CN107403579B - Lower limb vascular bracket physiological deformation simulator - Google Patents
Lower limb vascular bracket physiological deformation simulator Download PDFInfo
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- CN107403579B CN107403579B CN201710816423.4A CN201710816423A CN107403579B CN 107403579 B CN107403579 B CN 107403579B CN 201710816423 A CN201710816423 A CN 201710816423A CN 107403579 B CN107403579 B CN 107403579B
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- G09B23/28—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for medicine
Abstract
A kind of lower limb vascular bracket physiological deformation simulator, it is related to medical instrument testing field, for testing the fatigue conditions of lower limb vascular bracket, comprising: pelvic movement reference point path generator, tibial motion reference point path generator, human body lower limbs skeleton model, blood vessel and support component.The first end of human body lower limbs skeleton model is connect with pelvic movement reference point path generator, and the second end of human body lower limbs skeleton model is connect with tibial motion reference point path generator.Blood vessel is set to the surface of human body lower limbs skeleton model, and lower limb vascular bracket is set in blood vessel.Support component includes: bottom plate and column, and column is set on the length and width face of bottom plate.Pelvic movement reference point path generator is fixed on bottom plate and column, and tibial motion reference point path generator is fixed on bottom plate, and human body lower limbs skeleton model is fixed on column.Compared to the prior art, above-mentioned lower limb vascular bracket physiological deformation simulator can more reflect the true force-bearing situation of lower limb vascular bracket.
Description
Technical field
The present invention relates to medical instrument testing field more particularly to a kind of lower limb vascular bracket physiological deformation simulators.
Background technique
Blood vessel intervention operation be treat cardiovascular disease main means, intravascular stent be determine surgical effect it is important because
Element.Design for lower limb vascular bracket, after needing to consider intervention human body other than adjoint complication, it is also necessary to consider in leg
Under the action of alternate stress caused by the reciprocating motion in portion, the fatigue fracture of intravascular stent and its fatigue caused by blood vessel are damaged
Wound.The design many places of lower limb vascular bracket need under one kind in theoretical research and computer FEM Numerical Simulation stage at present
Limb intravascular stent fatigue test device provides realistic basis for more design method.
Current lower limb vascular stent fatigue test device mainly passes through high elasticity silica sebific duct simulated blood vessel, by intravascular stent
It is placed in high resiliency silica gel, the pulsation effect of blood is simulated by extracorporeal blood circulation system, by applying to high elasticity silica sebific duct
Add moment of flexure, torque, tension and compression or the combination of these three deformations, the alternation that simulation leg exercise applies blood vessel and intravascular stent is answered
Power.The problems such as this test device is generally existing cannot to reflect lower limb vascular bracket true force-bearing situation.
Summary of the invention
The present invention provides a kind of lower limb vascular bracket physiological deformation simulator, compared to the prior art, the simulator
It can more reflect the true force-bearing situation of lower limb vascular bracket.
The embodiment of the present invention provides a kind of lower limb vascular bracket physiological deformation simulator, for testing lower limb vascular bracket
Fatigue conditions, the simulator includes: that pelvic movement reference point path generator, tibial motion refer to the locus of points
Device, human body lower limbs skeleton model, simulated blood vessel and support component；
The first end of the human body lower limbs skeleton model is connect with the pelvic movement reference point path generator, the people
The second end of body lower limb skeletons model is connect with the tibial motion reference point path generator；
The simulated blood vessel is set to the surface of the human body lower limbs skeleton model, and the lower limb vascular bracket is set to institute
It states in simulated blood vessel；
The support component includes: bottom plate and column, and the column is set on the length and width face of the bottom plate；
The pelvic movement reference point path generator is fixed on the bottom plate and the column；
The tibial motion reference point path generator is fixed on the bottom plate；
The human body lower limbs skeleton model is fixed on the column.
