bi-directional expansion bar.In order to ensure prestrain and propose the security of cervical vertebra mechanical analogue device in the process of pulling, it is identical apart from sum that the travel range of damper 15 and hauling distance and carrying pulled, make in operating process, the power of pulling of carrying applying as operator makes to carry and pulls slide block 21 or switching bearing 13 while exceeding its travel range, damper 15 can limit its motion, thus assurance device and operator's security.
In one embodiment of the invention, described damper 15 is two.
In one embodiment of the invention, two described dampers 15 are arranged symmetrically with.
In one embodiment of the invention, the spacing position of described prestrain limiting plate 23 is adjustable.
The spacing position of described prestrain limiting plate 23 can be realized adjustable by the limiting plate adjusting mechanism 24 of thread screw structure, in one embodiment of the invention, in being provided with, establishes prestrain limiting plate 23 threaded hole of screw thread, screw flight section is bolted in threaded hole, the polished rod section of screw rod wears and is limited in the limiting section being fixedly connected with the shell 10 of framework 1, and screw rod is connected with the handwheel of drive screw rotation.
In one embodiment of the invention, the shell 10 of described framework 1 is provided with limiting plate and adjusts optical axis 25, prestrain limiting plate 23 is provided with limiting plate and adjusts linear bearing 26, limiting plate adjustment optical axis 25 is arranged in limiting plate adjustment linear bearing 26 makes prestrain limiting plate 23 adjust optical axis 25 guiding by limiting plate, so that stressed even, stable.
In one embodiment of the invention, described limiting plate adjusts optical axis 25 and limiting plate adjustment linear bearing 26 is two, is preferably and is symmetrically arranged.
In one embodiment of the invention, described prestrain limiting plate 23 integral body are left-right and front-back symmetrical structure.
In one embodiment of the invention, described cervical vertebra mechanical analogue device 100 also comprises pedestal 4, and one end of pedestal 4 is connected with framework 1, and the other end is located at ground.
In one embodiment of the invention, the height of pedestal 4 is adjustable.
In one embodiment of the invention, adjustable for height pedestal 4 comprises height control connecting rod 40, height control set bolt 41 and hold-down support 42.
In one embodiment of the invention, height control connecting rod 40 one end are connected with the shell 10 of framework 1, height control connecting rod 40 other ends and hold-down support 42 are slidably socketed, and height control set bolt 41 is fixed on height control connecting rod 40 and hold-down support 42 to need height.
In one embodiment of the invention, the internal diameter of hold-down support 42 is not less than the external diameter of height control connecting rod 40, and height control set bolt 41 is arranged in the pilot hole on hold-down support 42 walls, and top holds out against height control connecting rod 40.
In one embodiment of the invention, hold-down support 42 is also provided with balancing weight 43 away from one end of height control connecting rod 40.
In one embodiment of the invention, hold-down support 42 is fixed on ground away from one end of height control connecting rod 40, as fixed by foot bolt.
In one embodiment of the invention, described cervical vertebra mechanical analogue device 100 also comprises head movement analogue means 5, and it has rotation (rotation of analogue head) and two degree of freedom of flexing (pitching of analogue head).It comprises the card extender 50 being connected with switching bearing 13, the axial rotating device 51 being connected with card extender 50, be connected in axial rotating device 51 and with the axial-rotation housing 52 of its interlock, the flexing whirligig 53 being connected with axial-rotation housing 52, be connected in flexing whirligig 53 and with the flexing rotary shell 54 of its interlock, wherein, axial rotating device 51 is provided with the location that axial-rotation locating device carries out axial-rotation angle, and flexing whirligig 53 is provided with the location that flexing rotary positioning apparatus carries out the flexing anglec of rotation.
