CN207248608U - A kind of external bionical power of shoulder joint loads and its Function detection experiment porch - Google Patents
A kind of external bionical power of shoulder joint loads and its Function detection experiment porch Download PDFInfo
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- CN207248608U CN207248608U CN201721225759.5U CN201721225759U CN207248608U CN 207248608 U CN207248608 U CN 207248608U CN 201721225759 U CN201721225759 U CN 201721225759U CN 207248608 U CN207248608 U CN 207248608U
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- 210000000323 shoulder joint Anatomy 0.000 title claims abstract description 64
- 238000002474 experimental method Methods 0.000 title claims abstract description 34
- 238000001514 detection method Methods 0.000 title claims abstract description 28
- 210000002758 humerus Anatomy 0.000 claims abstract description 92
- 210000003205 muscle Anatomy 0.000 claims abstract description 59
- 210000000988 bone and bone Anatomy 0.000 claims abstract description 26
- 238000006073 displacement reaction Methods 0.000 claims abstract description 16
- 210000003109 clavicle Anatomy 0.000 claims description 25
- 238000005096 rolling process Methods 0.000 claims description 20
- 230000007704 transition Effects 0.000 claims description 10
- 230000008878 coupling Effects 0.000 claims description 7
- 238000010168 coupling process Methods 0.000 claims description 7
- 238000005859 coupling reaction Methods 0.000 claims description 7
- 238000009434 installation Methods 0.000 claims description 7
- 230000000903 blocking effect Effects 0.000 claims description 6
- 101000803709 Homo sapiens Vitronectin Proteins 0.000 claims description 5
- 239000004576 sand Substances 0.000 claims description 3
- 230000006870 function Effects 0.000 abstract description 19
- 230000003387 muscular Effects 0.000 abstract description 6
- 230000008407 joint function Effects 0.000 abstract description 3
- 230000036544 posture Effects 0.000 abstract description 3
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- 230000005540 biological transmission Effects 0.000 abstract 1
- 210000000852 deltoid muscle Anatomy 0.000 description 11
- 238000005259 measurement Methods 0.000 description 7
- 229910052782 aluminium Inorganic materials 0.000 description 5
- 210000002659 acromion Anatomy 0.000 description 4
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- 230000008859 change Effects 0.000 description 4
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- 241001653121 Glenoides Species 0.000 description 3
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- 206010053682 Brachycephaly Diseases 0.000 description 2
- 208000009283 Craniosynostoses Diseases 0.000 description 2
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- 210000003041 ligament Anatomy 0.000 description 2
- 230000008447 perception Effects 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 241001269238 Data Species 0.000 description 1
- 208000024288 Rotator Cuff injury Diseases 0.000 description 1
- 229910000746 Structural steel Inorganic materials 0.000 description 1
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- 230000007812 deficiency Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000004394 hip joint Anatomy 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000001114 myogenic effect Effects 0.000 description 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
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Abstract
The utility model provides a kind of bionical power loading of external shoulder joint and its Function detection experiment porch, including carrier unit, base unit, omoplate bone fixation and muscle loading unit, humerus clamping and rotation-measuring unit, humerus movement guiding arc frame and head of humerus displacement detecting unit.This experiment porch can provide different shoulder joint sample Static-state Space postures according to requirement of experiment and fix, and coordinate with fixture, can carry out the static phase adjustment of Glenohumeral joint Three Degree Of Freedom and shoulder blade one degree of freedom.Muscle loading unit is made of more power transmission ropes and corresponding pneumatic servo system, there is provided the bionical muscular strength of each muscle group of external shoulder joint.Bionical muscular strength is applied to shoulder joint sample under microcomputer control, it can be achieved that the multivariant movement of shoulder joint, while the functional parameter of shoulder joint is detected.The important indicator that biomechanical data measured by this experiment porch can be evaluated as shoulder joint function.
Description
Technical field
The utility model belongs to external joint biomechanics experiment field, more particularly to a kind of bionical power of external shoulder joint
Loading and its Function detection experiment porch.
