CN115372150A - Bidirectional loading device, method and loading system for spine - Google Patents
Bidirectional loading device, method and loading system for spine Download PDFInfo
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- CN115372150A CN115372150A CN202211298563.4A CN202211298563A CN115372150A CN 115372150 A CN115372150 A CN 115372150A CN 202211298563 A CN202211298563 A CN 202211298563A CN 115372150 A CN115372150 A CN 115372150A
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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 a bidirectional spinal loading device, method and system. The device includes: the frame body comprises two guide posts, 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; the circumferential loading mechanism is arranged between the second flat plate and the third flat plate; the frame body is provided with a culture dish with an opening, the culture dish is used for accommodating a spine, the upper end and the lower end of the spine are respectively fixed on a first mounting seat and a second mounting seat, the first mounting seat is rotationally connected with a third flat plate, the first mounting seat can rotate along the circumferential direction of the spine, and the second mounting seat is fixed with a fourth flat plate; the axial loading mechanism is used for applying acting force along the axial direction of the spine to the first mounting seat so as to axially load the spine; the circumferential loading mechanism is used for applying acting force along the circumferential direction of the spine to the first installation seat so as to circumferentially load the spine.
Description
Technical Field
The invention relates to the technical field of medical equipment, in particular to a bidirectional spinal loading device, method and system.
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 thus the mechanical property of the whole bone is reduced.
In the related art, the spine is generally used as a subject to be studied for the study of mechanical properties. Most of the related art studies on axial loading of the spine, which is disadvantageous for studying the overall mechanical properties of the spine.
In view of the foregoing, there is a need for a bidirectional loading device, method and loading system for spinal column to solve the above-mentioned problems.
Disclosure of Invention
The invention provides a bidirectional loading device, a bidirectional loading method and a bidirectional loading system for a spine, which can be used for researching the overall mechanical property of the spine.
In a first aspect, an embodiment of the present invention provides a bidirectional 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;
a circumferential loading mechanism disposed between the second plate and the third plate;
the frame body is provided with a culture dish with an opening, the culture dish is used for accommodating a spine, the upper end and the lower end of the spine are respectively fixed on a first mounting seat and a second mounting seat, the first mounting seat is rotationally connected with the third flat plate, the first mounting seat can rotate along the circumferential direction of the spine, and the second mounting seat is fixed with the fourth flat plate;
the axial loading mechanism is used for applying acting force along the axial direction of the spine to the first mounting seat so as to axially load the spine;
the circumferential loading mechanism is used for applying acting force along the circumferential direction of the spine to the first mounting seat so as to circumferentially load the spine.
In a second aspect, an embodiment of the present invention provides a bidirectional loading method for a spine, which is based on the bidirectional loading device for a spine according to any one of the above embodiments, and the method includes:
when the axial pressure loading is carried out on the spine, the control mechanism controls the first output shaft of the bidirectional 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 bidirectional 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 pillar together;
when the circumferential loading is carried out on the spine, the second output shaft of the circumferential loading mechanism is controlled to stretch through the control mechanism so as to drive the first mounting seat to rotate along the circumferential direction of the spine.
In a third aspect, embodiments of the present invention provide a spinal loading system including a spinal bidirectional loading device according to any one of the above embodiments.
According to the scheme, the bidirectional loading device for the spine, provided by the invention, can apply an acting force along the axial direction of the spine to the first mounting seat by arranging the axial loading mechanism on the first flat plate so as to axially load the spine; by arranging the circumferential loading mechanism between the second flat plate and the third flat plate, acting force along the circumferential direction of the spine can be applied to the first mounting seat so as to circumferentially load the spine. Therefore, the above solution allows to study the overall mechanical characteristics of the spinal column.
