CN103714738B - Mechanical hook-up simulation cervical traction is adopted to put forward the method and device of pulling characteristic - Google Patents
Mechanical hook-up simulation cervical traction is adopted to put forward the method and device of pulling characteristic Download PDFInfo
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Abstract
The method of mechanical analogue cervical vertebra characteristic and a device, this device comprises: framework, and it comprises the vertical to optical axis of shell and connected with outer casing; Prestrain simulated assembly, it comprises adjustable rigidity-changing mechanism, slide block and spring-feel mechanism composition are pulled primarily of carrying by this adjustable rigidity-changing mechanism, spring-feel mechanism is fixedly connected with the shell of framework, carry and pull slide block and vertically can be dynamically connected to optical axis, it is non-equidistant state apart from the distance D vertically to optical axis surface that the direction of motion of pulling slide block is put forward on compacted edge, to provide the rigidity of change to simulate the stiffness variation of cervical vertebra; And carry and pull simulated assembly, comprise and pull the driving link that slide block connects and the driven member be separated with carrying, have the magnetic force attracted each other between the two, when the traction force applied overcomes this magnetic force, the two is separated.The present invention can simulate the biomechanical characterization of people's cervical vertebra, is applicable to putting into practice rotation and puies forward plate class gimmick, and can be used as one of reference index of gimmick examination, assesses, can promote to revolve popularizing of handle method.
Description
Technical field
The present invention relates to a kind of method adopting mechanical hook-up simulation cervical vertebra to carry the mechanical characteristic in the process of pulling in traction, and the application of the mechanical cervical vertebra device adopted and this device.
Background technology
Cervical spondylopathy is also known as cervical spine syndrome, it is the general name of osteoarthritis of cervical spine, proliferative cervical spondylosis, cervical syndrome, Cervical disc extrusion, being a kind of illness changing into basis with degeneration pathology, is common disease, the frequently-occurring disease of orthopaedics, have touching difficulty more, the feature of recurrent exerbation.In " whole world ten large chronic diseases " 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 as patient is accepted, is the important means of this disease of Chinese traditional treatment, is day by day subject to the great attention of domestic and international medical science.But such gimmick lack working specification, scientific evaluation and study mechanism, and time have bad reaction to occur, become the key issue affecting such gimmick and apply.
Wangjing Hospital, China Academy Of Traditional Chinese Medicine, by rotating the long-term clinical practice pulling class gimmick, the basis of traditional method adjusting and innovates, and establishing working specification.Its maximum feature is core operation to be decomposed into patient's autorotation location and patient and carries and pull reset.For its operating characteristics outstanding, called after revolves handle method.This gimmick is through country's 15 brainstorm subjects and state natural sciences fund registration study, demonstrate the effectiveness and reliability of its treatment nerve root cervical vertebra sickness, obtain colleague's accreditation, be listed as State Administration of Traditional Chinese Medicine's hundred tcm clinical practice practical technique promotion projects and apply in the whole nation.
Although revolve handle method have clear and definite working specification and be proved to be safe and effective, revolve handle method and remain the strong medical skill of a craftsmenship, need can grasp through normalized training.But existing beginner's training scheme is only confined to explanation on classroom and professor's demonstration, and beginner rarely has practice opportunity, gimmick is caused to grasp process inefficient and slowly, popularizing of handle law technology is revolved in serious constraining.
By above-mentioned analysis, provide one can have very high scientific research value and practical value towards the cervical vertebra mechanical simulation apparatus revolving the training of handle method.On the one hand, Practice Platform can be provided for beginner towards the cervical vertebra mechanical simulation apparatus revolving the training of handle method; On the other hand, each stage of revolving handle method can be assessed, thus revolve handle method for can doctor possess clinical practice qualification reference is provided.
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 method adopting mechanical hook-up simulation cervical vertebra to carry the mechanical characteristic in the process of pulling in traction, and the application of the mechanical cervical vertebra device adopted and this device, it can adopt mechanical hook-up simulating human cervical vertebra to be drawn and carry mechanical characteristic when pulling, and utilize mechanical hook-up to replace human individual, make this device can provide a platform practised for the unskilled personnel of operation technique (comprising the new hand do not learnt), especially a kind of practice can be provided for beginner, training and evaluating platform, can be rapidly, cultivate qualified manipulation person in high quality and Practice Platform and technical support are provided, can effectively avoid in clinical manipulation process (comprising exercise process) the possibility that human body damages.