Background technology
Shoulder joint is the joint that human body is most flexible, kinematics is the most complicated, can bend, stretch, is abduction, interior receipts, outward turning, interior
Rotation and ring turn multiaxis movement.Research shows, compares with lower limb hip joint, and the motion amplitude of shoulder joint is larger, but stability is poor.
Shoulder joint is enclosed with a large amount of muscle, these muscle are significant to the stability for safeguarding shoulder joint.Rotator cuff tear is shoulder joint
A kind of more serious damage, capsular ligament will be caused in unstability in the front-back direction.Shoulder sleeve prosthesis helps to improve impaired
The function of shoulder joint.Influence difference of the different reparation means to surgical effect can by the Function detection of external shoulder joint into
Row quantitative evaluation.Functional parameter variable includes Glenohumeral joint surface pressure, acromion contact, the intracapsular displacement of the head of humerus, joint fortune
Dynamic scope etc..External shoulder joint is assembled under conditions of physiological status is met on analog detection platform, and is applied imitative
Raw muscular force traction humerus movement, at the same time, capsular ligament functional evaluation parameter is measured by corresponding sensor.
Chinese utility model patent publication number：CN205262846U, title：A kind of parallel connected bionic shoulder joint mechanical test is real
Platform is tested, it is mainly portable super by moving platform, fixed platform, three power sensing collateral branch chains, a power sensing middle pole and one
Level deformeter composition.The utility model is the bionical shoulder joint mechanism based on parallel institution, although it can complete bionical shoulder joint
The statics and dynamics simulation of mechanism, but the bionical shoulder joint due to mechanical structure is differed with the shoulder joint section structure of actual human body
It is huge, it is the shoulder joint greatly simplified, the experiment of biomethanics can not be carried out.And the experiment porch work done can be simulated only
The measurement of ess-strain can be done, detection function is single.In fact, up to the present, the country also being capable of multi-parameter detection people
The experiment porch of the external shoulder joint function of body sample.
The application of external shoulder joint kinesitherapy simulator can further improve understanding of the people to shoulder joint biomethanics.Shoulder
Joint biomechanical knowledge is necessary for the pathology for understanding shoulder joint, this is also beneficial to exploitation operation correcting strategy.
Utility model content
The purpose of this utility model is that meeting the needs of domestic human vitronectin shoulder joint biomechanics Research, overcome above-mentioned
The deficiencies in the prior art, design provide a kind of bionical, measuring multiple parameters biomethanics synthesis experiment platform.
To achieve the above object, the utility model uses following technical scheme：A kind of bionical power loading of external shoulder joint and
Its Function detection experiment porch, is mainly clamped by carrier unit, base unit, omoplate bone fixation and muscle loading unit, humerus
And six parts of rotation-measuring unit, humerus movement guiding arc frame and head of humerus displacement detecting unit form.Wherein, carrier unit
Be used to support whole experiment porch, base unit and humerus movement guiding arc frame directly with carrier unit assembly connection；Pedestal list
Member is connected with omoplate bone fixation and muscle loading unit with hinging manner, for adjusting omoplate bone fixation and muscle loading unit
Phase posture；Omoplate bone fixation and muscle loading unit have the function of the outer shoulder blade of fixed body and arrangement Bionic muscle Force system concurrently；
Humerus clamps and rotation-measuring unit is used to detecting humerus that to impose certain moment of torsion under bionical muscular strength loading environment attainable
Extreme position；The sliding block of the sliding slot and humerus clamp end of humerus movement guiding arc frame coordinates, for guiding the fortune of humerus end
It is dynamic；Head of humerus displacement detecting unit is used to detect motion track of the head of humerus after lifting force is loaded in glenoid cavity.
Preferably, the carrier unit mainly by frame, vertical supporting item, upper slide installing plate, stage+module plate and under
Slide installing plate forms.Frame is divided into front and rear two layers, and vertical supporting item is symmetrically bolted on the crossbeam that frame sand ground breaks place.
Sheaf space is big before frame, facilitates experimenter to operate wherein；Layer is used to place drive system after frame.Upper slide installing plate,
Stage+module plate and glidepath installing plate bolt on vertical supporting item successively from top to bottom.