Lower limb vascular bracket physiological deformation simulator provided by the invention, due to its motion mode simulation human body lower limbs
Movement, therefore compared to the prior art, which can more reflect the true force-bearing situation of lower limb vascular bracket.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those skilled in the art without any creative labor, can be with root
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is the main view for the lower limb vascular bracket physiological deformation simulator that first embodiment of the invention provides；
Fig. 2 is the main view for the lower limb vascular bracket physiological deformation simulator that second embodiment of the invention provides；
Fig. 3 is the left view for the lower limb vascular bracket physiological deformation simulator that second embodiment of the invention provides；
Spherical four-bar linkage in the lower limb vascular bracket physiological deformation simulator that Fig. 4 provides for second embodiment of the invention
In arc-shaped bar structural schematic diagram；
Spherical four-bar linkage in the lower limb vascular bracket physiological deformation simulator that Fig. 5 provides for second embodiment of the invention
In two arc-shaped bars assembling schematic diagram；
Fig. 6 is the main view for the lower limb vascular bracket physiological deformation simulator that third embodiment of the invention provides；
Kinetic control system in the lower limb vascular bracket physiological deformation simulator that Fig. 7 provides for third embodiment of the invention
Middle data flow schematic diagram.
Specific embodiment
In order to make the invention's purpose, features and advantages of the invention more obvious and easy to understand, below in conjunction with the present invention
The attached drawing that embodiment provides, is clearly and completely described technical solution provided in an embodiment of the present invention, it is clear that described
Embodiment be only a part of the embodiment of the present invention, and not all embodiments.Based on embodiment provided by the invention, this field
Technical staff's every other embodiment obtained without making creative work belongs to the model that the present invention protects
It encloses.
Referring to Fig. 1, Fig. 1 is the master for the lower limb vascular bracket physiological deformation simulator that first embodiment of the invention provides
View.As shown in Figure 1, lower limb vascular bracket physiological deformation simulator provided in this embodiment includes: pelvic movement reference point
Path generator 100, tibial motion reference point path generator 200, human body lower limbs skeleton model 300, simulated blood vessel 400 and branch
Support component 500.
The first end of human body lower limbs skeleton model 300 is connect with pelvic movement reference point path generator 100, human body lower limbs
The second end of skeleton model 300 is connect with tibial motion reference point path generator 200, to simulate the true fortune of human body lower limbs
It is dynamic.
Simulated blood vessel 400 is set to the surface of human body lower limbs skeleton model 300, and lower limb vascular bracket is set to simulated blood vessel
In 400, with simulated blood vessel human body lower limbs distribution situation.
Support component 500 includes: bottom plate 501 and column 502.Column 502 is set on the length and width face of bottom plate 501, column
502 axis is perpendicular to bottom plate 501.
Pelvic movement reference point path generator 100 is used to generate the motion profile of pelvic movement reference point.Tibial motion
Reference point path generator 200 is used to generate the motion profile of tibial motion reference point.
Pelvic movement reference point path generator 100 is fixed on bottom plate 501 and column 502.Tibial motion reference point rail
Mark generator 200 is fixed on bottom plate 501.Human body lower limbs skeleton model 300 is fixed on column 502.
Lower limb vascular bracket physiological deformation simulator provided in this embodiment, since its motion mode simulates human body lower limbs
Movement, therefore compared to the prior art, which can more reflect the true force-bearing situation of lower limb vascular bracket.
Fig. 2 and Fig. 3 are please referred to, Fig. 2 is the lower limb vascular bracket physiological deformation simulation dress that second embodiment of the invention provides
The main view set, Fig. 3 are the left view for the lower limb vascular bracket physiological deformation simulator that second embodiment of the invention provides.Knot
Fig. 2 and Fig. 3 is closed, it is different from the lower limb vascular bracket physiological deformation simulator that first embodiment of the invention shown in Fig. 1 provides
It is, in the present embodiment:
Further, as shown in Fig. 2, human body lower limbs skeleton model 300 includes: pelvis model 301,302 and of femur model
Shin bone model 303.
Pelvis model 301 includes first connecting portion 301A and second connecting portion 301B.First connecting portion 301A and second connects
The top socket part 301B is connected and forms the angle with predetermined angle, wherein any one of predetermined angle such as in 60 degree to 90 degree
Angle.
One end that first connecting portion 301A is connected with second connecting portion 301B is the closed end of pelvis model 301, is closed with this
The other end for closing the opposite pelvis model 301 in end is the open end of pelvis model 301.The open end of pelvis model 301 is top,
The closed end of pelvis model 301 is bottom.
The bottom of pelvis model 301 and one end of femur model 302 pass through flexural pivot chain link.Optionally, in pelvis model
The upper spherical shell of spherical hinge is formed on 301 bottom, to simulate the hip joint of human body.
