CN115372148A - Axial loading device, method and loading system for spine - Google Patents
Axial loading device, method and loading system for spine Download PDFInfo
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- CN115372148A CN115372148A CN202211298485.8A CN202211298485A CN115372148A CN 115372148 A CN115372148 A CN 115372148A CN 202211298485 A CN202211298485 A CN 202211298485A CN 115372148 A CN115372148 A CN 115372148A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N3/00—Investigating strength properties of solid materials by application of mechanical stress
- G01N3/08—Investigating strength properties of solid materials by application of mechanical stress by applying steady tensile or compressive forces
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N3/00—Investigating strength properties of solid materials by application of mechanical stress
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Abstract
The invention relates to the technical field of medical equipment, in particular to an axial loading device, method and loading system for a spine. The device includes: the frame body comprises two guide posts extending along the axial direction of the spine, and a first flat plate, a second flat plate, a third flat plate and a fourth flat plate which are sequentially arranged from top to bottom along the axial direction of the spine; the axial loading mechanism is fixed on the first flat plate and comprises a first output shaft, and the first output shaft can extend up and down along the axial direction of the spine; one end of the first force sensor is fixed with the first output shaft, and the other end of the first force sensor is fixed with the second flat plate; a culture dish with an opening is arranged on the fourth flat plate, the culture dish is used for accommodating a spinal column, the upper end and the lower end of the spinal column are respectively fixed on the first mounting seat and the second mounting seat, the first mounting seat is connected with the third flat plate, and the second mounting seat is fixed with the fourth flat plate; the axial loading mechanism is controlled by the control mechanism to carry out axial continuous constant force loading and axial continuous variable force loading on the spine.
Description
Technical Field
The invention relates to the technical field of medical equipment, in particular to an axial loading device, method and loading system for a spine.
Background
Mechanical loading is critical to maintaining the structure and function of the bone. The bone tissue has adaptability to the mechanical environment, when the mechanical load on the bone tissue is reduced, bone loss occurs, the structural strength of the bone tissue is reduced, and the overall mechanical property of the bone is reduced.
In the related art, the spine is generally used as a subject to be studied for the study of mechanical properties. As the spine is subjected to axial load, the mechanical property of the spine changes along with time or is a function of speed, namely the spine has a creep phenomenon. However, it is difficult to effectively eliminate the influence of creep in the related art.
In view of the above, there is a need for an axial loading device, method and loading system for spinal column to solve the above-mentioned problems.
Disclosure of Invention
The invention provides an axial loading device, method and loading system for a spine, which can effectively eliminate the influence caused by creep.
In a first aspect, an embodiment of the present invention provides an axial loading device for a spine, including:
the frame body comprises two guide posts extending along the axial direction of a spine, and a first flat plate, a second flat plate, a third flat plate and a fourth flat plate which are sequentially arranged from top to bottom along the axial direction of the spine, wherein the first flat plate and the fourth flat plate are both fixed with the guide posts, the second flat plate and the third flat plate are fixedly connected, and the second flat plate and the third flat plate can both move upwards or downwards along the guide posts;
the axial loading mechanism is fixed on the first flat plate and comprises a first output shaft, and the first output shaft can extend up and down along the axial direction of the spine;
one end of the first force sensor is fixed with the first output shaft, and the other end of the first force sensor is fixed with the second flat plate;
a control mechanism electrically connected to the axial loading mechanism and the first force sensor, respectively;
a culture dish with an opening is arranged on the fourth flat plate, the culture dish is used for accommodating a spinal column, the upper end and the lower end of the spinal column are respectively fixed on a first mounting seat and a second mounting seat, the first mounting seat is connected with the third flat plate, and the second mounting seat is fixed with the fourth flat plate;
and the axial loading mechanism is controlled by the control mechanism to carry out axial continuous constant force loading and axial continuous variable force loading on the spine.