Preferably, the base unit is mainly by platform, square column, quiet T-shaped seat, rolling bearing units, Building T shaft and dynamic T
Type seat forms.Platform is bolted on the stage+module angle bar of stent, and square column is to be threadedly connected to platform, quiet T
Type seat is threadingly attached to square column, and rolling bearing units are installed on quiet T-shaped seat, and Building T shaft is through rolling bearing units and by band
The lock-screw locking of seat bearing, moves T-shaped seat and is connected by flat key with Building T shaft.The phase of shoulder blade is turned by quiet T-shaped seat, Building T
Revolute pair that axis and dynamic T-shaped seat are formed is adjusted.Several through holes used for positioning are machined with T-shaped seat in addition, moving, it is quiet T-shaped
One is machined with seat can through hole corresponding with dynamic T-shaped seat upper Positioning holes, you can with an axis pin also cross being located at quiet T respectively
Type seat and the hole for moving T-shaped seat, for the fixed phase for moving T-shaped seat.
Preferably, the omoplate bone fixation and muscle loading unit are mainly by transition disk, slotted disk, push rod rod end bearing
Carry bar, push rod rod end loading plate, muscle carrier bar, muscle guide rod, cross holder, human vitronectin shoulder joint sample (including omoplate
Bone, clavicle and the therefrom crosscutting humerus blocked in lower part), rope, omoplate bone clamping plate, pulling force sensor, threaded connecting sleeve, straight line push away
Bar, clavicle fixture, clavicle fix carrier bar, multi-dimension force sensor composition.Transition disk with move T-shaped seat be connected, slotted disk with
Transition disk is connected, and multi-dimension force sensor is installed on slotted disk.Omoplate bone clamping plate is connected to multi-dimension force sensor with screw
Installation panel on, shoulder blade coordinates extra large size gaskets to be fixed in omoplate bone clamping plate by three bolts.Clavicle is inserted into clavicle
Fixture, and screw on screw in fixture outer ring and lock clavicle.One end that clavicle fixes carrier bar is connected with clavicle fixture, the other end
It is connected with slotted disk.Linear push rod is installed on slotted disk, and pulling force sensor is connected through a screw thread set and linear push rod
Rod end is connected.Push rod rod end carrier bar one end is fixed on slotted disk, and the other end is equipped with push rod rod end loading plate, is processed on plate
There are some pilot holes, pilot hole is corresponded with linear push rod.One end of each muscle carrier bar is connected on slotted disk, can
Change rigging position in the ring shaped slot of slotted disk, the other end of carrier bar passes through cross holder and muscle guide rod orthorhombic phase
Even.Therefore, guide rod can make the position adjusting of four-degree-of-freedom relative to carrier bar, meanwhile, carrier bar can be in the ring-like of slotted disk
Moved in groove, therefore the position that guide rod shares five frees degree (three prismatic pairs, two revolute pairs) is adjusted.Muscle loading plate is distinguished
It is connected with muscle guide rod, therefore loading plate is consistent with the adjustable free degree of guide rod.Rope one end and the pulling force of linear push rod rod end
Sensor is connected, through the loading plate of push rod rod end loading plate and each muscle group on pilot hole, it is each on the other end and humerus
The corresponding physiological location of a muscle group or tendon is connected.Linear push rod provides bionic muscle pulling force, and pulling force sensor feedback is actual
Pulling force, forms power closed loop, accurately realizes bionical power loading procedure.After power loading, Glenohumeral joint is measured by multi-dimension force sensor
Surface pressure, while utilize the diaphragm pressure sensing piece measurement compression area and maximum pressure for being placed on acromion hypozygal gap.
Preferably, the humerus clamping and rotation-measuring unit are mainly by bicipital muscle of arm loading plate, humerus fixture, linear push
Bar mounting ring, screw rod, lengthen nut, bearing inner sleeve, bearing (ball) cover, bearing, bearing outside, shaft coupling, encoder mounting rack, angle
Spend encoder, arc top shoe (including sliding block roller, sliding block composition plate, sliding block blocking), adjusting sleeve, mini linear push rod, fan
You form threaded connecting sleeve, rope and pulling force sensor.Sliding block roller is connected by screw on sliding block composition plate, sliding block roller
There is gasket to separate between forming plate with sliding block, two panels sliding block composition plate is connected to the both sides of sliding block blocking by screw.