The other end of femur model 302 is articulated on one end of shin bone model 303 by the first pin shaft 304, and shin bone mould
Type 303 is in preset angle around the plane where the plane and pelvis model 301 that the first pin shaft 304 rotates, to simulate human body
Knee joint.
Specifically, the other end of femur model 302 is articulated in the first end of shin bone model 303 by the first pin shaft 304.
The middle part of femur model 302 is fixed on the side surface of column 502.Optionally, as shown in figure 3, the face of column 502
Boss 503 has been bolted on the side in femur model 302.Femur model 302 is bolted on boss 503
On, and then femur model 302 is fixed on the side of column 502, fixing piece is set by femur model 302.
Further, human anatomic structure is provided with simulation muscle on the surface of human body lower limbs skeleton model 300
305.The setting of simulated blood vessel 400 is in simulation muscle 305, and when lower limb skeletons model 300 moves, simulated blood vessel 400 is being simulated
The damped motion of preset range is done in muscle 305.
In practical applications, simulation muscle 305 can be positioned only in the part of the surface of human body lower limbs skeleton model 300.Tool
Body, as shown in Fig. 2, in the default position of the second connecting portion 301B of pelvis model 301, femur model 302 and shin bone model 303
It sets and is provided with simulation muscle 305.Simulated blood vessel 400 is embedded in simulation muscle 305, and human body lower limbs skeleton model 300 moves
When, simulated blood vessel 400 does the damped motion of preset range in simulation muscle 305, when simulating human body lower limbs movement blood vessel with
Relative motion between muscle.
Further, as shown in Fig. 2, pelvic movement reference point path generator 100 includes: spherical four-bar linkage 101,
One motor 102 and transmission belt 103.Wherein, first motor 102 is mounted on bottom plate 501, and spherical four-bar linkage 101 is fixed on vertical
The top of column 502.Transmission belt 103 connects the output shaft of first motor 102 and the driving link of spherical four-bar linkage 101.Spherical surface four
Linkage 101 is connect with the first end of human body lower limbs skeleton model 300.
Optionally, it is integrated with harmonic speed reducer in first motor 102, to increase square effect by slowing down, increases first motor
The torque of 102 outputs.
Optionally, transmission belt 103 can also be transmission chain.
More preferably, transmission belt 103 is flat-toothed belt, i.e. synchronous belt makes first motor to prevent transmission belt 103 from skidding
102 more accurately driving spherical four-bar linkage 101 movements.
Further, the driving link of spherical four-bar linkage 101 is crank 105, then as shown in Fig. 2, spherical four-bar linkage 101
It include: fixed link 104, crank 105, first connecting rod 106 and second connecting rod 107.Wherein, the side surface of fixed link 104 is fixed on
The top of column 502.One end of 103 connecting crank 105 of transmission belt and the output shaft of first motor.Fixed link 104, crank 105,
By the second pin shaft 111, successively sequence head and the tail are hinged for first connecting rod 106 and second connecting rod 107.Fixed link 104, song
Handle 105, first connecting rod 106 and second connecting rod 107 are arc-shaped bar.Fixed link 104, crank 105, first connecting rod 106 and
The motion profile of two connecting rods 107 is located at the motion profile of pelvic position reference point on one spherical surface, with reflection on spherical surface
Movement of the practical midpelvis relative to hip joint center.
Specifically, fixed link 104, crank 105, first connecting rod 106 and second connecting rod 107 all have opposite first end and
Second end.
The top of column 502 is fixed in the side surface of fixed link 104.One end and first of 103 connecting crank 105 of transmission belt
The output shaft of motor 102, for example, the output shaft of the first end of 103 connecting crank 105 of transmission belt and first motor 102.
The first end of crank 105 is connect with the second end of fixed link 104, first end and the crank 105 of first connecting rod 106
Second end connection, the first end of second connecting rod 107 connect with the second end of first connecting rod 106, the first end of fixed link 104 and the
The second end of two connecting rods 107 connects, and the connection type between each rod piece is hinge connection.The freedom degree of the spherical four-bar linkage
It is 1, each arc-shaped bar does regular motion under the driving of crank 105.