Drawings
In order to more clearly illustrate the embodiments or technical solutions of the present invention, the drawings used in the embodiments or technical solutions in the prior art are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is also possible for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a force loading mechanism (i.e., a bidirectional loading device) according to an embodiment of the present invention;
FIG. 2 is an enlarged schematic view at A in FIG. 1;
FIG. 3 is a front view of the force loading mechanism of FIG. 1;
FIG. 4 is an enlarged schematic view of FIG. 3 at B;
FIG. 5 is a schematic structural diagram of a force loading mechanism at B according to another embodiment of the present invention;
FIG. 6 is a cross-sectional schematic view of the force loading mechanism of FIG. 1;
FIG. 7 is an enlarged schematic view at C of FIG. 6;
FIG. 8 is an enlarged schematic view at D of FIG. 6;
FIG. 9 is a schematic diagram of a structure of a culture dish according to an embodiment of the invention;
FIG. 10 is a schematic view of another embodiment of the culture dish according to the present 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; 234-a second force sensor; 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-a liquid inlet; 242-a liquid outlet; 243-overflow prevention port; 244-splash cover; 245-bone cement injection port; 246-a platen; 247-O-rings; 248-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.
Referring to fig. 1, 3 and 6, the force loading mechanism (i.e., the bidirectional loading device) 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.
In one embodiment of the present invention, the bidirectional loading device for the spine comprises a frame 21, an axial loading mechanism 22 and a circumferential loading mechanism 23, 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 to the first plate 212;
the circumferential loading mechanism 23 is provided between the second flat plate 213 and the third flat plate 214;
the frame body 21 is provided with a culture dish 24 with an opening, the culture dish 24 is used for accommodating a spine, the upper end and the lower end of the spine are respectively fixed on a first mounting seat 25 and a second mounting seat 26, the first mounting seat 25 is rotationally connected with a third flat plate 214, the first mounting seat 25 can rotate along the circumferential direction of the spine, and the second mounting seat 26 is fixed with a fourth flat plate 215;
the axial loading mechanism 22 is used for applying a force along the axial direction of the spine to the first mounting seat 25 so as to axially load the spine;
the circumferential loading mechanism 23 is used to apply a force to the first mount 25 in the circumferential direction of the spine to circumferentially load the spine.
In this embodiment, by providing the axial loading mechanism 22 on the first flat plate 212, a force along the axial direction of the spine can be applied to the first mounting seat 25 to axially load the spine; by providing a circumferential loading mechanism 23 between the second plate 213 and the third plate 214, it is possible to apply a force to the first mounting block 25 in the circumferential direction of the spine to circumferentially load the spine. Thus, the above described solution allows to study the overall mechanical properties of the spine.
In the related art, the spine is generally used as a subject to be studied for the study of mechanical properties. For example, patent publication No. CN113057595A discloses an in vivo loading device for spinal motion segments, which axially loads the spine by means of compression springs. For another example, patent publication No. CN214572028U discloses an in vitro culture loading device for an angle-adjustable spinal motion segment, which simulates the natural flexion and extension angles of a cervical vertebral motion unit and studies the influence of different flexion and extension angles and different acting forces (i.e., lateral loading) on the cervical intervertebral disc.
For patients with lumbar diseases, the rotation reduction of lumbar vertebrae in sitting position (see patent publication No. CN 204033550U) is one of the commonly used treatments of chinese medicine. That is, the rotary lumbar reduction requires the patient to sit on a chair, the doctor to sit on another chair behind the patient, and an assistant to fix the lower limbs of the patient, and the doctor and the assistant cooperate to complete the operation of the method. In this context, the above-mentioned related art obviously fails to study the change of the spine under different rotational forces (i.e., circumferential loading).
However, according to the technical solution provided by the present invention, by providing the circumferential loading mechanism 23 on the frame 21, the acting force along the circumferential direction of the spine can be applied to the first mounting seat 25 to circumferentially load the spine, so that the variation of the spine under different rotational acting force loads can be studied.
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, the fifth flat plate 216 is perpendicular to the second flat plate 213 or the third flat plate 214, and the circumferential loading mechanism 23 is fixed to one of the fifth flat plates 216.
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 up and down movement of the second flat plate 213 and the third flat plate 214 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 an embodiment of the present invention, the axial loading mechanism 22 includes a first output shaft 221, the first output shaft 221 is located on an axial center line of the spine, and the first output shaft 221 can extend and contract up and down along the axial direction of the spine to drive the first mounting seat 25 to move up and down by the extension and contraction of the first output shaft 221;
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 is driven to rotate by the extension and retraction of the second output shaft 231.