Humerus fixture is connected by lock-screw with humerus and both axis are approximate overlaps.Bicipital muscle of arm loading plate is big mounted in humerus fixture
Hold on end face.Pulling force sensor is connected by mini threaded connecting sleeve with mini linear push rod.Mini linear push rod is mounted in linear
In push rod mounting ring, linear push rod mounting ring and the circumferentia of humerus fixture are connected by screw.Two mini linear push rod is matched somebody with somebody
Long head and brachycephaly that rope simulates the bicipital muscle of arm respectively are closed, its actual pulling force feeds back to computer by pulling force sensor, forms power
The loading system of closed loop.Screw rod is screwed into from the small end threaded hole of humerus fixture, and is inserted on the inside of humerus, is strengthened humerus and is pressed from both sides with humerus
The connection of tool.Meanwhile humerus fixture small end is screwed with lock-screw and prevents that the rotation relative to humerus fixture occurs when screw rod from working.
Lengthen nut to be screwed on screw rod, and with screw lock, avoid lengthening nut from relatively rotating with screw rod.Bearing inner sleeve passes through lock
Tight screw is fixed on screw rod, and bearing inner race interference fit ground is installed on bearing inner sleeve cylinder, bearing outer ring and bearing outside
Interference fit installation, end cap push down bearing outer ring and prevent its axial float on the bearing outside end face.Bearing outside is at the same time
It is connected by bolt with arc top shoe, causes bearing outside to keep certain spacing with sliding block equipped with adjusting sleeve on bolt, with suitable
Answer the rigging position relation of angular encoder and arc top shoe.Encoder mounting rack is bolted to arc top shoe, angle
Encoder is installed on encoder mounting rack.The shaft end of angular encoder is connected by shaft coupling with screw rod tail end.Measure humerus
When inside and outside swing angle is spent, apply a certain size moment of torsion so that humerus is rotated to extreme position at nut lengthening, meanwhile, angle
Encoder measures the inside and outside swing angle degree of humerus.
Preferably, humerus movement guiding arc frame mainly by line slide rail, linear slider, sliding block installing plate, limited block,
Arc frame mounting bar, arc frame shaft, arc frame rolling bearing units, holder and semicircle slide composition.Wherein, semicircle slide both sides are machined with ring
Shape sliding slot.Arc top shoe is assemblied on semicircle slide, and sliding block roller moves in the annular groove of semicircle slide, guides humerus
Abduction, interior receipts.The both ends of semicircle slide are attached separately to up and down on two holders.Holder is mounted in the one of arc frame shaft by key connection
End, the other end of arc frame shaft are fixed through arc frame rolling bearing units inner ring and by its lock-screw.Arc frame rolling bearing units are mounted in arc
Frame mounting bar one end, is equipped with limited block in the other end face of arc frame mounting bar, prevents line slide rail from derailing.Semicircle slide both ends
Arc frame mounting bar be attached separately on the straight line slide unit of upper and lower two groups of two degrees of freedom.Straight line slide unit have up and down two layers of slideway, first
Layer slideway has two line slide rails, and two sliding blocks are respectively provided with every one slide rail.Four sliding blocks of first layer slideway are attached separately to
The one side of sliding block installing plate, another side are equipped with two sliding blocks of the second layer, and a line slide rail passes through the guide hole of this two sliding blocks,
And it is assemblied on arc frame mounting bar.It follows that humerus movement guiding arc frame altogether have three degree of freedom (two prismatic pairs, one
A revolute pair), guide the adjustment of humerus pose.
Preferably, the head of humerus displacement detecting unit is mainly pressed from both sides by three-dimensional coordinate measuring instrument, measuring instrument mounting base and G words
Composition.The base of 3D digitizer is connected with digitizer mounting base, and digitizer mounting base is clamped to flat by G words folder
On platform.Three-dimensional coordinate measuring instrument has the measurement capability of six-degree of freedom displacement, and a high-precision sky is sensed here with its end
Between the position perception measurement head of humerus load move when change in location in glenoid cavity.