In one embodiment of the invention, axial rotating device 51 comprises the electric rotating machine 511 being fixedly connected with card extender 50, the axle sleeve 512 being connected with the motor shaft of electric rotating machine 511, the force transmitting board 513 that rotatablely moves being fixedly connected with axle sleeve 512, and the rotary support housing 514 being fixedly connected with card extender 50, axial-rotation housing 52 is provided with bottom sheath body, bottom sheath body is socketed on outside rotary support housing 514, the two is provided with angular contact ball bearing 55, axial-rotation housing 52 is fixedly connected with the force transmitting board 513 that rotatablely moves, and realize axial-rotation under the drive of the force transmitting board 513 that rotatablely moves.
In one embodiment of the invention, axial-rotation locating device, for rotation band-type brake 510, is located between rotary support housing 514 and the motor shaft of electric rotating machine 511, is fixedly connected with card extender 50.
In one embodiment of the invention, flexing whirligig 53 comprises the flexing motor 531 being fixedly connected with axial-rotation housing 52, the axle sleeve 532 being connected with the motor shaft of flexing motor 531, the curvature movement force transmitting board 533 being fixedly connected with axle sleeve 532, and the buckling support housing 534 being fixedly connected with axial-rotation housing 52, flexing rotary shell 54 is provided with bottom sheath body, bottom sheath body is socketed on outside buckling support housing 534, the two is provided with deep groove ball bearing 56, flexing rotary shell 54 is fixedly connected with curvature movement force transmitting board 533, and under the drive of curvature movement force transmitting board 533, realize flexing and rotate.
In one embodiment of the invention, flexing whirligig 53 also comprises servo-actuated flexion device 535, during servo-actuated flexion device 535 comprises the servo-actuated support 5350 of the flexing being fixedly connected with axial-rotation housing 52 and is located at the servo-actuated support 5350 of flexing and the servo axis 5351 being fixedly connected with flexing rotary shell 54, the servo-actuated support 5350 of flexing and curvature movement force transmitting board 533 are relatively arranged on the both sides of flexing rotary shell 54, between the servo-actuated support 5350 of flexing and servo axis 5351, are provided with deep groove ball bearing 5352.
In one embodiment of the invention, flexing rotary positioning apparatus is flexing band-type brake 530, is located at axial-rotation housing 52.
In one embodiment of the invention, card extender 50 is provided with vertically to linear bearing 501, and is fixed on vertically matching to optical axis 500 of framework 1, to vertically leading to motion of head motion simulator 5.
The present invention also provides a kind of application of cervical vertebra mechanical analogue device, and it is mainly used in the teaching for the treatment of of cervical spondylopathy gimmick, puts into practice, trains, assesses.
Wherein, described cervical spondylopathy comprises neck type.
Wherein, described cervical spondylopathy comprises spondylotic radiculopathy.
Wherein, described treatment skill is pulled class gimmick or rotation class gimmick or rotation and is carried and pull class gimmick for carrying.
Wherein, described rotation is carried and is pulled class gimmick and revolve handle method described in comprising.
Take below and revolve handle method as example, a kind of embodiment of the present invention is described in detail.
Revolving handle method is divided into rotation and carries and pull two operations.Wherein, rotation is instructed patient to complete head by doctor and is initiatively horizontally rotated (left or right) to extreme angles, after maximum flexion (nutation), rotate again (continue left or continue right), reach and have fixing sense, behind location, patient's incidence spatiality, in steady state (SS), does not embody elastic characteristic (being rigidity) in sense of rotation; Carry pulling by doctor and operated, comprise three parts, prestrain part (traction in advance), carry and pull part and recovered part.Wherein, in prestrain process, doctor, with ancon holder patient lower jaw, upwards draws 3 seconds to 5 seconds gently, and body is to being change stiffness characteristics; Putting forward the process of pulling, doctor advises patient to relax one's muscles, and ancon upwards lifts fast by short power, operates and successfully can hear or many sound snap; After completing and carrying and pulling, slowly make patient's head recover.