The first connecting portion 301A of pelvis model 301 is fixed on the company of crank 105 Yu first connecting rod 106 by studs
Place is met, and then pelvis model 301 is connect with pelvic movement reference point path generator 100, pelvis model 301 and pelvic movement
The position that reference point path generator 100 is connected is the position of pelvic movement reference point.Since each arc-shaped bar is in crank
Regular motion is done under 105 driving, therefore in the case where the bar of each arc-shaped bar is long constant, the motion state of crank 105 is true
The motion profile of pelvic movement reference point is determined.
Further, the arc-shaped slot 108 along its circumferencial direction, circular arc are provided on the arc-shaped surface of arc-shaped bar
Shape slot 108 runs through two arc-shaped surfaces of arc-shaped bar, and the second pin shaft 111 slides in arc-shaped slot 108.Second pin shaft
Retaining mechanism 113 is additionally provided on 111, the second pin shaft 111 is fixed on the default position in arc-shaped slot 108 by retaining mechanism 113
It sets.
Specifically, please referring to Fig. 4 and Fig. 5, Fig. 4 is the lower limb vascular bracket physiological deformation that second embodiment of the invention provides
In simulator in spherical four-bar linkage arc-shaped bar structural schematic diagram, Fig. 5 is the lower limb that provide of second embodiment of the invention
In intravascular stent physiological deformation simulator in spherical four-bar linkage two arc-shaped bars assembling schematic diagram.
It should be noted that illustrating the structure of each arc-shaped bar in Fig. 4 by taking fixed link 104 as an example, crank 105, first connects
Other than bar length is different, structure is identical as fixed link 104 for bar 106 and second connecting rod 107.With fixed link 104 in Fig. 5
With the assembly relation for illustrating each adjacent arc-shaped bar for the assembly relation of second connecting rod 107, remaining is each adjacent arc-shaped
The assembly relation of bar is identical as the assembly relation of fixed link 104 and second connecting rod 107.
As shown in figure 4, being provided with the arc-shaped slot 108 along its circumferencial direction, circular arc on the arc-shaped surface of fixed link 104
Shape slot 108 runs through two arc-shaped surfaces of fixed link 104.Cylindrical boss 109 is provided on one end of fixed link 104,
The axis of cylindrical boss 109 is directed toward the center of circle of the arc-shaped surface of fixed link 104.It is additionally provided on cylindrical boss 109 logical
Hole 110, through-hole 110 and cylindrical boss 109 are coaxial, and the diameter of through-hole 110 is no more than the width of arc-shaped slot 108.
As shown in figure 5, fixed link 104 and second connecting rod 107 are connected by the second pin shaft 111, the second pin shaft 111 is cylinder
The diameter of shape pin shaft, the second pin shaft 111 is matched with the diameter of through-hole 110, and fixed link 104 is inserted into one end of the second pin shaft 111
Arc-shaped slot 108 in, the through-hole 110 on the cylindrical boss 109 of the other end of the second pin shaft 111 insertion second connecting rod 107
In, form the hinged of fixed link 104 and second connecting rod 107.It is additionally provided with limited block 112 at the middle part of the second pin shaft 111, to prevent
Only the second pin shaft 111 is deviate from from arc-shaped slot 108 and through-hole 110.
Second pin shaft 111 further includes retaining mechanism 113, and retaining mechanism 113 is to match with the diameter of the second pin shaft 111
Nut, the second pin shaft 111 passes through to be provided with and retaining mechanism 113 on arc-shaped slot 108 and one end for being stretched out by arc-shaped slot 108
The screw thread matched.After second pin shaft 111 is moved to the preset position of arc-shaped slot 108, retaining mechanism 113 is screwed in the
Fixed link 104 is pressed to limited block 112 by the screw thread of two pin shafts 111, using between fixed link 104 and the contact surface of limited block 112
Second pin shaft 111 is fixed on the predeterminated position in arc-shaped slot 108 by frictional force, participates in pelvic movement to adjust fixed link 104
The bar of the movement of reference point path generator 100 is long, and then obtains the motion profile of different pelvic movement reference points.
More preferably, as shown in figure 5, being additionally provided with end face bearing 114 between limited block 112 and cylindrical boss 109, with
The frictional resistance between cylindrical boss 109 and limited block 112 is reduced, and then reduces when spherical four-bar linkage 101 moves and generates extremely
The probability of point.
