CN115678776A - Semi-circulating device, method and loading system for culture solution of spine - Google Patents

Abstract

The invention relates to the technical field of medical equipment, in particular to a spinal culture solution semi-circulation device, a spinal culture solution semi-circulation method and a spinal culture solution loading system. The device includes: the culture box is internally provided with a force loading mechanism with spines, the force loading mechanism is used for applying force load to the spines, the force loading mechanism is provided with a culture dish with an opening, the culture dish is used for containing the spines, and the culture box is used for providing a constant-temperature and constant-humidity environment; a storage box, in which a storage container for containing a culture solution is accommodated, for providing an environment of a storage temperature of the culture solution; the two ends of the liquid inlet pump are respectively communicated with the storage container and the culture dish through pipelines and are used for conveying the culture solution in the storage container to the culture dish; and the two ends of the liquid outlet pump are respectively communicated with the bottom of the culture dish and the external waste liquid tank through pipelines, and the liquid outlet pump is used for conveying the culture liquid in the culture dish to the waste liquid tank.

Description

Semi-circulating device, method and loading system for culture solution of spine

Technical Field

The invention relates to the technical field of medical equipment, in particular to a spinal culture solution semi-circulation device, a spinal culture solution semi-circulation method and a spinal culture solution loading 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 research object to research the mechanical properties, that is, the spine is contained in a culture dish filled with a culture solution, and an external force is applied to the spine cultured in vitro to research the influence of the external force on the intervertebral disc tissue. Above-mentioned scheme needs the staff to hold the syringe and takes out the culture solution from storage container, then pours into the culture solution inlet port of culture dish into the culture solution in with the syringe, utilizes the syringe to take out the culture solution from the culture dish after the experiment is accomplished. Obviously, this solution may cause contamination of the culture solution during the transfer of the culture solution.

In view of the above, there is a need for a spinal culture solution semi-circulation device, method and loading system to solve the above problems.

Disclosure of Invention

The invention provides a spinal culture solution semi-circulation device, a spinal culture solution semi-circulation method and a spinal culture solution loading system, which can avoid culture solution pollution in a culture solution transfer process.

In a first aspect, an embodiment of the present invention provides a device for semi-circulating a culture solution for a spinal column, including:

the culture box is internally provided with a force loading mechanism with spines, the force loading mechanism is used for applying force load to the spines, the force loading mechanism is provided with a culture dish with an opening, the culture dish is used for containing the spines, and the culture box is used for providing a constant-temperature and constant-humidity environment;

a storage box, in which a storage container for containing a culture solution is accommodated, for providing an environment of a storage temperature of the culture solution;

the two ends of the liquid inlet pump are respectively communicated with the storage container and the culture dish through pipelines and are used for conveying the culture solution in the storage container to the culture dish;

and the two ends of the liquid outlet pump are respectively communicated with the bottom of the culture dish and the external waste liquid tank through pipelines, and the liquid outlet pump is used for conveying the culture liquid in the culture dish to the waste liquid tank.

In a second aspect, the present invention provides a method for semi-circulating a culture solution of a spinal column, which is based on any one of the above embodiments, and the method includes:

before the force loading mechanism applies force load to the spine, the culture solution in the storage container is conveyed to the culture dish through the liquid inlet pump;

after the mechanical experiment on the spine is completed, the culture solution in the culture dish is conveyed to the waste liquid box through the liquid outlet pump.

In a third aspect, embodiments of the present invention provide a spinal loading system, including a semi-circulation device for spinal culture fluid according to any one of the above embodiments.

According to the scheme, the culture solution in the storage container in the storage box is conveyed to the culture dish in the culture box by the liquid inlet pump before the force loading mechanism applies force load to the spine, and the culture solution in the culture dish is conveyed to the external waste liquid box by the liquid outlet pump after the mechanical experiment on the spine is completed, so that the culture solution can be prevented from being polluted in the process of transferring the culture solution.