Compared with prior art, the utility model has following beneficial effect：
1st, a kind of external bionical power of shoulder joint provided by the utility model loads and its Function detection experiment porch can basis
Requirement of experiment provides different shoulder joint sample Static-state Space postures and fixes, and coordinates with fixture, can carry out Glenohumeral joint three certainly
Adjusted by spending with the static phase of shoulder blade one degree of freedom.
2nd, a kind of external bionical power of shoulder joint provided by the utility model loads and its Function detection experiment porch is with imitative
Myogenic power auto-loading system, the system is by SERVO CONTROL hardware and facilitates the software of human-computer interaction to form, there is provided shoulder joint
The bionical muscular strength of each muscle group.Bionical muscular strength is applied, it can be achieved that shoulder joint multiple degrees of freedom to shoulder joint sample under microcomputer control
Bionical active movement, rather than passively acted under the auxiliary of external mechanism.
3rd, a kind of external bionical power of shoulder joint provided by the utility model loads and its Function detection experiment porch provides
The data collecting system of measuring multiple parameters, the system is by data acquisition hardware and facilitates the software of human-computer interaction to form.Wherein, instead
Stress sense device (multi-dimension force sensor, diaphragm pressure sensing piece) can detect Glenohumeral joint face and acromion hypozygal gap
The pressure or pressure born；Displacement detector (three-dimensional coordinate measuring instrument, angular encoder) can measure humerus six freely
The displacement of degree.These biomechanical datas measured by the experiment porch can be as the evaluation index of shoulder joint function.
Brief description of the drawings
Fig. 1 is that a kind of external bionical power of shoulder joint of the utility model loads and its Function detection experiment porch is integrally illustrated
Figure.
Fig. 2 is that a kind of external bionical power of shoulder joint of the utility model loads and its Function detection experiment porch carrier unit shows
It is intended to.
Fig. 3 is that a kind of external bionical power of shoulder joint of the utility model loads and its Function detection experiment porch base unit shows
It is intended to.
Fig. 4, Fig. 5 are a kind of bionical power loading of shoulder joint in vitro of the utility model and its Function detection experiment porch shoulder blade
Fixed and muscle loading unit schematic diagram.
Fig. 6 be a kind of bionical power loading of external shoulder joint of the utility model and its clamping of Function detection experiment porch humerus and
Rotation-measuring unit schematic diagram.
Fig. 7 is that a kind of external bionical power of shoulder joint of the utility model loads and its movement of Function detection experiment porch humerus is drawn
Lead arc frame schematic diagram.
Fig. 8 is a kind of bionical power loading of shoulder joint in vitro of the utility model and its Function detection experiment porch head of humerus displacement
Detection unit schematic diagram.
Figure label：1- carrier units, 2- base units, 3- omoplates bone fixation and muscle loading unit, the clamping of 4- humerus
And rotation-measuring unit, 5- humerus movement guiding arc frame, 6- head of humerus displacement detecting units
101- aluminum section bar frames, 102- support angle bar vertically, the upper slide installation angle bar of 103-, 104- stage+module angle bar,
1050 glidepaths install angle bar
201- platforms, 202- square columns, the quiet T-shaped seats of 203-, 204- rolling bearing units, 205-T shafts, 206- moves T-shaped
Seat
301- transition disks, 302- slotted disks, 303- push rod rod end carrier bars, 304- push rod rod end loading plates, 305-
Supraspinous muscle carrier bar, 306- supraspinous muscle guide rods, 307- cross holders, 308- supraspinous muscle loading plates, 309- shoulder blades, 3010- locks