The applied cervical vertebra mechanical analogue of the present embodiment device 100 by: cervical vertebra mechanical analogue device (comprise prestrain simulated assembly 2 and propose and pull simulated assembly 3), pedestal 4 and control are pulled in head movement analogue means 5, prestrain and carrying and detection system four parts form.
Wherein, head movement analogue means 5 is for simulating in rotation and the curvature movement of revolving handle method process patient head; Carry and pulling with prestrain cervical vertebra mechanical analogue device for simulating motion change and the state at gimmick process patients with cervical; Base part is for supporting the main part of cervical vertebra mechanical analogue device 100, and as the counterweight of whole device, prevents that whole mechanism moves axially when implementing to revolve the operation of handle method, thus impact effect; Control and to comprise the control of motor, electromagnet and band-type brake with detection system and respectively to execute art stage index and detect (index comprises: rotation and flexion angle, carry and pull power size, direction etc.).
Below the primary structure in the present embodiment and mode of operation are described in detail:
(1) head movement analogue means 5
Head movement analogue means 5 has flexing and two degree of freedom of rotation, as shown in Figure 8.The housing of electric rotating machine 511 is connected by securing member with card extender 50, the motor shaft of electric rotating machine 511 is connected with the force transmitting board 513 that rotatablely moves by axle sleeve 512, in order to ensure the reliability of carry-over moment, the head of axle sleeve 512 can be processed as shaped face (quadrilateral or sexangle).The force transmitting board 513 that rotatablely moves is connected by securing member and axial-rotation housing 52, and by the outer ring of upper and lower two angular contact ball bearings 55, is supported in the top of card extender 50.Angular contact ball bearing 55 inner rings are connected with rotary support housing 514.Flexing motor 531 is connected with curvature movement force transmitting board 533 by axle sleeve 532, make flexing rotary shell 54 right-hand members obtain power, and the outer ring that utilizes deep groove ball bearing 56 is supported in the right-hand member of flexing motor 531, the inner ring of deep groove ball bearing 56 and axial-rotation housing 52 are connected.Flexing rotary shell 54 relatively rotates with axial-rotation housing 52.For the stressed of flexing rotary shell 54 that reasonably distribute, the other end of flexing rotary shell 54 is connected with servo axis 5351, and utilizes the inner ring of deep groove ball bearing 5352 to be supported on the left end of axial-rotation housing 52.The outer ring of deep groove ball bearing 5352 is fixed by being fixed on the servo-actuated support 5350 of flexing in axial-rotation housing 52 left sides.For the ease of making mechanism guarantee pose when executing art, flexing band-type brake 530 is connected with axle sleeve 512 with servo axis 5351 respectively with rotation band-type brake 510.Card extender 50 belows are left mechanical interface and can be pulled process cervical vertebra mechanical analogue device and be connected with carrying by securing member and prestrain.Mechanical interface is left in head movement analogue means 5 tops, fixing head model easily, thus convenient operation person executes art.
(2) prestrain is pulled process cervical vertebra mechanical analogue device with carrying
Prestrain is pulled process cervical vertebra mechanical analogue device by becoming rigidity section and electromagnet is partly composed in series with carrying.Wherein become the simulation that rigidity section is mainly used in prestrain part, electromagnet part and the rigidity section one that becomes are used to simulate to carry and pull open the mechanical characteristics (revolving the mechanical analogue of the cervical vertebra state in full stage under the effect of handle method) beginning to terminal procedure cervical vertebra.