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 semi-circulating device for spinal culture solution and a force loading mechanism according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of a structure of a culture dish according to an embodiment of the invention;

FIG. 3 is a schematic view of another embodiment of the present invention;

FIG. 4 is a schematic structural diagram of a force loading mechanism provided in accordance with an embodiment of the present invention;

FIG. 5 is an enlarged schematic view at A in FIG. 4;

FIG. 6 is a front view of the force loading mechanism of FIG. 4;

FIG. 7 is an enlarged schematic view at B of FIG. 6;

FIG. 8 is a cross-sectional schematic view of the force loading mechanism of FIG. 4;

FIG. 9 is an enlarged schematic view at C of FIG. 8;

fig. 10 is an enlarged schematic view of fig. 8 at D.

Reference numerals are as follows:

11-an incubator; 12-a storage box; 13-a liquid inlet pump; 14-a liquid outlet pump; 15-an anti-overflow pump; 16-a pipeline; 19-waste liquid tank; 111-a liquid inlet interface; 112-liquid outlet interface; 113-an anti-spill interface; 121-a storage container;

21-a frame body; 22-axial loading mechanism; 23-a circumferential loading mechanism; 24-a 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-a connection assembly; 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-a splash cover; 245-bone cement injection port; 246-platen;

247-O-rings; 248-silica gel pad; 249-fixed station.

Detailed Description

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, 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 making creative efforts belong to the protection scope of the present invention.

Referring to fig. 1, an embodiment of the present invention provides a spinal culture solution semi-circulation device, which includes an incubator 11, a preservation box 12, a liquid inlet pump 13, and a liquid outlet pump 14, wherein:

the interior of the incubator 11 accommodates a force loading mechanism of a spine, the force loading mechanism is used for applying force load to the spine, the force loading mechanism is provided with a culture dish 24 with an opening, the culture dish 24 is used for accommodating the spine, and the incubator 11 is used for providing a constant temperature and constant humidity environment;

a storage container 121 for containing a culture solution is housed inside the storage box 12, and the storage box 12 is used for providing an environment of a storage temperature of the culture solution;

two ends of the liquid inlet pump 13 are respectively communicated with the storage container 121 and the culture dish 24 through pipelines 16, and are used for conveying the culture liquid in the storage container 121 to the culture dish 24;

the two ends of the liquid outlet pump 14 are respectively communicated with the bottom of the culture dish 24 and the external waste liquid tank 19 through pipelines 16, and the culture liquid in the culture dish 24 is conveyed to the waste liquid tank 19.

In this embodiment, by providing the culture box 11, the storage box 12, the liquid inlet pump 13 and the liquid outlet pump 14, the culture solution in the storage container 121 in the storage box 12 can be conveyed to the culture dish 24 in the culture box 11 by the liquid inlet pump 13 before the force loading mechanism applies a force load to the spine, and after the mechanical experiment on the spine is completed, the culture solution in the culture dish 24 is conveyed to the external waste liquid tank 19 by the liquid outlet pump 14, so that the contamination of the culture solution caused in the process of transferring the culture solution can be avoided.

It can be understood that the more the environment of the loading experiment on the ex-vivo spine is close to the actual situation, the more the obtained mechanical data is close to the real mechanical data of the in-vivo spine, and therefore, the force loading mechanism needs to be arranged in the incubator 11 in an environment capable of being constant in temperature and humidity. Similarly, the culture solution also needs to be in a certain temperature environment (for example, 4 ℃), and therefore the storage container 121 needs to be set in the storage box 12 that can provide an environment at which the culture solution is stored. In some embodiments, the holding box 12 may be a refrigerator, and is not limited thereto.

To establish a crossover path between the storage vessel 121 and the culture dish 24, a line 16 may be provided; in order to ensure the power for delivering the culture solution, an inlet pump 13 and an outlet pump 14 may be provided, that is, the culture solution in the storage container 121 in the storage box 12 is delivered to the culture dish 24 in the culture box 11 by the inlet pump 13 before the force loading mechanism applies the force load to the spine, and the culture solution in the culture dish 24 is delivered to the external waste solution box 19 by the outlet pump 14 after the mechanical experiment on the spine is completed. Therefore, the culture solution of the semi-circulation device provided by the embodiment of the invention can only utilize one mechanical experiment (for example, the mechanical experiment can be 8 hours), and after the mechanical experiment, the culture solution of the culture dish 24 can not be used any more, otherwise the mechanical data of the isolated spine can be influenced.