In a second aspect, an embodiment of the present invention provides an axial loading method for a spinal column, where the method includes:
when the axial pressure loading is carried out on the spine, the control mechanism controls the first output shaft of the axial loading mechanism to extend downwards along the axial direction of the spine so as to drive the second flat plate and the third flat plate to move downwards along the guide post together;
when the axial tension loading is carried out on the spine, the control mechanism controls the first output shaft of the axial loading mechanism to contract upwards along the axial direction of the spine so as to drive the second flat plate and the third flat plate to move upwards along the guide post together.
In a third aspect, embodiments of the present invention provide a loading system for a spinal column, including an axial loading device for a spinal column according to any one of the above embodiments.
According to the scheme, the axial loading device for the spine provided by the invention has the advantages that the axial continuous constant force loading and the axial continuous variable force loading on the spine are realized through the cooperation of the axial loading mechanism, the first force sensor and the control mechanism, so that the influence caused by creep deformation can be effectively eliminated.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained based on these drawings without creative efforts.
FIG. 1 is a schematic diagram of a force loading mechanism according to an embodiment of the present invention;
FIG. 2 is an enlarged schematic view of FIG. 1 at A;
FIG. 3 is a front view of the force loading mechanism of FIG. 1;
FIG. 4 is an enlarged schematic view at B of FIG. 3;
FIG. 5 is a cross-sectional schematic view of the force loading mechanism of FIG. 1;
FIG. 6 is an enlarged schematic view at C of FIG. 5;
fig. 7 is a schematic structural diagram of a culture dish according to an embodiment of the invention.
Reference numerals:
21-a frame body; 22-axial loading mechanism; 23-a circumferential loading mechanism; 24-culture dish; 25-a first mount; 26-a second mount; 27-a mounting groove; 211-guide pillars; 212-a first plate; 213-a second plate; 214-a third plate; 215-fourth plate; 216-fifth plate; 221-a first output shaft; 222-a first connector; 223-a first force sensor; 231-a second output shaft; 232-a rotating assembly; 233-connecting components; 232 a-axis of rotation; 232 b-a fixed seat; 232 c-bearing; 233 a-a second connector; 233 b-a third connector; 233 c-a fourth connection; 241-liquid inlet; 242-a liquid outlet; 243-overflow prevention port; 244-splash cover; 245-bone cement injection port; 248-a silica gel pad; 249-fixed station.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer and more complete, the technical solutions in the embodiments of the present invention will be described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention, and based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts belong to the scope of the present invention.
In the related art, the spine is generally used as a research object to research the mechanical correlation, and some previous patents of the inventor disclose technical solutions for applying axial stress (i.e. performing axial loading) to the spine.
For example, patent publication No. CN113057595a discloses an in vivo loading device for spinal motion segments that axially loads the spine by compression springs. However, this solution makes it difficult to achieve a continuous constant force loading of the spine in the axial direction when creep of the spine occurs.
For another example, patent publication No. CN109468360a discloses a tension-compression integrated loading device for spinal motion segments, which is used for loading the spine axially by mounting weights. Although the scheme can realize the continuous constant force loading on the spine in the axial direction, the loading mode of the mode is discrete loading (namely, the staged constant force loading is realized by replacing weights with different masses), and the continuous variable force loading cannot be realized, namely, the influence caused by creep cannot be effectively eliminated.
Further, since the foot part continuously applies axial and continuous variable force to the spine during walking, in order to research more overall mechanical characteristics of the spine, it is necessary to improve the circumferential loading device of the spine.
In order to solve the technical problem, the inventor finds out in the development process that: the axial continuous constant force loading and the axial continuous variable force loading on the spine can be realized through the cooperation of the axial loading mechanism, the first force sensor and the control mechanism, so that the influence caused by creep deformation can be effectively eliminated. That is, an axial control algorithm is added, rather than simply manually adjusting the axial pressure (e.g., replacing a different mass of weight).
The inventive concept of the present invention is described below.
Referring to fig. 1, 3 and 5, the force loading mechanism of the spine includes an axial loading device and a circumferential loading device of the spine, wherein the axial loading device and the circumferential loading device share a frame 21 portion of the force loading mechanism. The following description will first describe the device for axial loading of the spinal column.