In order to achieve the above object, main technical schemes provided by the invention is:
Adopt mechanical hook-up to simulate cervical vertebra and drawing a method for the mechanical characteristic put forward in the process of pulling, it comprises:
The viscoelasticity mechanical characteristic that cervical vertebra presents in trailed process is simulated by employing variation rigidity mechanism, wherein, described variation rigidity mechanism comprises level to optical axis, carry and pull slide block and spring-feel 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 compacted that pulls slide block, this snap-in force F is provided by the Hookean spring in spring-feel mechanism, wherein, described spring-feel mechanism also comprises and compacted the roller contacted, be located at the first spring bearer plate and second spring bearer plate at Hookean spring two ends respectively, and roller is installed on the roller supporting axle of the first spring bearer plate, and the first spring bearer plate and the second spring bearer plate can move on optical axis in level, first spring bearer plate is connected with roller supporting axle, roller by the support of roller supporting axle with carry the curved surface pulling slide block and keep in touch, and keep under the effect of spring-feel mechanism and put forward the compression of pulling slide block, described spring-feel mechanism is fixedly connected with the shell of framework, described carrying pulls slide block and the vertical of framework can be dynamically connected to optical axis, and make to carry and pull slide block and move along its bearing of trend, realize putting forward the guiding of pulling slide block, direction and the bearing of trend vertically to optical axis of the elastic force that described Hookean spring provides are the angle of 90 degree, and, described carrying pulls the compacted identity distance of shoe contact in spring-feel mechanism vertically to the distance D on optical axis surface along to put forward the direction of motion of pulling slide block be non-equidistant state, and make the size of snap-in force F be pressed in the difference of the position of compacted with spring-feel mechanism and change, the stiffness variation in process is being pulled to simulate cervical vertebra to provide the rigidity of change,
With
Adopt magnetic desorption mechanism simulate cervical vertebra to be carried in the process of pulling the mutability mechanical characteristic that presents, wherein, described magnetic desorption mechanism comprises driving link and the driven member of separated state, this driving link is pulled slide block and is connected with carrying, there is between this driving link and driven member the magnetic force making the two attract each other, wherein, when the traction force putting on described driving link and driven member is enough to overcome described magnetic force, this driving link is separated with driven member.
A kind of cervical vertebra mechanical simulation apparatus, it comprises:
Framework, described framework comprises shell and be connected to the vertical to optical axis of shell, wherein, described framework comprise two described vertically to optical axis, two top and bottoms being vertically individually fixed in shell to the two ends of optical axis;
Prestrain simulated assembly, it comprises adjustable rigidity-changing mechanism, this adjustable rigidity-changing mechanism comprises level to optical axis, carry and pull slide block and spring-feel 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 compacted that pulls slide block, this snap-in force F is provided by the Hookean spring in spring-feel mechanism, wherein, described spring-feel mechanism also comprises and compacted the roller contacted, be located at the first spring bearer plate and second spring bearer plate at Hookean spring two ends respectively, and roller is installed on the roller supporting axle of the first spring bearer plate, and the first spring bearer plate and the second spring bearer plate can move on optical axis in level, first spring bearer plate is connected with roller supporting axle, roller by the support of roller supporting axle with carry the curved surface pulling slide block and keep in touch, and keep under the effect of spring-feel mechanism and put forward the compression of pulling slide block, described spring-feel mechanism is fixedly connected with the shell of framework, described carrying pulls slide block and the vertical of framework can be dynamically connected to optical axis, and make to carry and pull slide block and move along its bearing of trend, realize putting forward the guiding of pulling slide block, direction and the bearing of trend vertically to optical axis of the elastic force that described Hookean spring provides are the angle of 90 degree, and, described carrying pulls the compacted identity distance of shoe contact in spring-feel mechanism vertically to the distance D on optical axis surface along to put forward the direction of motion of pulling slide block be non-equidistant state, and make the size of snap-in force F be pressed in the difference of the position of compacted with spring-feel mechanism and change, the stiffness variation in process is being pulled to simulate cervical vertebra to provide the rigidity of change,
And
Carry and pull simulated assembly, comprise driving link and the driven member of separated state, this driving link is pulled slide block and is connected with carrying, there is between this driving link and driven member the magnetic force making the two attract each other, wherein, when the traction force putting on described driving link and driven member is enough to overcome described magnetic force, this driving link is separated with driven member.
An application for cervical vertebra mechanical simulation apparatus, it is mainly used in teaching to treatment 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, mechanical hook-up can be adopted to replace human individual, make it possible to as the unskilled personnel of operation technique (comprising the new hand do not learnt) provide a platform practised, especially a kind of practice can be provided for beginner, training and evaluating platform, can be rapidly, cultivate qualified manipulation person in high quality and Practice Platform and technical support are provided, and can effectively avoid in clinical manipulation process (comprising exercise process) the possibility that human body damages, be conducive to promoting 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 overall 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 overall 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 pulls slide block;
Fig. 8 is the overall cross-sectional schematic of the head movement analogue means in the present invention's Application Example;
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 simulation apparatus 100;
Framework 1,
Shell 10, vertically to optical axis 11,
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 to optical axis 203, horizontal linear bearing 204;
Carry and pull slide block 21,
Compacted face 210, through hole 211, space 212;
Spring-feel mechanism 22,
Hookean spring 220, the first spring bearer plate 221,
Second spring bearer plate 222, spring retainer post 223,
Mechanism for axial adjusting 224, double-direction thrust ball bearing 225,
Adjustment handwheel 226, adjustment limiting plate 227;
Prestrain limiting plate 23,
Limiting plate adjusting mechanism 24,
Limiting plate adjustment optical axis 25,
Limiting plate adjustment linear bearing 26;
Carry and pull simulated assembly 3,
Driving link 30, driven member 31,
Electromagnet 37, mass 38;
Pedestal 4,
Height control connecting rod 40, height control set bolt 41,
Hold-down support 42, balancing weight 43;
Head movement analogue means 5,
Card extender 50,
Vertically to optical axis 500, vertically to linear bearing 501,
Axial rotating device 51,
Rotate band-type brake 510, electric rotating machine 511, axle sleeve 512,
Rotary motion force transmitting board 513, 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 to better explain the present invention, so that understand, below in conjunction with drawings and Examples, the invention will be further described.