Prestrain is pulled process cervical vertebra mechanical analogue device as shown in Fig. 3 and Fig. 2 with carrying, vertically to optical axis 11 two ends, be separately fixed at shell 10 tops and bottom, vertically to linear bearing 12,501 and limiting plate, adjust linear bearing 26 and be separately fixed at switching bearing 13, carry and pulling on slide block 21 and mass 38, and the bearing 13 of can guaranteeing to transfer, carry and pull slide block 21 and mass 38 is longitudinally sliding on optical axis.In order to make device can simulate different cervical vertebra prestrain length, the axial location of prestrain limiting plate 23 can utilize limiting plate adjusting mechanism 24 to adjust linear bearing 26 by limiting plate and adjust the enterprising line slip of optical axis 25 at limiting plate, thereby reaches the object of adjusting cervical vertebra prestrain length.The two ends of pull pressure sensor 14 are processed with screw thread respectively with switching bearing 13 bottoms with carry and pull slide block 21 upper ends and is connected, and the bearing 13 of transferring is U font, and the mechanical interface that card extender in square opening that shell 10 tops process and Fig. 8 is passed on its top is connected.Carry and pull slide block 21 and be processed as hollow form, both sides form progressive curved surface groove, and its shape is according to required rigidity Design, and hollow space can provide space for mounting fastener, and is connected with electromagnet 37 by securing member.After electromagnet 37 energisings, utilize electromagnetic force adsorbate gauge block 38 to move.In order to guarantee stability under loading, adjustable rigidity-changing mechanism 20 is symmetrical expression and arranges to act on respectively and carry the both sides of pulling slide block 21.The pedestal of damper 15 is arranged on to carry and pulls on slide block 21, and in gimmick overall process, the expansion link end of damper 15 and shell 10 is fixing, and when carrying when pulling slide block 21 and being moved, the pedestal of damper 15 changes with respect to expansion link end.
Wherein, adjustable rigidity-changing mechanism 20 is comprised of to optical axis 203, horizontal linear bearing 204, roller 201, Hookean spring 220, mechanism for axial adjusting 224, double-direction thrust ball bearing 225 and spring limited post 223 adjustment handwheel 226, spring-feel mechanism 22, adjustment limiting plate 227, level.Wherein, spring-feel mechanism 22 is comprised of roller supporting axle 202, the second spring bearer plate 222, Hookean spring 220, the first spring bearer plate 221, for 22 one-tenth symmetrical expressions of stressed even spring-feel mechanism are arranged.The first spring bearer plate 221 and the second spring bearer plate 222 are all provided with horizontal linear bearing 204, can on optical axis 203, move in level.The two ends of Hookean spring 220 are connected with the second spring bearer plate 222 right sides with the first spring bearer plate 221 left sides respectively, the centre of form place of the second spring bearer plate 222 is processed with screw thread, mechanism for axial adjusting 224 right-hand members are processed with screw thread, and left end is connected and supports by double-direction thrust ball bearing 225 with adjustment handwheel 226.The second spring bearer plate 222 is threaded connection with mechanism for axial adjusting 224, and can adjust spring pre compressed magnitude by adjusting handwheel 226.The right-hand member of the first spring bearer plate 221 is connected with roller supporting axle 202, and the support of roller 201 by roller supporting axle 202 kept in touch with carrying the curved surface of pulling slide block 21, and under the effect of spring-feel mechanism 22, keeps and put forward the compression of pulling slide block 21.
Prestrain comprises with the main working process of putting forward the process of pulling:
A. prestrain process cervical vertebra mechanical analogue
In prestrain, execute in art process, preload force acts on switching bearing 13, and power is passed to carry by tension-compression sensor 14 pulls slide block 21, and tension-compression sensor 14 is used for measuring and revolves pulling force size in handle method.Carry and pull slide block 21 band motor magnets 37 and mass 38 moves upward.Spring-feel mechanism 22 pinch rollers 201 are pulled slide block 21 with carrying, roller 201 applies downward acting force carrying pulling on slide block 21, along with carrying, pull slide block 21 displacements and increase gradually, its curved surface causes the compression quantitative change of Hookean spring 220 large, therefore make the rigidity of whole mechanism also become gradually large, the variation of its rigidity and cervical vertebra stiffness variation are similar.Until mass 38 is when contact with prestrain limiting plate 23, mechanical pre-loaded simulation process completes.