In one embodiment of the present invention, the incubator 11 is filled with carbon dioxide gas, so that the environment of the incubator 11 can be more consistent with the real living environment of the spinal column in vivo.

In one embodiment of the present invention, the opening of the culture dish 24 is provided with a splash cover 244 (see FIG. 4), and the splash cover 244 is in 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 side wall of the culture dish 24 is provided with a bone cement injection port 245, and the bone cement injection port 245 is used for injecting bone cement into the culture dish 24 at a position for fixing the spine to fix the spine.

In this embodiment, the bone cement is injected through the bone cement injection port 245 provided on the entire body of the culture dish 24, so that the spinal column can be effectively fixed. The embodiment of the invention does not adopt a threaded fastener in the related art, but adopts a bone cement fixing mode, so that the culture solution is not polluted by the threaded fastener.

Referring to fig. 8, 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 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 entire circumference of the culture dish 24). 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.

Referring to fig. 10, 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. 3) 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.

In one embodiment of the present invention, the half-cycle apparatus further comprises:

an anti-overflow pump 15, both ends of which are respectively communicated with the top of the culture dish 24 and the waste liquid tank 19 through a pipeline 16, for conveying the culture liquid reaching a preset height of the culture dish 24 into the waste liquid tank 19;

the operation of the liquid inlet pump 13 and the overflow preventing pump 15 is controlled to stop in response to the overflow preventing pump 15 delivering the culture liquid into the waste liquid tank 19.

In this embodiment, through setting up anti-overflow pump 15, can guarantee that the culture solution can not spill over from culture dish 24 to can enough guarantee that incubator 11 is not contaminated, can guarantee again that the liquid level of the culture solution in culture dish 24 is in predetermineeing the height, in order to do benefit to the cultivation of carrying out the separation backbone.

In one embodiment of the present invention, the top of the incubator 11 is provided with a liquid inlet port 111, a liquid outlet port 112 and an anti-overflow port 113, the pipeline 16 of the liquid inlet pump 13 communicating with the culture dish 24 passes through the liquid inlet port 111, the pipeline 16 of the liquid outlet pump 14 communicating with the culture dish 24 passes through the liquid outlet port 112, and the pipeline 16 of the anti-overflow pump 15 communicating with the culture dish 24 passes through the anti-overflow port 113.

In this embodiment, the liquid inlet port 111, the liquid outlet port 112 and the anti-overflow port 113 are disposed at the top of the incubator 11, so as to facilitate the assembly and disassembly of the pipeline 16.

Of course, the liquid inlet port 111, the liquid outlet port 112, and the anti-overflow port 113 may not be provided, and are not limited herein.

In another embodiment of the present invention, the semi-circulation device further comprises:

a level sensor (not shown) disposed on the top of the culture dish 24;

and a control mechanism (not shown in the figure) which is electrically connected with the liquid inlet pump 13 and the liquid level sensor respectively and is used for controlling the liquid inlet pump 13 to stop working when the liquid level of the culture solution in the culture dish 24 reaches a preset height.

In this embodiment, in addition to the monitoring of the liquid level in the culture dish 24 by the overflow prevention pump 15, the monitoring of the liquid level in the culture dish 24 can be realized by providing a liquid level sensor in the culture dish 24.

It should be noted that, if the culture dish 24 is small in size, the liquid level sensor is difficult to be arranged on the top of the culture dish 24, so that it is more effective and reasonable to use the overflow prevention pump 15 to indirectly measure the liquid level of the culture solution in the culture dish 24 to reach the preset height.

Referring to fig. 2 and 3, the apparatus for semi-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 the related art that the culture solution may be contaminated by using a syringe. Wherein, when utilizing the half circulating device of the culture solution of backbone to carry out the circulation of culture solution to culture dish 24, can utilize feed liquor pump 13 will be located in the culture solution of storage container 121 carries in the inlet 241 of culture dish 24, utilize out liquid pump 14 simultaneously and carry the culture solution in culture dish 24 to outside waste liquid case 19 through liquid outlet 242, can also utilize anti-overflow pump 15 will reach the culture solution of the preset height of culture dish 24 and carry outside waste liquid case 19 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.