A kind of method adopting mechanical hook-up simulation cervical vertebra to carry the mechanical characteristic in the process of pulling in traction provided by the invention, it comprises:
The viscoelasticity mechanical characteristic that cervical vertebra presents in trailed process is simulated by employing variation rigidity mechanism.
In a preferred embodiment of the invention, described employing mechanical hook-up simulation cervical vertebra puies forward the method for the mechanical characteristic in the process of pulling in traction, also comprise:
Adopt magnetic desorption mechanism simulate cervical vertebra to be carried in the process of pulling the mutability mechanical characteristic that presents.
In a more preferred embodiment of the present invention, described employing mechanical hook-up simulation cervical vertebra puies forward the method for the mechanical characteristic in the process of pulling in traction, also comprise:
Adopt damping mechanism simulate cervical vertebra put forward the viscoelasticity feature before pulling and to be carried in the rejuvenation after pulling the slow self-reparability mechanical characteristic that presents.
See Fig. 1 to Fig. 9, a kind of cervical vertebra mechanical simulation apparatus 100 of the present invention, it is mainly used in drawing the mechanical characteristic (or cervical vertebra state) carried in the process of pulling when simulating human cervical vertebra is pulled, and comprising:
Framework 1, described framework 1 comprises shell 10 and is connected to the vertical to optical axis 11 of shell 10;
Prestrain simulated assembly 2, it comprises adjustable rigidity-changing mechanism 20, this adjustable rigidity-changing mechanism 20 pulls slide block 21 primarily of being provided with carrying of compacted face 210 and providing snap-in force F to be pressed in carry the spring-feel mechanism 22 in the compacted face 210 of pulling slide block 21 to form by Hookean spring 220, wherein, spring-feel mechanism 22 is fixedly connected with the shell 10 of framework 1, carry and pull slide block 21 and can be dynamically connected to optical axis 11 with the vertical of framework 1, the direction of the elastic force that described Hookean spring 220 provides is roughly 90 angles of spending with the bearing of trend vertically to optical axis 11, and, describedly carry that to pull the compacted face 210 that slide block 21 is contacted with spring-feel mechanism 22 be non-equidistant state apart from the vertical distance D to optical axis 11 surface along putting forward the direction of motion of pulling slide block 21, and make the size of snap-in force F be pressed in the difference of the position in compacted face 210 with spring-feel mechanism 22 and change, the stiffness variation in process is being pulled to simulate cervical vertebra to provide the rigidity of change, and
Carry and pull simulated assembly 3, comprise driving link 30 and the driven member 31 of separated state, driving link 30 is pulled slide block 21 and is connected with carrying, there is between driving link 30 and driven member 31 magnetic force making the two attract each other, wherein, when putting on described driving link 30 and being enough to overcome described magnetic force with the traction force of driven member 31, this driving link 30 is separated with driven member 31.
Because the cervical vertebra of human body presents viscoelasticity in traction process, and in variation rigidity characteristic.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 preloading procedure, overcame again above-mentioned defect.
In a preferred embodiment of the invention, be not less than away from carrying the distance D2 pulling simulated assembly 3 side, to make it possible to simulation cervical vertebra more true to nature in the process be pulled, the situation of change of cervical vertebra rigidity near putting forward the distance D1 entirety of pulling simulated assembly 3 side.Such as, can be make to pull slide block 21 by the increase gradually of displacement lifted along with carrying, cause the compression quantitative change of Hookean spring 220 large, and then the curved surface making the rigidity of whole adjustable rigidity-changing mechanism 20 also become large gradually (curve form in the compacted face 210 in embodiment is as shown in Figure 7 progressive curved indentations), to obtain the stiffness variation similar with cervical vertebra stiffness variation (its shape also can according to required rigidity Design).
In one embodiment of the invention, described framework 1 comprise two described vertically to optical axis 11, these the two vertical two ends to optical axis 11 are individually fixed in top and the bottom of shell 10, being arranged in the middle part of it to carry pulls in the through hole 211 of slide block 21, making to carry and pull slide block 21 and move along its bearing of trend, realizing putting forward the guiding of pulling slide block 21.
In one embodiment of the invention, described in carry in the through hole 211 pulling slide block 21 being provided with described vertical to linear bearing 12 vertically to optical axis 11 be installed, every root vertically to optical axis 11 corresponding two vertically to linear bearing 12.
In one embodiment of the invention, described carry pulling in the middle part of slide block 21 be provided with certain space 212, this space 212 extends to this through hole 211 and this through hole 211 is divided into two sections, what be respectively provided with described in one in two sections is vertical to linear bearing 12, to improve the stability of guiding, especially put forward the stability of pulling slide block 21 and running.In embodiment as shown in Figure 7, described carrying pulls the form that slide block 21 is hollow, and the part outer rim in the space 212 of its hollow is multi-stage stairs shape, with when 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, pull slide block 21 as being fixed on to carry by driving link 30 (can be electromagnet) by securing member.