B. carry and pull the mechanical analogue of process cervical vertebra
After prestrain process finishes, start to put forward the process of pulling, on switching bearing 13, can be subject to the impulsive force of short time, when impulsive force is greater than the absorption affinity of magnet, electromagnet 37 can depart from mass 38, and follows the sound while throwing off.Thereby the biomechanical characterization when drawing up human cervical spine and promoted power from mechanism's patrix.For guaranteeing prestrain and proposing the security of pulling process cervical vertebra mechanical analogue device, it is identical apart from sum that the range of movement of damper 15 and hauling distance and carrying pulled, once operator applies puies forward the power of pulling and makes to carry and pull slide block 21 and surpass its range of movement, damper 15 can limit its motion, thus assurance device and operator's security.
(3) base part
Base part is comprised of height control connecting rod 40, height control set bolt 41, hold-down support 42 and balancing weight 43.Height control connecting rod 40 tops are connected with shell 10 by securing member, height control connecting rod 40 is arranged on hold-down support 42 inside, and portion slides, thereby realize the height control to whole device within it, make operator can revolve for Different Individual the training on operation of handle method.After determining height, by a plurality of height control set bolts 41 that arrange, hold-down support 42 and height control connecting rod 40 can be fixed together.Owing to there being impulsive force to produce in operating process, gimmick requires base part in revolving the process of putting forward not to be moved, therefore, by add balancing weight 43 or by mounting foot bolt method, guarantee the stability of base part.
(4) control and detection system
Control with detection system and formed by computing machine, data collecting card and sensor (power sensor, angular transducer, position transducer and accelerometer etc.), motor driver, capture card is arranged in computing machine, be electrically connected to sensor and motor driver, by host computer, realize the detection of the signal of the control of motor and sensor, processing and record, and judge that whether gimmick is qualified.
Front and back up and down described in the present invention, only for statement is conveniently used for representing relative direction, do not form the restriction to true bearing, and when it refers to normal reading accompanying drawing, up and down, outwardly, rear finger paper inwardly for front finger paper for drawing.
The present invention has designed a kind of individuation cervical vertebra mechanical analogue device towards revolving the training of handle method, adopt adjustable rigidity-changing mechanism and electromagnet to carry out mechanical analogue to revolving handle method overall process, and by the position of adjustable rigidity-changing mechanism and limiting plate, can simulate the Human Cervical Spine Modeling feature of individuation.This device is applicable to beginner's study and handle method is revolved in grasp, and as one of reference index of gimmick examination, is applicable to again in teaching, as the experiment porch of teaching gimmick, and can be to the assessment that standardizes of the gimmick of operation.Thereby play facilitation for revolving popularizing of handle method.
Claims (10)
1. adopt mechanical hook-up simulation cervical vertebra to put forward the method for the mechanical characteristic in the process of pulling in traction, it is characterized in that comprising:
Adopt change rigidity mechanism to simulate the viscoelasticity mechanical characteristic that cervical vertebra presents in trailed process;
And/or
Adopt magnetic desorption mechanism to simulate the mutability mechanical characteristic that cervical vertebra is presented in being put forward the process of pulling.