In one embodiment of the present invention, the axial loading device for the spine comprises a frame 21, an axial loading mechanism 22, a first force sensor 223, and a control mechanism (not shown), wherein:
the frame body 21 comprises two guide posts 211 extending along the axial direction of the spine, and a first flat plate 212, a second flat plate 213, a third flat plate 214 and a fourth flat plate 215 which are sequentially arranged from top to bottom along the axial direction of the spine, wherein the first flat plate 212 and the fourth flat plate 215 are both fixed with the guide posts 211, the second flat plate 213 and the third flat plate 214 are fixedly connected, and the second flat plate 213 and the third flat plate 214 can both move up or down along the guide posts 211;
the axial loading mechanism 22 is fixed on the first flat plate 212, the axial loading mechanism 22 comprises a first output shaft 221, and the first output shaft 221 can extend and retract up and down along the axial direction of the spinal column;
one end of the first force sensor 223 is fixed to the first output shaft 221, and the other end is fixed to the second plate 213;
the control mechanism is electrically connected with the axial loading mechanism 22 and the first force sensor 223 respectively;
a culture dish 24 with an opening is arranged on the fourth flat plate 215, the culture dish 24 is used for accommodating a spinal column, the upper end and the lower end of the spinal column are respectively fixed on the first installation seat 25 and the second installation seat 26, the first installation seat 25 is connected with the third flat plate 214, and the second installation seat 26 is fixed with the fourth flat plate 215;
the axial loading mechanism 22 is controlled by the control mechanism to carry out axial continuous constant force loading and axial continuous variable force loading on the spine.
In the embodiment, the axial loading mechanism 22, the first force sensor 223 and the control mechanism cooperate to realize axial continuous constant force loading and axial continuous variable force loading on the spine, so that the influence caused by creep can be effectively eliminated.
It can be understood that the chip of the control mechanism is preset with an associated axial control algorithm, and the position offset of the first output shaft 221 is adaptively changed by acquiring the current acting force detected by the first force sensor 223, so that the axial continuous constant force loading and the axial continuous variable force loading on the spine can be realized.
As mentioned above, when the axial loading on the spine reaches a certain time, the spine may creep, and the offset of the position of the first output shaft 221 needs to be adaptively changed by obtaining the current acting force detected by the first force sensor 223, so as to ensure the axial loading effect on the spine. It should be noted that, since the force information may be distorted due to factors such as loading environment and spine state, the data collected by the first force sensor 223 needs to be filtered online to reduce the influence of environmental noise, so as to obtain the real contact force information.
In some embodiments, the present invention may use kalman filter based force sensing information filtering to complete the estimation of the force signal. Kalman filtering is a method for optimally estimating the state of a system from linear system state equations. Because the estimation process is realized in an iterative calculation mode, only process noise, measurement noise and the system state at the current moment need to be considered in the estimation process, and integrally collected data does not need to be stored, so that the method is suitable for the requirement of acquiring force sensing information in real time in the research.
The axial control algorithm of the control mechanism is described below.
In one embodiment of the invention, the control mechanism is configured to perform the following operations:
s11, acquiring the current acting force detected by the first force sensor 223 in the current period;
s12, determining the theoretical position of the first output shaft 221 in the current period based on the theoretical acting force in the current period and a preset coefficient;
s13, keeping the theoretical position unchanged to realize axial continuous constant force loading;
s14, obtaining a position difference value of the current period based on the coefficient and the difference value of the current acting force and the theoretical acting force of the current period;
s15, correcting the theoretical position based on the position difference value to correct the theoretical acting force to the current acting force;
and S16, taking the current acting force as the theoretical acting force of the next period, and executing the steps S11, S12, S14 and S15, thereby realizing axial continuous variable force loading.