In the present embodiment, by providing the first output shaft 221 and the second output shaft 231, it is possible to conveniently realize the axial loading of the first mounting seat 25 by the axial loading mechanism 22 along the spinal column and the circumferential loading of the first mounting seat 25 by the circumferential loading mechanism 23 along the spinal column.
Of course, the axial loading mechanism 22 may not include the first output shaft 221, and the circumferential loading mechanism 23 may not include the second output shaft 231, which is not limited herein. For example, by manually controlling the axial loading and circumferential rotation of the first mount 25, and then fixed in position.
In addition, the first output shaft 221 is located on the axial center line 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 centerline of the spine, and is not particularly limited herein.
In one embodiment of the present invention, the axial loading mechanism 22 and the circumferential loading mechanism 23 are both linear servo motors, so that the axial loading control and the circumferential loading control of the spine can be conveniently realized.
Of course, the axial loading mechanism 22 and the circumferential loading mechanism 23 may be hydraulic mechanisms or pneumatic mechanisms, and the specific types of the axial loading mechanism 22 and the circumferential loading mechanism 23 are not limited herein.
In one embodiment of the present invention, the axial loading device further comprises a first coupling member 222, the first coupling member 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 connection 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 with a thread structure capable of matching with each other), which is not limited herein.
Referring to fig. 2, 4 and 7, in an embodiment of the present invention, the bidirectional loading device further includes a rotating assembly 232, the rotating assembly 232 includes a rotating shaft 232a, a fixing seat 232b and a bearing 232c, the rotating shaft 232a is disposed through the fixing seat 232b and the bearing 232c, the fixing seat 232b fixes the bearing 232c on the third flat plate 214, an upper end of the rotating shaft 232a is movably connected to the second output shaft 231, and a lower end of the rotating shaft 232a is fixed to 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 other manners, and is not limited herein.
With continued reference to fig. 2, 4, and 7, in an embodiment of the present invention, the bidirectional loading device further includes a connecting component 233, the connecting component 233 includes a second connecting component 233a, a third connecting component 233b, and a fourth connecting component 233c, which are sequentially connected, one end of the second connecting component 233a is fixed to the second output shaft 231, the other end is rotatably connected to the third connecting component 233b, the third connecting component 233b is slidably connected to the fourth connecting component 233c, the fourth connecting component 233c is fixedly connected to the rotating shaft 232a, and an axial direction of the fourth connecting component 233c is perpendicular to an axial direction of the rotating 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 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 about applying axial stress (i.e. performing axial loading) to the spine.
For example, publication No. CN113057595A discloses an in vivo loading device for a spinal motion segment, which axially loads the spine by compressing a spring. 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 loads 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 deformation cannot be effectively eliminated.
Further, since the foot part continuously applies axial and continuous variable force to the spine during walking, it is necessary to improve the axial loading device of the spine in order to research more mechanical characteristics of the whole spine.
In order to solve the technical problem, the inventor finds out in the development process that: the axial loading mechanism 22, the first force sensor 223 and the control mechanism cooperate with each other 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. That is, an axial control algorithm is added, rather than simply manually adjusting the axial pressure (e.g., replacing a different mass of weight).
Referring to fig. 3 and 5, in an embodiment of the present invention, the bidirectional loading apparatus further includes:
a first force sensor 223 having one end fixed to the first output shaft 221 and the other end fixed to the second plate 213;
a second force sensor 234 having one end fixed to the second output shaft 231 and the other end fixed to the second link 233 a;
control means (not shown in the drawings) electrically connected to the axial loading means 22, the circumferential loading means 23, the first force sensor 223 and the second force sensor 234, respectively;
the control mechanism controls the axial loading mechanism 22 to carry out axial continuous constant force loading and axial continuous variable force loading on the spine;
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 axial loading mechanism 22, the first force sensor 223 and the control mechanism cooperate to jointly 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; through the cooperation of the circumferential loading mechanism 23, the second force sensor 234 and the control mechanism, the circumferential continuous constant force loading and the circumferential continuous variable force loading on the spine are realized together, so that the change of the spine under different rotation acting force loads can be researched.