Described driving link 30 can be magnet, electromagnet or be made up of magnetic metal, and described driven member 31 can be that magnet, electromagnet or magnetic metal are made.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 that driving link 30 is separated with driven member 31.In embodiment as shown in Figure 3, this mass 38 is provided with vertically to linear bearing 12, is describedly vertically located at the vertical in linear bearing 12 of this mass 38 to the lower end of optical axis 11, and this mass 38 vertically can move to optical axis 11 along this.When by carry pull slide block 21 tractive driving link 30 (as electromagnet 37) 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 the impulsive force put forward and pull slide block 21 short time, if impulsive force is greater than the absorption affinity of electromagnet 37, then electromagnet 37 and mass 38 depart from.
In one embodiment of the invention, described driven member 31 is connected with framework 1, utilizes the overall weight connected with framework 1 that driving link 30 is separated with driven member 31.
In one embodiment of the invention, the magnetic force size 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 the Hookean spring 220 providing snap-in force F (all or part of of the elastic force that snap-in force F is provided by Hookean spring 220 is formed) and the roller 201 contacted with compacted face 210, adopt Structure deformation to make spring-feel mechanism 22 and to carry pulling between slide block 21, reduce friction force.
In one embodiment of the invention, stablize to make one-piece construction, uniform force, the quantity of the Hookean spring 220 in each described 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 are arranged (as shown in Figure 6) one to one, makes the symmetrical structure of described spring-feel mechanism 22, to make uniform force, be preferably in left-right and front-back symmetrical structure.
In one embodiment of the invention, described in carry the compacted face 210 of pulling slide block 21 be two, a corresponding described spring-feel mechanism 22 (as shown in Figure 4) respectively.
In one embodiment of the invention, carry described in and pull the overall symmetrical structure of slide block 21, preferably in left-right and front-back symmetrical structure.
In one embodiment of the invention, two symmetrical vibrational power flow of described spring-feel mechanism 22, in carrying the both sides (as shown in Figure 5) of pulling slide block 21, are formed proposing the clamping of pulling slide block 21.
In one embodiment of the invention, the overall symmetrical structure (as shown in Figure 3) of described prestrain simulated assembly 2, is preferably in 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 being located at Hookean spring 220 two ends, and roller 201 is installed on the roller supporting axle 202 of the first spring bearer plate 221.In one embodiment of the invention, described roller supporting axle 202 quantity is 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, spring retainer post 223 is provided with in column spring, spring retainer post 223 is connected to the first spring bearer plate 221 and/or the second spring bearer plate 222, the entire length of the spring retainer post 223 in column spring is less than the length of column spring, leave enough compression strokes 212 to column spring.In one embodiment of the invention, two spring retainer posts 223 are provided with in each column spring, two spring retainer posts 223 are connected to the first spring bearer plate 221 and the second spring bearer plate 222, therebetween at a distance of a segment distance just to setting (as shown in Figure 6).
In one embodiment of the invention, adjustable sized by the pre compressed magnitude of described Hookean spring 220, to simulate the cervical vertebra of different-stiffness, realize being suitable for for Different Individual, be especially conducive to realizing 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 adjustment Hookean spring 220 pre compressed magnitude.In one embodiment of the invention, described mechanism for axial adjusting 224 one end is provided with external thread, second spring bearer plate 222 is also provided with the threaded hole (being preferably located at the centre of form place of the second spring bearer plate 222) coordinated with external thread, the shell 10 of framework 1 is provided with through hole, double-direction thrust ball bearing 225 is provided with in this through hole, also axial limiting is in this double-direction thrust ball bearing 225 in described mechanism for axial adjusting 224 support, 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, described second spring bearer plate 222 is also provided with adjustment limiting plate 227.
In one embodiment of the invention, adjustment limiting plate 227 on each second spring bearer plate 222 is two, two adjustment limiting plates 227 are symmetrically arranged in the relative both sides (upper and lower sides as shown in Figure 4, Figure 5 also can be side, front and back) of the second spring bearer plate 222.
In one embodiment of the invention, described adjustable rigidity-changing mechanism 20 comprises level to optical axis 203 and installation level to the horizontal linear bearing 204 of optical axis 203.
In one embodiment of the invention, described level is two to optical axis 203, every root level is arranged in four horizontal linear bearings 204 to optical axis 203, in embodiment as shown in Figure 4, 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 two the first spring bearer plates 221 of two spring-feel mechanisms 22 and totally four horizontal linear bearings 204 of two second spring bearer plate 222 the same sides to optical axis 203 respectively, stablize to make described prestrain simulated assembly 2 one-piece construction.
In one embodiment of the invention, described cervical vertebra mechanical simulation apparatus 100 also comprises:
Switching bearing 13, as the external interface be connected with outside (if being connected with head movement analogue means 5); And
Tension-compression sensor 14, is located at switching bearing 13 and carrying and pulls between slide block 21, and carries and pull slide block 21 and be connected with 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 coordinates to optical axis 11.
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 simulation apparatus 100 also comprises:
Damper 15, the relative driving link 30 of first end is fixed, and the relative driven member 31 of the second end is fixed; And
Prestrain limiting plate 23, is connected with framework 1, is formed spacing to the stroke of driving link 30.
In one embodiment of the invention, the first end of described damper 15 is fixed on switching bearing 13, second end and is fixed on shell 10.
In one embodiment of the invention, the first end of described damper 15 is fixed on to carry pulls slide block 21, and the second end is fixed on shell 10.