More preferably, it is additionally provided with graduated scale on the arc-shaped surface of each arc-shaped bar, in order to more accurately adjust each circle
The bar that curved rod participates in the movement of pelvic movement reference point path generator 100 is long, and then more accurately obtains preset pelvis
The motion profile of motion reference point.
Further, as shown in Fig. 2, tibial motion reference point path generator 200 includes: the second motor 201, disc
Crank member 202 and third connecting rod 203.
Wherein, the second motor 201 is fixed on bottom plate 501.Disc crank component 202 is fixed on the second motor 201
It is coaxial with the output shaft of the second motor 201 on output shaft.
Third connecting rod has opposite first end and second end, and the first end of third connecting rod 203 is cut with scissors by third pin shaft 205
It is connected on disc crank component 202, the second end of third connecting rod 203 is articulated with human body lower limbs bone by the 4th pin shaft 306
In the second end of model 300, specifically, the second end of third connecting rod 203 is articulated with shin bone model 303 by the 4th pin shaft 306
Second end on.The connecting portion of third connecting rod 203 and shin bone model 303 is tibial motion reference point.
Further, as shown in Fig. 2, being provided with multiple third connecting rod fixation holes 204 on disc crank component 202, respectively
Third connecting rod fixation hole 204 is unequal at a distance from the center of circle of disc crank component 202, and one end of third connecting rod 203 is logical
The fixation hole crossed in multiple third connecting rod fixation holes 204 is connect with disc crank component 202.
Specifically, multiple third connecting rod fixation holes 204 are set on the circular flat of disc crank component 202, each
The distance in the center of circle of the disc crank component 202 of three-link fixation hole 204 is unequal.The first end of third connecting rod 203 is logical
It crosses in the fixation hole that third pin shaft 205 is removably secured in multiple third connecting rod fixation holes 204, formation and disc
Crank member 202 it is hinged.
The power drive mechanism of tibial motion reference point path generator 200 can be reduced to crank link mechanism, i.e., will
Disc crank component 202 is considered as the crank of the crank link mechanism, the center of circle of disc crank component 202 and is fixed with third
The distance of the third connecting rod fixation hole 204 of connecting rod 203 is the length of the crank, by by third connecting rod 203 and different
Three-link fixation hole 204 connects, thus it is possible to vary the length of the crank, and then obtain the movement rail of different tibial motion reference points
Mark.
Shin bone model 303 does default model around the first pin shaft 304 under the driving of tibial motion reference point path generator 200
The swing enclosed, the hunting range of shin bone model 303 and the bar length and third connecting rod fixation hole 204 and disk of third connecting rod 203
The distance in the center of circle of shape crank member 202 is related.More preferably, the bar length of third connecting rod 203 and 204 He of third connecting rod fixation hole
The distance in the center of circle of disc crank component 202, when swinging shin bone model 303 within a preset range, shin bone model 303 and stock
Angle between bone model 302 is no more than 180 °, so that the moving situation of shin bone model 303 more meets the movement of shin bone in practice
Situation.
It should be noted that the force-bearing situation of lower limb vascular bracket is different under different human body and different motion mode.Adjustment
Position of second pin shaft 111 in arc-shaped slot 108 participates in pelvic movement reference point path generator to adjust each arc-shaped bar
The bar of 100 movement is long, and then obtains the motion profile of different pelvic movement reference points；By third connecting rod 203 and different
Three-link fixation hole 204 connects, the motion profile of available difference tibial motion reference point, so that pelvic movement reference point
Motion profile and the motion profile of tibial motion reference point are corresponding with actual human body and actual motor pattern, and then reflect
Under different human body and different motion mode, the force-bearing situation of lower limb vascular bracket.
Optionally, it is integrated with harmonic speed reducer on the second motor 201, to increase square effect by slowing down, increases the second motor
The torque of 201 output shaft.