Bone, 3011- humerus, 3012- deltoid muscle carrier bars, 3013- deltoid muscle guide rods, 3014- deltoid muscle loading plates, 3015- ropes,
3016- back sides flesh loading plate, 3017- back sides flesh guide rod, 3018- back sides flesh carrier bar, 3019- omoplate bone clamping plates, 3020- pulling force
Sensor, 3021- threaded connecting sleeves, 3022- air-legs, 3023- clavicle fixtures, 3024- clavicles fix carrier bar, 3025-
Six-dimension force sensor, flesh carrier bar before 3026-, flesh guide rod before 3027-, flesh loading plate before 3028-
401- bicipital muscle of arm loading plates, 402- humerus fixtures, 403- air-leg mounting rings, 404- screw rods, 405- are lengthened
Nut, 406- bearing inner sleeves, 407- bearing (ball) covers, 408- bearings, 409- bearing outsides, 4010- shaft couplings, 4011- encoders
Mounting bracket, 4012- angular encoders, 4013- sliding block rollers, 4014- sliding blocks composition plate, 4015- sliding block blockings, 4016- tune
The whole series, the mini air-legs of 4017-, the mini threaded connecting sleeves of 4018-
501- line slide rails, 502- linear sliders, 503- sliding block installing plates, 504- limited blocks, 505- arc frame mounting bars,
506- arc frame shafts, 507- arc frame rolling bearing units, 508- holders, 509- semicircle slides
601- three-dimensional digitals, 602- digitizer mounting bases, 603-G words folder
Embodiment
The utility model is described in detail with reference to specific embodiment.Following embodiments will be helpful to this area
Technical staff further understands the utility model, but does not limit the utility model in any form.It should be pointed out that to ability
For the those of ordinary skill in domain, without departing from the concept of the premise utility, some changes and improvements can also be made.
These belong to the scope of protection of the utility model.
As shown in Figure 1, a kind of external bionical power of shoulder joint loads and its Function detection experiment porch, mainly by carrier unit
1st, base unit 2, omoplate bone fixation and muscle loading unit 3, humerus clamping and rotation-measuring unit 4, humerus movement pilot arc
Totally six parts form for frame 5 and head of humerus displacement detecting unit 6.
As shown in Figure 1 and Figure 2, carrier unit 1 is mainly built by more aluminium section bars by the connection of corner fittings attachment screw
Aluminum section bar frame 101, vertical support angle bar 102, upper slide installation angle bar 103, stage+module angle bar 104 and glidepath established angle
Iron 105 forms.Aluminum section bar frame 101 divides for front and rear two layers, vertical to support angle bar 102 symmetrically to bolt in aluminum section bar frame
101 sand grounds break place crossbeam on.Upper slide installation angle bar 103, stage+module angle bar 104 and glidepath install angle bar 105 from upper past
Under bolt successively vertically support angle bar 102 on.
As shown in Figure 1, Figure 2, Figure 3 shows, base unit is mainly by platform 201, square column 202, quiet T-shaped seat 203, axis of usheing to seat
Hold 204, Building T shaft 205 and move T-shaped seat 206 and form.The stage+module angle bar in carrier unit 1 is bolted in platform 201
On 104, to be threadedly connected to platform 201, quiet T-shaped seat 203 is threadingly attached to square column 202, ushers to seat square column 202
Bearing 204 is installed on quiet T-shaped seat 203, and Building T shaft 205 is through rolling bearing units 204 and by the lock-screw of rolling bearing units 204
Locking, moves T-shaped seat 206 and is connected by flat key with Building T shaft 205.The phase of shoulder blade is by quiet T-shaped seat 203,205 and of Building T shaft
Revolute pair that dynamic T-shaped seat 206 is formed is adjusted.In addition, moving several through holes used for positioning, quiet T are machined with T-shaped seat 206
One is machined with type seat 203 can through hole corresponding with dynamic T-shaped 206 upper Positioning holes of seat, you can with an axis pin also cross point
Quiet T-shaped seat 203 and the hole of T-shaped seat 206 Wei Yu not be moved, for the fixed phase for moving T-shaped seat 206.