In the present embodiment, the axial loading mechanism 22 (e.g., the motor) can be simplified to a spring model, i.e., F = kx, where F is an elastic force (i.e., a force in the present embodiment), k is an elastic coefficient (i.e., a coefficient in the present embodiment), and x is a deformation amount (i.e., a position of the first output shaft 221 in the present embodiment). Therefore, by means of a preset theoretical acting force and a preset coefficient, a theoretical position of the first output shaft 221 can be obtained, and the theoretical position is kept unchanged, so that axial continuous constant force loading is realized; through the current acting force detected by the first force sensor 223, the preset theoretical acting force and the preset coefficient, a position difference value expected to be corrected at the current circumference of the first output shaft 221 can be obtained, so that the theoretical position of the first output shaft 221 can be corrected based on the position difference value to correct the theoretical acting force to the current acting force, and therefore axial continuous variable force loading is achieved.
For example, when the current acting force is 9.7N and the theoretical acting force is 10N, the current acting force detected by the first force sensor 223 may be corrected to 10N by the above axial control algorithm, so as to implement the axial continuous constant force loading; for another example, the current acting force is 10.3N, the theoretical acting force is 10N, and the current acting force detected by the first force sensor 223 can be corrected to 10N by the above axial control algorithm, so as to realize the axial continuous constant force loading.
For example, the current acting force is 9.7N, the theoretical acting force is 10N, and the current acting force detected by the first force sensor 223 can be corrected to 9.7N by the above axial control algorithm, so as to realize the axial continuous variable force loading; for another example, the current applied force is 10.3N, and the theoretical applied force is 10N, and the current applied force detected by the first force sensor 223 can be corrected to 10.3N by the above-mentioned axial control algorithm, so as to implement the axial continuous variable force loading.
In one embodiment of the present invention, two fifth flat plates 216 are fixed between the second flat plate 213 and the third flat plate 214, and the fifth flat plates 216 are perpendicular to the second flat plate 213 or the third flat plate 214.
In this embodiment, by fixing the two fifth flat plates 216 between the second flat plate 213 and the third flat plate 214, not only the fixed connection of the second flat plate 213 and the third flat plate 214 can be realized, but also the stability of the second flat plate 213 and the third flat plate 214 moving up and down along the guide post 211 can be ensured. Of course, the fixed connection between the second plate 213 and the third plate 214 can be realized by other methods, which are not limited herein.
It should be noted that the second flat plate 213 and the third flat plate 214 are provided for mounting the circumferential loading mechanism 23, and if only axial loading of the spine is considered, the second flat plate 213 may be omitted, i.e. the first output shaft 221 of the axial loading mechanism 22 may be directly connected to the third flat plate 214 to achieve compression and tension of the third flat plate 214.
Further, the axial urging mechanism 22 is located above the circumferential urging mechanism 23 in the height direction, and is not simply provided in view of the compactness of the overall structure of the force urging mechanism.
In addition to the two fifth flat plates 216 provided on the second flat plate 213 and the third flat plate 214, in order to further consider the compactness of the overall structure, the circumferential loading mechanism 23 is fixed to one of the fifth flat plates 216, instead of selectively fixing the circumferential loading mechanism 23 to the second flat plate 213 or the third flat plate 214.
In one embodiment of the present invention, the axial loading mechanism 22 is a linear servo motor, which facilitates the axial loading control of the spine.
Of course, the axial loading mechanism 22 may be a hydraulic mechanism or a pneumatic mechanism, and the specific type of the axial loading mechanism 22 is not limited herein.
In one embodiment of the present invention, the first output shaft 221 is located on the axial centerline of the spine, so that the axial loading effect on the spine can be ensured.
Of course, the first output shaft 221 may not be located on the axial center line of the spine, and is not particularly limited herein.
In one embodiment of the present invention, the axial loading means further comprises a first connector 222, the first connector 222 being threadedly secured to the first output shaft 221 and the first force sensor 223, respectively.
Since the axial loading mechanism 22 and the first force sensor 223 are standard components, they generally cannot be directly fixedly connected, and in order to facilitate the fixed connection of the two, they can be fixedly screwed to the first output shaft 221 and the first force sensor 223 by means of the first connecting member 222.