Lower limb vascular bracket physiological deformation simulator provided in this embodiment, in a first aspect, due to its motion mode mould
The movement of quasi- human body lower limbs, therefore compared to the prior art, which can more reflect the true stress shape of lower limb vascular bracket
Condition.Second aspect makes simulated blood vessel do damped motion in the simulation muscle in being provided with simulation muscle, simulates lower limb fortune
Relative motion when dynamic between blood vessel and muscle, therefore keep the simulation of the force-bearing situation of lower limb vascular bracket more accurate.The third aspect,
Due to the rod piece of pelvic movement reference point path generator and the power drive mechanism of tibial motion reference point path generator
Length is adjustable, and then generates the motion profile of different pelvic movement reference points and the movement rail of different tibial motion reference points
Mark, therefore the simulator can reflect under different human body and different motion mode, the true force-bearing situation of lower limb vascular bracket.
Referring to Fig. 6, Fig. 6 is the master for the lower limb vascular bracket physiological deformation simulator that third embodiment of the invention provides
View, it is different from the lower limb vascular bracket physiological deformation simulator that second embodiment of the invention shown in above-mentioned Fig. 2 to Fig. 5 provides
, in the present embodiment:
Further, as shown in fig. 6, lower limb vascular bracket physiological deformation simulator further include: kinetic control system
600.Kinetic control system 600 controls first motor 102 and the output of the second motor 201 according to collected human body movement data
Revolving speed corresponding with collected human body movement data and torque.
Specifically, kinetic control system 600 includes: data collecting card 601, industrial personal computer 602, motion control card 603 and electricity
Machine driver 604.Wherein data collecting card 601, industrial personal computer 602, motion control card 603 can be the control with different function
Chip.
As shown in fig. 7, being moved in the lower limb vascular bracket physiological deformation simulator that Fig. 7 third embodiment of the invention provides
The data flow schematic diagram of control system will pass through 3D (Three Dimensional, three-dimensional) automatic Optic Motion Capture System acquisition
Pelvis and shin bone of the different human body when being in different motion state exercise data, be stored in data collecting card 601.So
Afterwards, industrial personal computer 602 obtains the exercise data from data collecting card 601 and converts control letter for the exercise data by operation
Number, and the control signal is transmitted to motion control card 603.Later, motion control card 603 is driven by motor driver 604
First motor 102 and the second motor 201 export corresponding revolving speed and torque, to realize the mould to different human body and different motion
It is quasi-.
It should be noted that when acquiring exercise data, and the exercise data of non-acquired entire human body lower limbs, but acquire
The exercise data of preset point on pelvis and shin bone.Kinetic control system 600 controls pelvis fortune according to collected exercise data
It is dynamic to generate movement corresponding with collected exercise data with reference to point generator 200 with reference to point generator 100 and tibial motion,
And then generate the motion profile of pelvic movement reference point and tibial motion reference point, the motion profile and collected pelvis and shin
The exercise data of preset point is corresponding on bone, then pelvic movement reference point and tibial motion reference point drive human body lower limbs bone
The movement that model 300 generates is corresponding with the exercise data of acquisition.
Further, as shown in fig. 6, lower limb vascular bracket physiological deformation simulator further include: blood circulation simulation system
System 700.The both ends of simulated blood vessel 400 are respectively connected to blood circulation simulation system 700, blood circulation system 700 and simulated blood vessel
Pulsation effect of the blood in human body lower limbs blood vessel is simulated jointly after 400 connections.
Specifically, blood circulation simulation system 700 includes: simulation blood and pulse blood pump.The both ends of simulated blood vessel 400 point
Not Jie Ru blood circulation simulation system 700, blood circulation simulation system 400 and simulated blood vessel 400 simulate blood after connecting jointly
Pulsation effect in human body lower limbs blood vessel, to react the pulsation effect of blood in human body lower limbs blood vessel to lower limb vascular bracket
The influence of stress.
Lower limb vascular bracket physiological deformation simulator provided in this embodiment, in a first aspect, due to its motion mode mould
The movement of quasi- human body lower limbs, therefore compared to the prior art, which can more reflect the true stress shape of lower limb vascular bracket
Condition.Second aspect due to being provided with simulation muscle, and makes simulated blood vessel do damped motion in the simulation muscle, simulates down
Relative motion when limb moves between blood vessel and muscle, therefore keep the simulation of the force-bearing situation of lower limb vascular bracket more accurate.Third
Aspect, due to the bar of pelvic movement reference point path generator and the power drive mechanism of tibial motion reference point path generator
The length of part is adjustable, and then generates the motion profile of different pelvic movement reference points and the fortune of different tibial motion reference points
Dynamic rail mark, therefore the simulator can reflect under different human body and different motion mode, the true force-bearing situation of lower limb vascular bracket.