In the embodiment of shown in Fig. 2 of the present invention, the pedestal of described damper 15 is arranged on to carry to be pulled 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 operation, when carry pull slide block 21 or switching bearing 13 be subjected to displacement time, the pedestal of damper 15 changes relative to two ends of bi-directional expansion bar.In order to ensure prestrain and the security carrying cervical vertebra mechanical simulation apparatus in the process of pulling, the stroke range of damper 15 and hauling distance with carry that to pull distance sum identical, make in operation, when operator apply carry the power of pulling make to carry pull slide block 21 or switching bearing 13 exceed its stroke range time, damper 15 can limit its motion, thus the security of assurance device and operator.
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 restraining position of described prestrain limiting plate 23 is adjustable.
The restraining position of described prestrain limiting plate 23 can realize adjustable by the limiting plate adjusting mechanism 24 of thread screw structure, in one embodiment of the invention, the threaded hole of screw thread is established in prestrain limiting plate 23 is provided with, screw flight section is bolted in threaded hole, the polished rod section of screw rod wears and is limited in the limiting section be fixedly connected with the shell 10 of framework 1, and screw rod is connected with the handwheel that drive screw rotates.
In one embodiment of the invention, the shell 10 of described framework 1 is provided with limiting plate adjustment optical axis 25, prestrain limiting plate 23 is provided with limiting plate adjustment linear bearing 26, limiting plate adjustment optical axis 25 is arranged in limiting plate adjustment linear bearing 26 makes prestrain limiting plate 23 be led by limiting plate adjustment optical axis 25, to make uniform force, stable.
In one embodiment of the invention, described limiting plate adjustment optical axis 25 and limiting plate adjustment linear bearing 26 are two, are preferably symmetrically arranged.
In one embodiment of the invention, described prestrain limiting plate 23 entirety is in left-right and front-back symmetrical structure.
In one embodiment of the invention, described cervical vertebra mechanical simulation apparatus 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 is connected with the shell 10 of framework 1, height control connecting rod 40 other end and hold-down support 42 are slidably socketed, and height control connecting rod 40 and hold-down support 42 are fixed on by height control set bolt 41 needs 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 wall, 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 simulation apparatus 100 also comprises head movement analogue means 5, and it has rotation (rotation of analogue head) and flexing (pitching of analogue head) two degree of freedom.It comprises the card extender 50 be connected with switching bearing 13, the axial rotating device 51 be connected with card extender 50, be connected to axial rotating device 51 and with the axial-rotation housing 52 of its interlock, the flexing whirligig 53 be connected with axial-rotation housing 52, be connected to 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 be fixedly connected with card extender 50, the axle sleeve 512 be connected with the motor shaft of electric rotating machine 511, the rotary motion force transmitting board 513 be fixedly connected with axle sleeve 512, and the rotary support housing 514 to be 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, angular contact ball bearing 55 is provided with between the two, axial-rotation housing 52 is fixedly connected with rotary motion force transmitting board 513, and axial-rotation is realized under the drive of rotary motion force transmitting board 513.
In one embodiment of the invention, axial-rotation locating device, for rotating band-type brake 510, between the motor shaft being located at rotary support housing 514 and 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 be fixedly connected with axial-rotation housing 52, the axle sleeve 532 be connected with the motor shaft of flexing motor 531, the curvature movement force transmitting board 533 be fixedly connected with axle sleeve 532, and the buckling support housing 534 to be 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, deep groove ball bearing 56 is provided with between the two, 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 rotation.
In one embodiment of the invention, flexing whirligig 53 also comprises servo-actuated flexion device 535, servo-actuated flexion device 535 comprises the servo-actuated support of flexing 5350 that is fixedly connected with axial-rotation housing 52 and is located at the servo axis 5351 be fixedly connected with in the servo-actuated support 5350 of flexing and 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, are provided with deep groove ball bearing 5352 between the servo-actuated support 5350 of flexing and servo axis 5351.
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 the vertical of framework 1 and matches to optical axis 500, leads to motion to the vertical of head motion simulator 5.
The present invention also provides a kind of application of cervical vertebra mechanical simulation apparatus, and it is mainly used in teaching to treatment 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 carried pull class gimmick for being carried pulling class gimmick or rotating class gimmick or rotation.
Wherein, described rotation carry pull class gimmick comprise described in revolve handle method.
Below to revolve handle method, a kind of embodiment of the present invention is described in detail.
Revolve handle method to be divided into and to rotate and carry 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, rotate again after maximum flexion (nutation) (continue left or continue right), reach and have fixing sense, behind location, the incidence spatiality of patient is in steady state (SS), does not embody elastic characteristic (namely in rigidity) in sense of rotation; Carry pulling and operated by doctor, comprise three parts, prestrain part (in advance draw), carry and pull part and recovered part.Wherein, in preloading procedure, doctor, with ancon holder patient lower jaw, upwards draws 3 seconds to 5 seconds gently, and body is to being variation rigidity characteristic; Putting forward the process of pulling, doctor advises patient to relax one's muscles, and the short power of ancon upwards lifts fast, and successful operation can be heard or many sound snap; Complete after carrying and pulling, slowly make patients head recover.
The cervical vertebra mechanical simulation apparatus 100 applied of the present embodiment is by head movement analogue means 5, prestrain and carry and pull cervical vertebra mechanical simulation apparatus (comprise prestrain simulated assembly 2 and put forward and pull simulated assembly 3), pedestal 4 and leak control and check system four part and form.