Of course, the first connecting member 222 may not be provided, that is, the first output shaft 221 and the first force sensor 223 may be directly fixed by a secondary processing method (for example, the end portion of the first output shaft 221 and the first force sensor 223 are processed into a thread structure that can be matched with each other), and the method is not limited herein.
In one embodiment of the present invention, each of the first and second mounting seats 25 and 26 is provided therein with a mounting groove 27 for receiving a spinal column, the mounting groove 27 is filled with bone cement, and the upper and lower ends of the spinal column are fixed to the first and second mounting seats 25 and 26, respectively, by means of embedding the bone cement (i.e., injecting the bone cement through a bone cement injection port 245 provided on the circumference of the culture dish 24).
In this embodiment, in order to effectively fix the spinal column, the screw fastener of the related art is not used, but a bone cement fixing method is used, which does not cause contamination of the culture solution by the screw fastener.
It is understood that the first and second mounting seats 25 and 26 can be made of PP material, which does not contaminate the culture solution. Further, the fastener for fixing the second mounting seat 26 may be made of titanium alloy, so that the culture solution is not contaminated.
The fixing method may be a screw connection, and may also be other fixing methods, which are not limited herein.
In addition, an embodiment of the present invention further provides an axial loading method for a spine, which includes, based on the axial loading device for a spine mentioned in any of the above embodiments:
when the axial pressure loading is carried out on the spine, the control mechanism controls the first output shaft 221 of the axial loading mechanism 22 to extend downwards along the axial direction of the spine so as to drive the second flat plate 213 and the third flat plate 214 to move downwards along the guide pillar 211 together;
when the axial tension loading is carried out on the spine, the control mechanism controls the first output shaft 221 of the axial loading mechanism 22 to contract upwards along the axial direction of the spine, so as to drive the second flat plate 213 and the third flat plate 214 to move upwards together along the guide pillar 211.
It should be noted that the method and the axial loading device for the spine in the above embodiments are implemented based on the same inventive concept, so that the two have the same beneficial effects, and the beneficial effects of the using method are not described in detail herein.
In addition, the embodiment of the invention also provides a loading system of the spine, which comprises the axial loading device of the spine mentioned in any embodiment.
It should be noted that the system and the axial loading device for the spine in the above embodiments are implemented based on the same inventive concept, so that the two have the same beneficial effects, and the beneficial effects of the using method are not described in detail herein.
In one embodiment of the invention, the spinal loading system comprises a circulation device (not shown) for the culture solution of the spinal column and a force loading mechanism (i.e. a bidirectional loading device, wherein the two directions are axial and circumferential, respectively), and the force loading mechanism comprises a circumferential loading device of the spinal column in addition to the axial loading device mentioned in the above embodiment.
The circumferential loading device and culture dish 24 are described below with reference to the drawings.
Referring to fig. 1 to 6, the first mounting seat 25 is rotatably connected to the third plate 214, and the first mounting seat 25 can rotate along the circumferential direction of the spine, so that the circumferential loading mechanism 23 can apply a force to the first mounting seat 25 along the circumferential direction of the spine to circumferentially load the spine.
In the present embodiment, by providing the circumferential loading mechanism 23 on the frame 21, it is possible to apply a force along the circumferential direction of the spine to the first mounting seat 25 to circumferentially load the spine, so that variations of the spine under different rotational force loads can be studied.
In one embodiment of the present invention, the circumferential loading mechanism 23 includes a second output shaft 231, and the second output shaft 231 can be extended and retracted back and forth along a direction perpendicular to the axial direction of the spine, so that the first mounting seat 25 can be rotated by the extension and retraction of the second output shaft 231.
In the present embodiment, by providing the second output shaft 231, the circumferential loading mechanism 23 can be facilitated to achieve circumferential loading along the spinal column.
Of course, the circumferential loading mechanism 23 may not include the second output shaft 231, and is not limited herein. For example, by manually controlling the circumferential rotation of the first mount 25 and then fixing it in a certain position.