2. a cervical vertebra mechanical analogue device, is characterized in that, comprising:
Framework, described framework comprise shell and be connected in shell vertically to optical axis;
Prestrain simulated assembly, it comprises adjustable rigidity-changing mechanism, slide block is mainly pulled and spring-feel mechanism forms by carrying by this adjustable rigidity-changing mechanism, this is carried and pulls slide block and be provided with compacted, this spring-feel mechanism is pressed in this with snap-in force F and carries and pull compacted of slide block, this snap-in force F is that the Hookean spring in spring-feel mechanism provides, wherein, described spring-feel mechanism is fixedly connected with the shell of framework, described carrying pulled vertically can being dynamically connected to optical axis of slide block and framework, the direction of the elastic force that described Hookean spring provides is the roughly angles of 90 degree with the vertical bearing of trend to optical axis, and, described carrying pulled compacted identity distance that slide block is contacted with spring-feel mechanism and vertically to the distance D on optical axis surface, along putting forward the direction of motion of pulling slide block, is non-equidistant state, and the difference that the size that makes snap-in force F is pressed in the position of compacted with spring-feel mechanism changes, so that being provided, the rigidity of variation simulates the stiffness variation of cervical vertebra in being pulled process,
And
Carry and pull simulated assembly, the driving link and the driven member that comprise separated state, this driving link is pulled slide block and is connected with carrying, between this driving link and driven member, there is the magnetic force that the two is attracted each other, wherein, when putting on the traction force of described driving link and driven member and be enough to overcome described magnetic force, this driving link is separated with driven member.
3. cervical vertebra mechanical analogue device as claimed in claim 2, is characterized in that: described driving link is magnet, electromagnet or made by magnetic metal, and described driven member is magnet, electromagnet or is made by magnetic metal.
4. cervical vertebra mechanical analogue device as claimed in claim 2, it is characterized in that: described spring-feel mechanism also comprises and compacted the roller contacting, be located at first of Hookean spring two ends, the second two spring bearer plates, and the roller supporting axle that roller is installed on to the first spring bearer plate, described Hookean spring is column spring, in column spring, be provided with spring limited post, spring limited post is connected in the first spring bearer plate and/or the second spring bearer plate, the entire length of the spring limited post in column spring is less than the length of column spring, to leave enough compression strokes to column spring.
5. cervical vertebra mechanical analogue device as claimed in claim 4, it is characterized in that: described in carry that to pull compacted of slide block be two, a respectively corresponding described spring-feel mechanism, described carrying pulled slide block integral body and is symmetrical structure, two described spring-feel mechanisms are also symmetrical structure and are arranged at and carry the both sides of pulling slide block, and described prestrain simulated assembly integral body is also symmetrical structure.
6. cervical vertebra mechanical analogue device as claimed in claim 4, is characterized in that: described adjustable rigidity-changing mechanism comprises the horizontal linear bearing of level to optical axis and installation level to optical axis, and described horizontal linear bearing is located at the first and/or second spring bearer plate.
7. cervical vertebra mechanical analogue device as claimed in claim 2, is characterized in that, also comprises:
Switching bearing, as the external interface being connected with outside, switching bearing be provided with described vertical to optical axis, coordinate vertically to linear bearing;
Tension-compression sensor, is located at switching bearing and carries and pulling between slide block, and carries and pull slide block and be connected with the bearing of transferring by tension-compression sensor;
Damper, its pedestal is installed on to carry pulls slide block, and its expansion link is bi-directional expansion, and distance of stretch out and draw back equals hauling distance and carries and pulling apart from sum.
8. cervical vertebra mechanical analogue device as claimed in claim 2, is characterized in that, also comprises:
Prestrain limiting plate, is connected with framework, to the stroke of driving link, forms spacing; And/or
Pedestal, one end of pedestal is connected with framework, and the other end is located at ground.
9. an application for cervical vertebra mechanical analogue device, is characterized in that, is mainly used in the teaching for the treatment of of cervical spondylopathy gimmick, puts into practice, trains, assesses.
10. application as claimed in claim 9, is characterized in that: described treatment skill is carried and pulled class gimmick or carry and pull class gimmick for rotation.
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| CN201310751105.6A CN103714738B (en) | 2013-12-31 | 2013-12-31 | Mechanical hook-up simulation cervical traction is adopted to put forward the method and device of pulling characteristic |
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| WO2024060309A1 (en) * | 2022-09-22 | 2024-03-28 | 中国中医科学院望京医院(中国中医科学院骨伤科研究所) | Human cervical vertebra simulation device oriented to rotation-traction manipulation training and teaching robot |
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