Wherein, head movement analogue means 5 is revolving rotation and the curvature movement of patients head in handle method process for simulating; Carry and pulling with prestrain cervical vertebra mechanical simulation apparatus for simulating motion change and the state of patients with cervical in gimmick process; Base part is for supporting the main part of cervical vertebra mechanical simulation apparatus 100, and as the counterweight of whole device, prevent when implementing to revolve the operation of handle method, whole mechanism moves axially, thus impact effect; Leak control and check system comprises the control of motor, electromagnet and band-type brake and respectively executes art stage Indexs measure (index comprises: rotate 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 rotates two degree of freedom, 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 rotary motion force transmitting board 513 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).Rotary motion force transmitting board 513 is connected by securing member and axial-rotation housing 52, and is supported in the top of card extender 50 by the outer ring of upper and lower two angular contact ball bearings 55.Angular contact ball bearing 55 inner ring is connected with rotary support housing 514.Flexing motor 531 is connected with curvature movement force transmitting board 533 by axle sleeve 532, flexing rotary shell 54 right-hand member is made to obtain power, and utilizing the outer ring of deep groove ball bearing 56 to be supported in the right-hand member of flexing motor 531, inner ring and the axial-rotation housing 52 of deep groove ball bearing 56 are connected.Flexing rotary shell 54 and axial-rotation housing 52 relatively rotate.In order to 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 the servo-actuated support 5350 of flexing be fixed on the left of axial-rotation housing 52.For the ease of making mechanism ensure pose when executing art, flexing band-type brake 530 is connected with servo axis 5351 and axle sleeve 512 respectively with rotation band-type brake 510.Leave mechanical interface below card extender 50 to pull process cervical vertebra mechanical simulation apparatus and be connected with carrying by securing member and prestrain.Mechanical interface is left above head movement analogue means 5, can fixing head model easily, thus convenient operation person executes art.
(2) prestrain pulls process cervical vertebra mechanical simulation apparatus with carrying
Prestrain is pulled process cervical vertebra mechanical simulation apparatus and is composed in series by variation rigidity part and solenoid part with carrying.Wherein variation rigidity part is mainly used in the simulation of prestrain part, and solenoid part and variation rigidity part one are used from simulation and carry the mechanical characteristics (namely revolving the mechanical analogue of the cervical vertebra state in stage entirely under the effect of handle method) pulling open and begin to terminal procedure cervical vertebra.
Prestrain pulls process cervical vertebra mechanical simulation apparatus as shown in Fig. 3 and Fig. 2 with carrying, vertically be separately fixed at shell 10 top and bottom to optical axis 11 two ends, vertically be separately fixed at switching bearing 13 to linear bearing 12,501 and limiting plate adjustment linear bearing 26, carry and pulling on slide block 21 and mass 38, and switching bearing 13 can be guaranteed, carry and pull slide block 21 and mass 38 slides on longitudinal optical axis.Different cervical vertebra prestrain length is simulated in order to enable device, the axial location of prestrain limiting plate 23 can utilize limiting plate adjusting mechanism 24 by limiting plate adjustment linear bearing 26 in the enterprising line slip of limiting plate adjustment optical axis 25, thus reaches the object of adjustment cervical vertebra prestrain length.The two ends of pull pressure sensor 14 are processed with screw thread respectively with switching bearing 13 bottom with carry and pull slide block 21 upper end and is connected, and switching bearing 13 is in U-shaped, and the mechanical interface that card extender in the square opening and Fig. 8 that shell 10 top processes is passed on its top is connected.Carry and pull slide block 21 and be processed as hollow form, both sides form progressive curved indentations, 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.Electromagnet 37 utilizes electromagnetic force adsorbate gauge block 38 to move after being energized.In order to ensure stability under loading, adjustable rigidity-changing mechanism 20 symmetrically formula layout acts on the both sides carried and pull slide block 21 respectively.The pedestal of damper 15 is arranged on to carry to be pulled on slide block 21, and in gimmick overall process, the expansion link end of damper 15 and shell 10 are fixed, when carry pull slide block 21 be moved time, the pedestal of damper 15 changes relative to expansion link end.
Wherein, adjustable rigidity-changing mechanism 20 is made up 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 retainer post 223 adjustment handwheel 226, spring-feel mechanism 22, adjustment limiting plate 227, level.Wherein, spring-feel mechanism 22 is made up of roller supporting axle 202, second spring bearer plate 222, Hookean spring 220, first spring bearer plate 221, in order to uniform force spring-feel mechanism 22 one-tenth symmetrical expressions are arranged.First spring bearer plate 221 and the second spring bearer plate 222 are all provided with horizontal linear bearing 204, can move in level on optical axis 203.The two ends of Hookean spring 220 are connected with the second spring bearer plate 222 right side with the first spring bearer plate 221 left side 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 member is processed with screw thread, and left end is connected with adjustment handwheel 226 and is supported by double-direction thrust ball bearing 225.Second spring bearer plate 222 is threaded connection with mechanism for axial adjusting 224, and can adjust spring pre compressed magnitude by adjustment handwheel 226.The right-hand member of the first spring bearer plate 221 is connected with roller supporting axle 202, roller 201 by the support of roller supporting axle 202 with carry the curved surface pulling slide block 21 and keep in touch, and keep under the effect of spring-feel mechanism 22 and put forward the compression of pulling slide block 21.