It can be understood that, the chip of the control mechanism is preset with the relevant axial control algorithm and circumferential control algorithm, and the offset of the positions of the first output shaft 221 and the second output shaft 231 is adaptively changed by acquiring the current acting force detected by the first force sensor 223 and the second force sensor 234, so that the axial continuous constant force loading and the axial continuous variable force loading as well as the circumferential continuous constant force loading and the circumferential continuous variable force loading on the spine can be realized.
When the axial and circumferential loading of the spine reaches a certain time, the spine may creep, and at this time, the offset of the positions of the first output shaft 221 and the second output shaft 231 needs to be adaptively changed by acquiring the current acting force detected by the first force sensor 223 and the second force sensor 234, so as to ensure the axial loading and circumferential loading effect on the spine. However, it should be noted that, since the force information may be distorted due to the loading environment, the state of the spine, and other factors, the data collected by the first force sensor 223 and the second force sensor 234 needs to be filtered online to achieve the purpose of reducing the influence of the environmental noise, so as to obtain the true contact force information.
In some embodiments, the present invention may use kalman filter based force sensing information filtering to perform 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 axial control algorithm and the circumferential control algorithm of the control mechanism.
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., 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 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 expected to be corrected in 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 to correct the theoretical acting force to the current acting force, and therefore axial continuous variable force loading is achieved.
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 10N by the above axial control algorithm, so as to implement 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 implement 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 invention, the control mechanism is configured to perform the following operations:
s21, acquiring the current acting force detected by the second force sensor 234 in the 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., 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 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; through the current acting force detected by the second force sensor 234, the preset theoretical acting force and the preset coefficient, a position difference value expected to be corrected at the current circumference of the second output shaft 231 can be obtained, 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.
The fixing method may be a screw connection, or may be other fixing methods, and is not limited herein.
In addition, an embodiment of the present invention further provides a bidirectional loading method for a spine, which is based on the bidirectional loading device for a spine mentioned in any of the above embodiments, and the method includes:
when the axial pressure loading is carried out on the spine, the first output shaft of the bidirectional loading mechanism is controlled by the control 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 bidirectional 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;
when the circumferential loading is carried out on the spine, the second output shaft of the circumferential loading mechanism is controlled to stretch through the control mechanism so as to drive the first mounting seat to rotate along the circumferential direction of the spine.
It should be noted that the method and the bidirectional spinal loading device 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 bidirectional loading device of the spine mentioned in any embodiment.
It should be noted that the system and the bidirectional spinal loading device 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 includes a circulation device (not shown) for the spinal culture fluid and a force loading mechanism (i.e., a bi-directional loading device, where bi-directional is axial and circumferential, respectively).
The culture dish 24 is described below with reference to the drawings.
Referring to fig. 6, in one embodiment of the present invention, each of the first and second mounting seats 25 and 26 is provided 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 by means of embedding the bone cement (i.e., injecting the bone cement through a bone cement injection port 245 provided around 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 may be made of PP material, so that the culture solution is not contaminated. 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, or may be other fixing methods, and is not limited herein.
Referring to fig. 8, in an embodiment of the present invention, in order to facilitate the replacement of the second mounting seat 26, it is considered that a pressing plate 246 is disposed at the bottom inside the culture dish 24, and the pressing plate 246 can be fixed to a fixing table 249 by a fastener passing through a through hole (see fig. 10) formed at the bottom of the culture dish 24; to further ensure that the culture solution does not leak out of the through hole formed in the bottom of the culture dish 24, an O-ring 247 may be provided on the bottom of the pressure plate 246.
Referring to fig. 9 and 10, 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.
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.