As shown in Fig. 1, Fig. 3, Fig. 4, Fig. 5, omoplate bone fixation and muscle loading unit are mainly by transition disk 301, trough of belt
Disk 302, push rod rod end carrier bar 303, push rod rod end loading plate 304, supraspinous muscle carrier bar 305, supraspinous muscle guide rod 306, ten
Word holder 307, supraspinous muscle loading plate 308, human vitronectin shoulder joint sample (including shoulder blade 309, clavicle 3010 and from middle and lower part
The crosscutting humerus 3011 blocked), deltoid muscle carrier bar 3012, deltoid muscle guide rod 3013, deltoid muscle loading plate 3014, rope
3015th, back side flesh loading plate 3016, back side flesh guide rod 3017, back side flesh carrier bar 3018, omoplate bone clamping plate 3019, pull sensing
Device 3020, threaded connecting sleeve 3021, air-leg 3022, clavicle fixture 3023, clavicle fix carrier bar 3024, six-dimensional force sensing
Device 3025, above flesh carrier bar 3026, above flesh guide rod 3027 and above flesh loading plate 3028 forms.Transition disk 301 and dynamic T
Type seat 206 is connected, and slotted disk 302 is connected with transition disk 301, and six-dimension force sensor 3025 is installed on slotted disk 302.
Omoplate bone clamping plate 3019 is connected to screw in the installation panel of six-dimension force sensor 3025, and shoulder blade 309 is matched somebody with somebody by three bolts
Extra large size gasket is closed to be fixed in omoplate bone clamping plate 3019.Clavicle 3010 is inserted into clavicle fixture 3023, and in clavicle fixture
Screw on screw and lock clavicle 3010 in 3023 outer rings.One end that clavicle fixes carrier bar 3024 is connected with clavicle fixture 3023, separately
One end is connected with slotted disk 302.Air-leg 3022 is installed on slotted disk 302, and pulling force sensor 3020 passes through spiral shell
Line connector sleeve 3021 is connected with 3022 rod end of air-leg.303 one end of push rod rod end carrier bar is fixed on slotted disk 302,
One end is equipped with push rod rod end loading plate 304, is machined with some pilot holes on plate, pilot hole is corresponded with air-leg 3022.
Supraspinous muscle carrier bar 305, deltoid muscle carrier bar 3012, back side flesh carrier bar 3018 and above flesh carrier bar 3018 one end difference
It is connected on slotted disk 302, rigging position can be changed in the ring shaped slot of slotted disk 302, the other end of carrier bar passes through
Cross holder 307 respectively with supraspinous muscle guide rod 306, deltoid muscle guide rod 3013, back side flesh guide rod 3017 and above flesh guide rod 3027
It is orthogonal to be connected.Therefore, guide rod can make the position adjusting of four-degree-of-freedom relative to carrier bar, meanwhile, carrier bar can be in slotted disk
Ring shaped slot in move, therefore guide rod share five frees degree (three prismatic pairs, two revolute pairs) position adjust.Supraspinous muscle is held
Support plate 308, deltoid muscle loading plate 3014, back side flesh loading plate 3016 and above flesh loading plate 3028 respectively with supraspinous muscle guide rod
306th, deltoid muscle guide rod 3013, back side flesh guide rod 3017 are connected with above flesh guide rod 3027.Therefore loading plate and guide rod is adjustable
The free degree is consistent.3015 one end of rope is connected with the pulling force sensor 3020 of 3022 rod end of air-leg, through push rod rod end bearing
The loading plate of support plate 304 and each muscle group (supraspinous muscle loading plate 308, deltoid muscle loading plate 3014, back side flesh loading plate 3016
Above flesh loading plate 3028) on pilot hole, the other end is connected with each muscle group correspondence position of humerus.Air-leg 3022
Bionic muscle pulling force is provided, pulling force sensor 3020 feeds back actual pulling force, forms power closed loop, accurately realizes that bionical power loaded
Journey.When power loads, Glenohumeral joint surface pressure is measured by six-dimension force sensor 3025, while utilize and be placed on acromion ShiShimonoseki internode
The diaphragm pressure sensing piece measurement compression area and maximum pressure of gap.