Fourth aspect, due to controlling pelvic movement reference point path generator and tibial motion by acquiring actual human body sport parameter
The movement of reference point path generator, therefore the simulation system is able to reflect under different human body parameter and different motion states, under
The real bearing state of limb intravascular stent.5th aspect, since simulated blood vessel is attached to leg bone according to mannikin
The surface of bone model, and the flowing of blood in the blood vessel is simulated by blood circulation simulation system, to reflect the pulsation effect of blood
The influence of the force-bearing situation of lower limb vascular bracket is coped with, therefore further improves the simulation system to lower limb vascular support force feelings
The accuracy of the simulation of condition.
The lower limb vascular bracket physiological deformation simulator can be used for testing the stress of lower limb vascular bracket, for example,
The fatigue state for testing lower limb vascular bracket, since compared with prior art, which can more accurately react lower limb blood
The real bearing state of pipe holder, thus by the simulator be applied to test lower limb vascular bracket fatigue state when can obtain
The data of more accurate lower limb vascular stent fatigue situation, for lower limb vascular bracket design provide more reliable reality according to
According to.
It should be noted that lower limb vascular stent fatigue refers to, under the action of pulsating stress or strain, in lower limb vascular
At the one of bracket or a few places generate local prominent accumulated damage, crack or occur suddenly completely after certain cycle-index
The process of fracture.Since the load that the reciprocating motion of human body lower limbs and the pulsation effect of blood apply lower limb vascular bracket is
Pulsating stress, even if the stress is less than the strength degree of lower limb vascular bracket, the even less than yield limit of lower limb vascular bracket,
It is possible to lead to the fatigue failure of lower limb vascular bracket, therefore the fatigue state of lower limb vascular bracket is design lower limb vascular bracket
When one of factor for needing to consider emphatically.
The above are the descriptions to lower limb vascular bracket physiological deformation simulator provided by the present invention, for this field
Technical staff, thought according to an embodiment of the present invention, there will be changes in the specific implementation manner and application range, comprehensive
On, the contents of this specification are not to be construed as limiting the invention.
Claims (7)
1. a kind of lower limb vascular bracket physiological deformation simulator, for testing the stress of lower limb vascular bracket, feature
Be, comprising: pelvic movement reference point path generator, tibial motion reference point path generator, human body lower limbs skeleton model,
Simulated blood vessel and support component；
The first end of the human body lower limbs skeleton model is connect with the pelvic movement reference point path generator, under the human body
The second end of limb skeleton model is connect with the tibial motion reference point path generator；
The simulated blood vessel is set to the surface of the human body lower limbs skeleton model, and the lower limb vascular bracket is set to the mould
In quasi- blood vessel；
The support component includes: bottom plate and column, and the column is set on the length and width face of the bottom plate；
The pelvic movement reference point path generator is fixed on the bottom plate and the column；
The tibial motion reference point path generator is fixed on the bottom plate；
The human body lower limbs skeleton model is fixed on the column；
The human body lower limbs skeleton model includes pelvis model, femur model and shin bone model；The pelvis model includes first
Interconnecting piece and second connecting portion, the first connecting portion are connected with the second connecting portion top and are formed with predetermined angle
Angle, one end that the first connecting portion is connected with the second connecting portion are the closed end of the pelvis model, are closed with described
Close the open end that the corresponding one end in end is the pelvis model；Wherein, the open end is the human body lower limbs skeleton model
First end；The open end is the top of the pelvis model, and the closed end is the bottom of the pelvis model；The pelvis
The bottom of model is connect by flexural pivot with one end of the femur model；The other end of the femur model is cut with scissors by the first pin shaft
It is connected in the first end of the shin bone model, the plane and the pelvis model that the shin bone model is rotated around first pin shaft
The plane at place is in preset angle；It is fixed in the middle part of the femur model on the side surface of the column；Wherein, the shin
The second end of bone model is the second end of the human body lower limbs skeleton model；
The pelvic movement reference point path generator includes: spherical four-bar linkage, first motor and transmission belt；First electricity
Machine is mounted on the bottom plate, and the spherical four-bar linkage is fixed on the top of the column；Described in the transmission band connection
The driving link of the output shaft of one motor and the spherical four-bar linkage；The spherical four-bar linkage and the human body lower limbs bone mould
The first end of type connects；
The tibial motion reference point path generator includes: the second motor, disc crank component and third connecting rod；Described
Two motors are fixed on the bottom plate；The disc crank component is fixed on the output shaft of second motor, and described
The output shaft of second motor is coaxial；One end of the third connecting rod is articulated with the disc crank component by third pin shaft
On；The other end of the third connecting rod is articulated in the second end of the human body lower limbs skeleton model by the 4th pin shaft.