Referring to fig. 10, in one embodiment of the present invention, the culture dish 24 is disposed on a fixing table 249, and the fixing table 249 is fixed on the fourth plate 215, so as to facilitate cleaning of the fixing table 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.

In addition, an embodiment of the present invention further provides a method for semi-circulating the culture solution of the spine, which is based on the device for semi-circulating the culture solution of the spine mentioned in any one of the above embodiments, and the method includes:

before the force loading mechanism applies force load to the spine, the culture solution in the storage container 121 is conveyed into the culture dish 24 through the liquid inlet pump 13;

after the mechanical experiment on the spine is completed, the culture solution in the culture dish 24 is conveyed to the waste solution tank 19 through the liquid outlet pump 14.

It should be noted that the method and the device for semi-circulating the culture solution of the spine in the above embodiment are realized 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 an embodiment of the present invention, the step of delivering the culture solution in the storage container 121 to the culture dish 24 through the liquid inlet pump 13 may specifically include:

controlling the anti-overflow pump 15 to start to work;

controlling the liquid inlet pump 13 to work so as to convey the culture liquid in the storage container 121 to the culture dish 24;

the operation of the liquid inlet pump 13 and the overflow preventing pump 15 is controlled to stop in response to the overflow preventing pump 15 delivering the culture liquid into the waste liquid tank 19.

In this embodiment, the anti-overflow pump 15 is in an operating state before the liquid inlet pump 13 is turned on or simultaneously with the liquid inlet pump 13, so that after the liquid inlet pump 13 delivers the culture fluid in the storage container 121 to the culture dish 24 and the liquid level of the culture fluid in the culture dish 24 reaches a preset height, the anti-overflow pump 15 can deliver the culture fluid to the waste liquid tank 19, and at this time, the liquid inlet pump 13 and the anti-overflow pump 15 can be controlled to stop working, that is, the culture fluid is completely supplied from the storage container 121 to the culture dish 24.

In addition, the embodiment of the invention also provides a loading system of the spine, which comprises a semi-circulating device of the culture solution of the spine mentioned in any one of the above embodiments.

It should be noted that the system and the semi-circulation device of the culture solution of the spine in the above embodiments are realized 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 semi-circular device of spinal culture fluid and a force loading mechanism (i.e., a bi-directional loading device, where bi-directional is axial and circumferential, respectively).

The force loading mechanism is described below with reference to the drawings.

Referring to fig. 4, 6 and 8, 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.

In one embodiment of the present invention, the force loading mechanism of 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 plate 212, it is possible to apply a force to the first mounting seat 25 in the axial direction of the spine 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. Therefore, the above solution allows to study the overall mechanical characteristics of the spinal column.

In the related art, the spine is generally used as a subject to be studied for mechanical properties. 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. 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 vertebra motion unit, and studies the influence of different flexion and extension angles and different acting forces (i.e., lateral loading) on a 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 lumbar rotation reduction method requires the patient to sit on a chair, the doctor sits on another chair behind the patient, and an assistant fixes 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 plates 216 are 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.

On the basis that the second flat plate 213 and the third flat plate 214 are provided with two fifth flat plates 216, 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 selecting to fix 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 a certain 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 center line 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. 5, 7 and 9, in an embodiment of the present invention, the force loading mechanism 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. 5, 7, and 9, in an embodiment of the present invention, the force loading mechanism 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 for 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 discovers 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 weight of a different mass).

Referring to fig. 3, in an embodiment of the present invention, the force loading mechanism 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 (not shown) 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, 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 and the control mechanism, the circumferential continuous constant force loading and the circumferential continuous variable force loading of the spine are jointly realized, 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 a related axial control algorithm and a related circumferential control algorithm, and the position offset 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, 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 of 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 first output shaft 221 and the second output shaft 231 needs to be adaptively changed by obtaining the current acting force detected by the first force sensor 223 and the second force sensor, so as to ensure the axial loading and circumferential loading effect of the spine. However, it should be noted that, since the force information may be distorted due to factors such as the loading environment and the state of the spine, the data collected by the first force sensor 223 and the second force sensor needs to be filtered online to achieve the purpose of reducing the influence of the 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 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 acquired 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, obtaining the current acting force detected by the second force sensor 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., 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, the theoretical position of the second output shaft 231 can be obtained through the preset theoretical acting force and the preset coefficient, 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, 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 herein.