In one embodiment of the present invention, the circumferential loading mechanism 23 is a linear servo motor, so that circumferential loading control of the spine can be conveniently realized.
Of course, the circumferential loading mechanism 23 may be a hydraulic mechanism or a pneumatic mechanism, and the specific type of the circumferential loading mechanism 23 is not limited herein.
In an embodiment of the present invention, the circumferential loading device further includes a rotating assembly 232, the rotating assembly 232 includes a rotating shaft 232a, a fixed seat 232b and a bearing 232c, the rotating shaft 232a is disposed through the fixed seat 232b and the bearing 232c, the fixed seat 232b fixes the bearing 232c on the third flat plate 214, an upper end of the rotating shaft 232a is movably connected with the second output shaft 231, and a lower end of the rotating shaft 232a is fixed with the first mounting seat 25.
In the present embodiment, the rotation assembly 232 is provided to achieve the rotation connection between the first mounting seat 25 and the third plate 214.
Of course, the rotational connection between the first mounting seat 25 and the third plate 214 may be in other manners, and is not limited herein.
In an embodiment of the present invention, the circumferential loading device further includes a connection assembly 233, the connection assembly 233 includes a second connection member 233a, a third connection member 233b, and a fourth connection member 233c, which are sequentially connected, one end of the second connection member 233a is fixed to the second output shaft 231, the other end is rotatably connected to the third connection member 233b, the third connection member 233b is slidably connected to the fourth connection member 233c, the fourth connection member 233c is fixedly connected to the rotation shaft 232a, and an axial direction of the fourth connection member 233c is perpendicular to an axial direction of the rotation shaft 232 a.
In the present embodiment, by providing the connection member 233, the connection member 233 can be made to have a rotational degree of freedom and a sliding degree of freedom, so that the rotary shaft 232a can swing back and forth in its circumferential direction.
Of course, the sliding freedom may be omitted, that is, the connection assembly 233 includes only the second connection member 233a and the fourth connection member 233c connected in sequence, one end of the second connection member 233a is fixed to the second output shaft 231, the other end is rotatably connected to the fourth connection member 233c, the fourth connection member 233c is fixedly connected to the rotation shaft 232a, and the axial direction of the fourth connection member 233c is perpendicular to the axial direction of the rotation shaft 232 a. Compared with the scheme, the scheme with the omitted sliding freedom degree has small swing amplitude and is not beneficial to realizing the circumferential loading effect on the spine, namely the scheme with the rotating freedom degree and the sliding freedom degree can realize the better circumferential loading effect on the spine.
In one embodiment of the present invention, the circumferential loading device further comprises:
a second force sensor (not shown) having one end fixed to the second output shaft 231 and the other end fixed to the second link 233 a;
a control mechanism (not shown in the figure) electrically connected with the circumferential loading mechanism 23 and the second force sensor respectively;
the circumferential loading mechanism 23 is controlled by the control mechanism to carry out circumferential continuous constant force loading and circumferential continuous variable force loading on the spine.
In the embodiment, the circumferential loading mechanism 23, the second force sensor and the control mechanism cooperate with each other to jointly realize circumferential continuous constant force loading and circumferential continuous variable force loading on the spine, so that changes of the spine under different rotational acting force loads can be researched.
It can be understood that, a chip of the control mechanism is preset with an associated circumferential control algorithm, and the position offset of the second output shaft 231 is adaptively changed by acquiring the current acting force detected by the second force sensor, so that circumferential continuous constant force loading and circumferential continuous variable force loading on the spine can be realized.
When the circumferential loading to the spine reaches a certain time, a creep phenomenon may occur to the spine, and at this time, the position offset of the second output shaft 231 needs to be adaptively changed by acquiring the current acting force detected by the second force sensor, so as to ensure the circumferential loading effect to the spine. However, it should be noted that, since the force information may be distorted due to factors such as loading environment and spine state, the data collected by the second force sensor needs to be filtered online to achieve the purpose of reducing the influence of environmental noise, so as to obtain the real contact force information.