Prestrain comprises with the main working process putting forward the process of pulling:
A. preloading procedure cervical vertebra mechanical analogue
Execute in art process in prestrain, preload force acts on switching bearing 13, and power is passed to carry by tension-compression sensor 14 and pull slide block 21, and tension-compression sensor 14 is used for measurement and revolves pulling force size in handle method.Carry and pull slide block 21 and be with motor magnet 37 and mass 38 to move upward.Spring-feel mechanism 22 pinch rollers 201 pulls slide block 21 with carrying, roller 201 applies downward acting force carrying pulling on slide block 21, pull slide block 21 displacement increase gradually along with carrying, its curved surface causes the compression quantitative change of Hookean spring 220 large, therefore make the rigidity of whole mechanism also become large gradually, change and the cervical vertebra stiffness variation of its rigidity are similar.Until when mass 38 contacts with prestrain limiting plate 23, mechanical pre-loaded simulation process completes.
B. carry and pull the mechanical analogue of process cervical vertebra
After preloading procedure terminates, start to put forward the process of pulling, 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 with sound when throwing off.Thus simulate human cervical spine by biomechanical characterization during promotion power from mechanism.For guaranteeing prestrain and proposing the security of pulling process cervical vertebra mechanical simulation apparatus, the range of movement of damper 15 and hauling distance with carry that to pull distance sum identical, once the power of pulling of carrying that operator applies makes to carry and pulls slide block 21 and exceed its range of movement, damper 15 can limit its motion, thus the security of assurance device and operator.
(3) base part
Base part is made up of height control connecting rod 40, height control set bolt 41, hold-down support 42 and balancing weight 43.Height control connecting rod 40 top is connected with shell 10 by securing member, it is inner that height control connecting rod 40 is arranged on hold-down support 42, and can slide therein, thus realize the height control to whole device, enable operator carry out revolving the training on operation of handle method for Different Individual.After determining height, hold-down support 42 and height control connecting rod 40 can be fixed together by the multiple height control set bolts 41 arranged.Owing to there being impulsive force to produce in operating process, gimmick requires can not be moved revolving base part in the process of carrying, therefore, by add balancing weight 43 or by mounting foot bolt method, guarantee the stability of base part.
(4) leak control and check system
Leak control and check system is made up of computing machine, data collecting card and sensor (force snesor, angular transducer, position transducer and accelerometer etc.), motor driver, capture card is installed in a computer, be electrically connected with sensor and motor driver, realize detection to the control of motor and the signal of sensor, process and record by host computer, and judge that whether gimmick is qualified.
Described in the present invention up and down before and after to be only statement convenient for representing relative direction, do not form the restriction to true bearing, when it refers to normal reading accompanying drawing, drawing is up and down, and outwardly, rear finger paper is inwardly for front finger paper.
The present invention devises a kind of individuation cervical vertebra mechanical simulation apparatus 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 the Human Cervical Spine Modeling feature of individuation can be simulated by the position of adjustable rigidity-changing mechanism and limiting plate.Namely this device is applicable to beginner's study and handle method is revolved in grasp, and as one of the reference index of gimmick examination, is applicable to again in teaching, as the experiment porch teaching gimmick, and can carry out standardization to the gimmick of operation and assesses.Thus play facilitation for revolving popularizing of handle method.
Claims (8)
1. adopt mechanical hook-up to simulate cervical vertebra and drawing a method for the mechanical characteristic put forward in the process of pulling, it is characterized in that comprising:
The viscoelasticity mechanical characteristic that cervical vertebra presents in trailed process is simulated by employing variation rigidity mechanism, wherein, described variation rigidity mechanism comprises level to optical axis, carry and pull slide block and spring-feel 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 compacted that pulls slide block, this snap-in force F is provided by the Hookean spring in spring-feel mechanism, wherein, described spring-feel mechanism also comprises and compacted the roller contacted, be located at the first spring bearer plate and second spring bearer plate at Hookean spring two ends respectively, and roller is installed on the roller supporting axle of the first spring bearer plate, and the first spring bearer plate and the second spring bearer plate can move on optical axis in level, first spring bearer plate is connected with roller supporting axle, roller by the support of roller supporting axle with carry the curved surface pulling slide block and keep in touch, and keep under the effect of spring-feel mechanism and put forward the compression of pulling slide block, described spring-feel mechanism is fixedly connected with the shell of framework, described carrying pulls slide block and the vertical of framework can be dynamically connected to optical axis, and make to carry and pull slide block and move along its bearing of trend, realize putting forward the guiding of pulling slide block, direction and the bearing of trend vertically to optical axis of the elastic force that described Hookean spring provides are the angle of 90 degree, and, described carrying pulls the compacted identity distance of shoe contact in spring-feel mechanism vertically to the distance D on optical axis surface along to put forward the direction of motion of pulling slide block be non-equidistant state, and make the size of snap-in force F be pressed in the difference of the position of compacted with spring-feel mechanism and change, the stiffness variation in process is being pulled to simulate cervical vertebra to provide the rigidity of change,
With
Adopt magnetic desorption mechanism simulate cervical vertebra to be carried in the process of pulling the mutability mechanical characteristic that presents, wherein, described magnetic desorption mechanism comprises driving link and the driven member of separated state, this driving link is pulled slide block and is connected with carrying, there is between this driving link and driven member the magnetic force making the two attract each other, wherein, when the traction force putting on described driving link and driven member is enough to overcome described magnetic force, this driving link is separated with driven member.