2. lower limb vascular bracket physiological deformation simulator as described in claim 1, which is characterized in that in the human body lower limbs
Human anatomic structure is provided with simulation muscle on the surface of skeleton model；
The simulated blood vessel is arranged in the simulation muscle, and in the lower limb skeletons model sport, the simulated blood vessel exists
The damped motion of preset range is done in the simulation muscle.
3. lower limb vascular bracket physiological deformation simulator as described in claim 1, which is characterized in that the driving link is song
Handle, then the spherical four-bar linkage includes: fixed link, the crank, first connecting rod and second connecting rod；
The top of the column is fixed in the side surface of the fixed link；
One end of crank described in the transmission band connection and the output shaft of the first motor；
The fixed link, the crank, the first connecting rod and the second connecting rod pass through the second pin shaft, and successively head and the tail are hinged
Together；
The fixed link, the crank, the first connecting rod and the second connecting rod are arc-shaped bar；
The fixed link, the crank, the first connecting rod and the second connecting rod motion profile on spherical surface.
4. lower limb vascular bracket physiological deformation simulator as claimed in claim 3, which is characterized in that the arc-shaped bar
The arc-shaped slot along its circumferencial direction is provided on arc-shaped surface, the arc-shaped slot runs through two of the arc-shaped bar
Arc-shaped surface, second pin shaft slide in the arc-shaped slot；
Retaining mechanism is additionally provided on second pin shaft, second pin shaft is fixed on described arc-shaped by the retaining mechanism
Predeterminated position in slot.
5. lower limb vascular bracket physiological deformation simulator as claimed in claim 4, which is characterized in that the disc crank
Multiple third connecting rod fixation holes, the center of circle of each the third connecting rod fixation hole and the disc crank component are provided on component
Distance it is unequal, one end of the third connecting rod passes through a fixation hole in multiple third connecting rod fixation holes and institute
State the connection of disc crank component.
6. lower limb vascular bracket physiological deformation simulator as described in claim 1, which is characterized in that the simulator is also
It include: kinetic control system；
The kinetic control system controls the first motor and second motor is defeated according to collected human body movement data
Revolving speed corresponding with the collected human body movement data and torque out.
7. lower limb vascular bracket physiological deformation simulator as described in claim 1, which is characterized in that described device is also wrapped
It includes: blood circulation simulation system；
The both ends of the simulated blood vessel are respectively connected to the blood circulation simulation system, the blood circulation simulation system with it is described
Pulsation effect of the blood in human body lower limbs blood vessel is simulated jointly after simulated blood vessel connection.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109064858A (en) * | 2018-07-20 | 2018-12-21 | 中国医学科学院北京协和医院 | Eye model |
| CN110895894B (en) * | 2018-08-24 | 2021-06-18 | 深圳先进技术研究院 | Human hip joint motion simulator and iliac artery blood vessel support fatigue test device |
| CN110857907B (en) * | 2018-08-24 | 2022-04-26 | 深圳先进技术研究院 | Fatigue testing device for lower limb vascular stent |
| CN110617955B (en) * | 2019-10-18 | 2021-08-24 | 江苏理工学院 | External testing device for fatigue performance of blood vessel support |
| CN110617954B (en) * | 2019-10-18 | 2021-04-13 | 江苏理工学院 | External bending test device for fatigue performance of intravascular stent |
| CN112494285B (en) * | 2021-01-19 | 2023-01-03 | 吉林大学 | Balance control training robot |
| CN116758806B (en) * | 2023-08-18 | 2023-11-24 | 首都医科大学附属北京天坛医院 | Intravascular stent external simulation device |
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