In some embodiments, the present invention may use kalman filter based force sensing information filtering to complete the estimation of the force signal. Kalman filtering is a method for optimally estimating the state of a system from linear system state equations. Because the estimation process is realized in an iterative calculation mode, only process noise, measurement noise and the system state at the current moment need to be considered in the estimation process, and integrally collected data does not need to be stored, so that the method is suitable for the requirement of acquiring force sensing information in real time in the research.
The following describes the circumferential control algorithm of the control mechanism.
In one embodiment of the invention, the control mechanism is configured to perform the following operations:
s21, acquiring a current acting force detected by a second force sensor in a current period;
s22, determining the theoretical position of the second output shaft 231 in the current period based on the theoretical acting force in the current period and a preset coefficient;
s23, keeping the theoretical position unchanged to realize circumferential continuous constant force loading;
s24, obtaining a position difference value of the current period based on the coefficient and the difference value of the current acting force and the theoretical acting force of the current period;
s25, correcting the theoretical position based on the position difference value to correct the theoretical acting force to the current acting force;
and S26, taking the current acting force as the theoretical acting force of the next period, and executing the steps S21, S22, S24 and S25, thereby realizing circumferential continuous variable force loading.
In the present embodiment, the circumferential loading mechanism 23 (e.g., a motor) can be simplified to a spring model, i.e., F = kx, where F is an elastic force (i.e., an acting force in the present embodiment), k is an elastic coefficient (i.e., a coefficient in the present embodiment), and x is a deformation amount (i.e., a position of the second output shaft 231 in the present embodiment). Therefore, by means of a preset theoretical acting force and a preset coefficient, a theoretical position of the second output shaft 231 can be obtained, and the theoretical position is kept unchanged, so that circumferential continuous constant force loading is realized; the current acting force detected by the second force sensor, the preset theoretical acting force and the preset coefficient can obtain a position difference value expected to be corrected at the current circumference of the second output shaft 231, so that the theoretical position of the second output shaft 231 can be corrected based on the position difference value to correct the theoretical acting force to the current acting force, and therefore circumferential continuous variable force loading is achieved.
For examples in the circumferential loading device, reference may be made to or by examples in the axial loading device, and details are not described here.
Referring to fig. 7, the apparatus for circulating the culture solution in the spine is used for circulating the culture solution in the culture dish 24 disposed on the force loading mechanism, so as to avoid the problem of contamination of the culture solution by using a syringe in the related art. Wherein, when the circulating device who utilizes the culture solution of backbone carries out the circulation of culture solution to culture dish 24, can utilize the feed liquor pump will be arranged in the culture solution of storage container and carry the inlet 241 of culture dish 24, utilize out the liquid pump simultaneously and carry the outside through liquid outlet 242 with the culture solution in culture dish 24, can also utilize the anti-overflow pump will reach the culture solution of the preset height of culture dish 24 and carry the outside through anti-overflow mouth 243. In some embodiments, the liquid inlet 241 and the liquid outlet 242 are located at the bottom of the culture dish 24, and the overflow prevention port 243 is located at the top of the culture dish 24.
In one embodiment of the invention, the opening of the culture dish 24 is provided with a splash cover 244, the splash cover 244 being of a half-and-half design.
In this embodiment, since the culture solution may generate bubbles in the process of entering the culture dish 24, the bubbles rise to the liquid level of the culture solution and burst, and a part of the culture solution may splash out of the culture dish 24 from the opening of the culture dish 24, which may pollute the external environment of the culture dish 24, the splash cover 244 may be disposed at the opening, and the splash cover 244 may be further installed easily, so that the splash cover 244 is designed in half.
In one embodiment of the present invention, the culture dish 24 is disposed on a fixing stand 249, and the fixing stand 249 is fixed on the fourth plate 215, so as to facilitate the cleaning of the fixing stand 249. Since the culture dish 24 is typically made of glass, in order to prevent the bottom of the culture dish 24 from being broken when the axial loading device is used for axially loading the spine, in some embodiments, a silicone pad 248 may be disposed at the bottom of the culture dish 24 and the fixing table 249.