2. a cervical vertebra mechanical simulation apparatus, is characterized in that, comprising:
Framework, described framework comprises shell and be connected to the vertical to optical axis of shell, wherein, described framework comprise two described vertically to optical axis, two top and bottoms being vertically individually fixed in shell to the two ends of optical axis;
Prestrain simulated assembly, it comprises adjustable rigidity-changing mechanism, this adjustable rigidity-changing mechanism comprises level to optical axis, carry and pull slide block and spring-feel 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 compacted that pulls slide block, this snap-in force F is provided by the Hookean spring in spring-feel mechanism, wherein, described spring-feel mechanism also comprises and compacted the roller contacted, be located at the first spring bearer plate and second spring bearer plate at Hookean spring two ends respectively, and roller is installed on the roller supporting axle of the first spring bearer plate, and the first spring bearer plate and the second spring bearer plate can move on optical axis in level, first spring bearer plate is connected with roller supporting axle, roller by the support of roller supporting axle with carry the curved surface pulling slide block and keep in touch, and keep under the effect of spring-feel mechanism and put forward the compression of pulling slide block, described spring-feel mechanism is fixedly connected with the shell of framework, described carrying pulls slide block and the vertical of framework can be dynamically connected to optical axis, and make to carry and pull slide block and move along its bearing of trend, realize putting forward the guiding of pulling slide block, direction and the bearing of trend vertically to optical axis of the elastic force that described Hookean spring provides are the angle of 90 degree, and, described carrying pulls the compacted identity distance of shoe contact in spring-feel mechanism vertically to the distance D on optical axis surface along to put forward the direction of motion of pulling slide block be non-equidistant state, and make the size of snap-in force F be pressed in the difference of the position of compacted with spring-feel mechanism and change, the stiffness variation in process is being pulled to simulate cervical vertebra to provide the rigidity of change,
And
Carry and pull simulated assembly, comprise driving link and the driven member of separated state, this driving link is pulled slide block and is connected with carrying, there is between this driving link and driven member the magnetic force making the two attract each other, wherein, when the traction force putting on described driving link and driven member is enough to overcome described magnetic force, this driving link is separated with driven member.
3. cervical vertebra mechanical simulation apparatus as claimed in claim 2, it is characterized in that: described driving link is electromagnet or is made up of magnetic metal, described driven member is electromagnet or is made up of magnetic metal.
4. cervical vertebra mechanical simulation apparatus as claimed in claim 2, it is characterized in that: described Hookean spring is column spring, spring retainer post is provided with in column spring, spring retainer post is connected to the first spring bearer plate and/or the second spring bearer plate, the entire length of the spring retainer post in column spring is less than the length of column spring, leave enough compression strokes to column spring.
5. cervical vertebra mechanical simulation apparatus as claimed in claim 4, it is characterized in that: described in carry compacted of pulling slide block be two, a corresponding described spring-feel mechanism respectively, described carrying pulls the overall symmetrical structure of slide block, two described spring-feel mechanisms also symmetrical vibrational power flow in carrying the both sides of pulling slide block, described prestrain simulated assembly entirety also symmetrical structure.
6. cervical vertebra mechanical simulation apparatus as claimed in claim 4, it is characterized in that: described adjustable rigidity-changing mechanism also comprises the horizontal linear bearing of installation level to optical axis, the first and/or second spring bearer plate is located at by described horizontal linear bearing, makes the first spring bearer plate and the second spring bearer plate be installed on level on optical axis respectively by described horizontal linear bearing.
7. cervical vertebra mechanical simulation apparatus as claimed in claim 2, is characterized in that, also comprise:
Switching bearing, as the external interface is connected with outside, switching bearing be provided with described vertical to optical axis coordinate vertical to linear bearing;
Tension-compression sensor, is located at switching bearing and carrying and pulls between slide block, and carries and pull slide block and be connected with 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 carry to pull distance sum.
8. cervical vertebra mechanical simulation apparatus as claimed in claim 2, is characterized in that, also comprise:
Prestrain limiting plate, is connected with framework, is formed spacing to the stroke of driving link; And/or
Pedestal, one end of pedestal is connected with framework, and the other end is located at ground.
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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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| CN115394146B (en) * | 2022-09-22 | 2023-12-01 | 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 and teaching robot for training by rotary handle method |
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| CN101853599B (en) * | 2010-05-25 | 2012-07-04 | 上海中医药大学附属岳阳中西医结合医院 | Semi-on-body biomechanical experimental method using cervical structure to simulate extensor muscles behind the neck |
| CN103354054A (en) * | 2013-07-23 | 2013-10-16 | 上海维纽机器人有限公司 | Massage manipulation learning system of massage specialist and application thereof |
| CN103714737B (en) * | 2013-12-31 | 2016-01-20 | 中国中医科学院望京医院 | Towards cervical vertebra mechanical simulation apparatus and the method for revolving handle method overall process |
| CN203631044U (en) * | 2013-12-31 | 2014-06-04 | 中国中医科学院望京医院 | A cervical vertebra mechanical analog device |
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