The fixing method may be a screw connection, or may be other fixing methods, and is 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 one of 8230, and" comprising "does not exclude the presence of additional like elements in a process, method, article, or apparatus comprising 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. A device for semi-circulating a spinal culture solution, comprising:

the culture box is internally provided with a force loading mechanism with spines, the force loading mechanism is used for applying force load to the spines, the force loading mechanism is provided with a culture dish with an opening, the culture dish is used for containing the spines, and the culture box is used for providing a constant-temperature and constant-humidity environment;

a storage box, in which a storage container for containing a culture solution is accommodated, for providing an environment of a storage temperature of the culture solution;

the two ends of the liquid inlet pump are respectively communicated with the storage container and the culture dish through pipelines and are used for conveying the culture solution in the storage container to the culture dish;

and the two ends of the liquid outlet pump are respectively communicated with the bottom of the culture dish and the external waste liquid tank through pipelines, and the liquid outlet pump is used for conveying the culture liquid in the culture dish to the waste liquid tank.

2. The apparatus for semi-circulating a culture solution for a spinal column according to claim 1, wherein carbon dioxide gas is introduced into the culture chamber.

3. The apparatus for semi-circulating a spinal culture solution according to claim 1, wherein the opening of the culture dish is provided with a splash cover, and the splash cover is designed in a half-and-half manner.

4. The apparatus for semi-circulating culture solution for spinal column according to claim 1, wherein the side wall of the culture dish is provided with a bone cement injection port for injecting bone cement into the culture dish at a position of fixing spinal column to fix the spinal column.

5. The apparatus for semi-circulating culture solution of spinal column according to any one of claims 1 to 4, further comprising:

the two ends of the overflow prevention pump are respectively communicated with the top of the culture dish and the waste liquid box through pipelines and are used for conveying the culture liquid reaching the preset height of the culture dish to the waste liquid box;

and responding to the culture solution conveyed to the waste liquid tank by the anti-overflow pump, and controlling the liquid inlet pump and the anti-overflow pump to stop working.

6. The semi-circulation device for the culture solution of the spine according to claim 5, wherein a liquid inlet interface, a liquid outlet interface and an anti-overflow interface are arranged at the top of the incubator, a pipeline of the liquid inlet pump communicated with the culture dish passes through the liquid inlet interface, a pipeline of the liquid outlet pump communicated with the culture dish passes through the liquid outlet interface, and a pipeline of the anti-overflow pump communicated with the culture dish passes through the anti-overflow interface.

7. The apparatus for semi-circulating culture solution of spinal column according to any one of claims 1 to 4, further comprising:

the liquid level sensor is arranged at the top of the culture dish;

and the control mechanism is respectively electrically connected with the liquid inlet pump and the liquid level sensor and is used for controlling the liquid inlet pump to stop working when the liquid level of the culture solution in the culture dish reaches a preset height.

8. A method for semi-circulating a culture solution for a vertebral column, which comprises the steps of:

before the force loading mechanism applies force load to the spine, the culture solution in the storage container is conveyed to the culture dish through the liquid inlet pump;

after the mechanical experiment on the spine is completed, the culture solution in the culture dish is conveyed to the waste liquid tank through the liquid outlet pump.

9. The method of claim 8, wherein the step of transferring the culture solution in the storage container to the culture dish by the liquid inlet pump comprises:

controlling the anti-overflow pump to start working;

controlling the liquid inlet pump to work so as to convey the culture liquid in the storage container to the culture dish;

and controlling the liquid inlet pump and the anti-overflow pump to stop working in response to the anti-overflow pump delivering the culture solution to the waste liquid tank.

10. A spinal loading system comprising a semi-circulating device of spinal culture fluid according to any one of claims 1 to 7.

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