The fixing method may be a screw connection, and may also be other fixing methods, which are not limited herein.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising a … …" does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises the element.
Finally, it is to be noted that: the above description is only a preferred embodiment of the present invention, and is only used to illustrate the technical solutions of the present invention, and not to limit the protection scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.
Claims (10)
1. An axial loading device for a spinal column, comprising:
the frame body comprises two guide posts extending along the axial direction of a spine, and a first flat plate, a second flat plate, a third flat plate and a fourth flat plate which are sequentially arranged from top to bottom along the axial direction of the spine, wherein the first flat plate and the fourth flat plate are both fixed with the guide posts, the second flat plate and the third flat plate are fixedly connected, and the second flat plate and the third flat plate can both move upwards or downwards along the guide posts;
the axial loading mechanism is fixed on the first flat plate and comprises a first output shaft, and the first output shaft can extend up and down along the axial direction of the spine;
one end of the first force sensor is fixed with the first output shaft, and the other end of the first force sensor is fixed with the second flat plate;
a control mechanism electrically connected to the axial loading mechanism and the first force sensor, respectively;
a culture dish with an opening is arranged on the fourth flat plate, the culture dish is used for accommodating a spinal column, the upper end and the lower end of the spinal column are respectively fixed on a first mounting seat and a second mounting seat, the first mounting seat is connected with the third flat plate, and the second mounting seat is fixed with the fourth flat plate;
and the axial loading mechanism is controlled by the control mechanism to carry out axial continuous constant force loading and axial continuous variable force loading on the spine.
2. The axial spinal loading device of claim 1, wherein two fifth plates are secured between the second and third plates, the fifth plates being perpendicular to the second or third plates.
3. The axial spinal loading device of claim 1, wherein said axial loading mechanism is a linear servo motor.
4. A spinal axial loading device as recited in claim 1, wherein the first output shaft is located on an axial centerline of the spinal column.
5. The axial spinal loading device of claim 1, further comprising a first connector threadably secured with the first output shaft and the first force sensor, respectively.
6. The axial loading device for the spine according to claim 1, wherein each of the first and second installation seats is provided therein with an installation groove for receiving the spine, the installation groove is filled with bone cement, and the upper end and the lower end of the spine are fixed to the first and second installation seats respectively by being embedded in the bone cement.
7. The axial spinal loading device of claim 1, wherein the opening of the petri dish is provided with a splash cover, and the splash cover is of a half-and-half design.
8. An axial loading device of the spine according to any of the claims 1-7, characterized in that said control mechanism is adapted to perform the following operations:
s11, acquiring a current acting force detected by the first force sensor in a current period;
s12, determining the theoretical position of the first output shaft in the current period based on the theoretical acting force in the current period and a preset coefficient;
s13, keeping the theoretical position unchanged to realize axial continuous constant force loading;
s14, obtaining a position difference value of the current period based on the coefficient and the difference value of the current acting force and the theoretical acting force of the current period;
s15, correcting the theoretical position based on the position difference value so as to correct the theoretical acting force to the current acting force;
and S16, taking the current acting force as the theoretical acting force of the next period, and executing the steps S11, S12, S14 and S15, thereby realizing axial continuous variable force loading.
9. A method of axial loading of a spinal column, the method being based on the device of any one of claims 1 to 8, the method comprising:
when the axial pressure loading is carried out on the spine, the control mechanism controls the first output shaft of the axial loading mechanism to extend downwards along the axial direction of the spine so as to drive the second flat plate and the third flat plate to move downwards along the guide post together;
when the axial tension loading is carried out on the spine, the control mechanism controls the first output shaft of the axial loading mechanism to contract upwards along the axial direction of the spine so as to drive the second flat plate and the third flat plate to move upwards along the guide post together.
10. A spinal loading system comprising a spinal axial loading device as claimed in any one of claims 1 to 8.
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