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. A bi-directional spinal loading device, 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;
a circumferential loading mechanism disposed between the second plate and the third plate;
the frame body is provided with a culture dish with an opening, the culture dish is used for accommodating a spine, the upper end and the lower end of the spine are respectively fixed on a first mounting seat and a second mounting seat, the first mounting seat is rotationally connected with the third flat plate, the first mounting seat can rotate along the circumferential direction of the spine, and the second mounting seat is fixed with the fourth flat plate;
the axial loading mechanism is used for applying acting force along the axial direction of the spine to the first mounting seat so as to axially load the spine;
the circumferential loading mechanism is used for applying acting force along the circumferential direction of the spine to the first mounting seat so as to circumferentially load the spine.
2. The bi-directional loading device for the spinal column according to claim 1, wherein two fifth plates are fixed between said second plate and said third plate, said fifth plates are perpendicular to said second plate or said third plate, said circumferential loading mechanism is fixed to one of said fifth plates.
3. The bidirectional loading device for the spine according to claim 1, wherein the axial loading mechanism comprises a first output shaft, the first output shaft is located on an axial center line of the spine, and the first output shaft can be extended and retracted up and down along the axial direction of the spine so as to drive the first mounting seat to move up and down through the extension and retraction of the first output shaft;
the circumferential loading mechanism comprises a second output shaft, and the second output shaft can stretch back and forth along the direction perpendicular to the axial direction of the spine so as to drive the first mounting seat to rotate through the stretching of the second output shaft.
4. A spinal bidirectional loading device as recited in claim 3, wherein both the axial loading mechanism and the circumferential loading mechanism are linear servo motors.
5. The bidirectional loading device of the spine according to claim 3, further comprising a rotation assembly, wherein the rotation assembly comprises a rotation shaft, a fixing seat and a bearing, the rotation shaft is disposed through the fixing seat and the bearing, the fixing seat fixes the bearing on the third plate, the upper end of the rotation shaft is movably connected with the second output shaft, and the lower end of the rotation shaft is fixed with the first mounting seat.
6. The bidirectional loading device of the spine according to claim 5, further comprising a connecting assembly, wherein the connecting assembly comprises a second connecting member, a third connecting member and a fourth connecting member which are connected in sequence, one end of the second connecting member is fixed with the second output shaft, the other end of the second connecting member is rotatably connected with the third connecting member, the third connecting member is slidably connected with the fourth connecting member, the fourth connecting member is fixedly connected with the rotating shaft, and the axial direction of the fourth connecting member is perpendicular to the axial direction of the rotating shaft.
7. The bidirectional loading device of the spine of claim 6, further comprising:
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;
one end of the second force sensor is fixed with the second output shaft, and the other end of the second force sensor is fixed with the second connecting piece;
the control mechanism is electrically connected with the axial loading mechanism, the circumferential loading mechanism, the first force sensor and the second force sensor respectively;
the control mechanism controls the axial loading mechanism to carry out axial continuous constant force loading and axial continuous variable force loading on the spine;
and the circumferential loading mechanism is controlled by the control mechanism to carry out circumferential continuous constant force loading and circumferential continuous variable force loading on the spine.
8. A bidirectional loading device of the spine according to claim 7, wherein the control mechanism is configured 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;
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;
and/or the presence of a gas in the gas,
the control mechanism is used for executing the following operations:
s21, acquiring the current acting force detected by the second force sensor in the current period;
s22, determining the theoretical position of the second output shaft 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 so as 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.
9. A method for bidirectional loading of a spinal column, the method being based on the bidirectional loading device of a spinal column according to any one of claims 7 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 bidirectional 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 bidirectional 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 pillar together;
when the circumferential loading is carried out on the spine, the second output shaft of the circumferential loading mechanism is controlled to stretch through the control mechanism so as to drive the first mounting seat to rotate along the circumferential direction of the spine.
10. A spinal loading system comprising a spinal bidirectional loading device as recited in any one of claims 1-8.
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| CN202211298563.4A CN115372150B (en) | 2022-10-24 | 2022-10-24 | Bidirectional loading device, method and loading system for spine |
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| CN202211298563.4A CN115372150B (en) | 2022-10-24 | 2022-10-24 | Bidirectional loading device, method and loading system for spine |
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| CN115372150B (en) | 2023-01-31 |
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