As shown in Fig. 1, Fig. 4, Fig. 5, Fig. 6, humerus clamping and rotation-measuring unit mainly by bicipital muscle of arm loading plate 401,
Humerus fixture 402, air-leg mounting ring 403, screw rod 404, lengthening nut 405, bearing inner sleeve 406, bearing (ball) cover 407, axis
Hold 408, bearing outside 409, shaft coupling 4010, encoder mounting rack 4011, angular encoder 4012, arc top shoe (including cunning
Block roller 4013, sliding block composition plate 4014, sliding block blocking 4015), adjusting sleeve 4016, mini air-leg 4017, mini spiral shell
Line connector sleeve 4018, rope 3015 and pulling force sensor 3020 form.Sliding block roller 4013 is connected by screw to be formed in sliding block
On plate 4014, there is gasket to separate between 4013 inner ring of sliding block roller and sliding block composition plate 4014, two panels sliding block composition plate 4014 is logical
Cross the both sides that screw is connected to sliding block blocking 4015.Humerus fixture 402 be connected by lock-screw and humerus 3011 and
Both axis are approximate to be overlapped.Bicipital muscle of arm loading plate 401 is on 402 big end end face of humerus fixture.Pulling force sensor 3020 is logical
Mini threaded connecting sleeve 4018 is crossed with mini air-leg 4017 to be connected.Mini air-leg 4017 is mounted in air-leg mounting ring
On 403, air-leg mounting ring 403 and the circumferentia of humerus fixture 402 are connected by screw.Two mini air-leg 4017
Rope 3015 is coordinated to simulate the long head and brachycephaly of the bicipital muscle of arm respectively, its actual pulling force feeds back to calculating by pulling force sensor 3020
Machine, forms the loading system of power closed loop.Screw rod is screwed into from the small end threaded hole of humerus fixture 402, and is inserted into the inner side of humerus 3011,
Strengthen the connection of humerus 3011 and humerus fixture 402.Meanwhile 402 small end of humerus fixture is screwed with lock-screw and prevents screw rod from working
Shi Fasheng relative to humerus fixture rotation.Lengthen nut 405 to be screwed on screw rod 404, and with screw lock, avoid lengthening nut
405 relatively rotate with screw rod 404.Bearing inner sleeve 406 is fixed on screw rod 404 by lock-screw, bearing inner race interference
Ordinatedly it is installed on 406 cylinder of bearing inner sleeve, 408 outer ring of bearing is installed with the interference fit of bearing outside 409, bearing (ball) cover
407 on 408 end face of bearing outside, and pushes down 408 outer ring of bearing and prevent its axial float.Bearing outside 409 passes through at the same time
Bolt is connected with arc top shoe, causes bearing outside 408 to keep certain spacing with sliding block equipped with adjusting sleeve on bolt, to adapt to
The rigging position relation of angular encoder 4012 and arc top shoe.4012 mounting bracket of encoder is bolted on arc sliding
Block, angular encoder 4012 are installed on encoder mounting rack 4011.The shaft end of angular encoder 4012 passes through shaft coupling 4010
It is connected with 404 tail end of screw rod.It is certain big by torque wrench application at nut 405 lengthening when the measurement inside and outside swing angle of humerus is spent
Small moment of torsion causes humerus to rotate to extreme position, meanwhile, angular encoder 4012 measures the inside and outside swing angle angle value of humerus.
As shown in Figure 1, Figure 6, Figure 7, humerus movement guiding arc frame is mainly by line slide rail 501, linear slider 502, sliding block
Installing plate 503, limited block 504, arc frame mounting bar 505, arc frame shaft 506, arc frame rolling bearing units 507, holder 508 and half are round and smooth
Rail 509 forms.Wherein, 509 both sides of semicircle slide are machined with annular groove.Arc top shoe is assemblied on semicircle slide 509, sliding block
Roller 4013 moves in the annular groove of semicircle slide 509, guides the abduction of humerus, interior receipts.The both ends of semicircle slide 509 point
Zhuan not be on upper and lower two holders 508.Holder 509 is mounted in one end of arc frame shaft 506 by key connection, arc frame shaft 506
The other end is fixed through 507 inner ring of arc frame rolling bearing units and by its lock-screw.Arc frame rolling bearing units 507 are mounted in arc frame mounting bar
505 one end, are equipped with limited block 504 in the other end face of arc frame mounting bar 505, prevent line slide rail 501 from derailing.Semicircle slide
The arc frame mounting bar 505 at 509 both ends is attached separately on the straight line slide unit of upper and lower two groups of two degrees of freedom.Straight line slide unit has two layers up and down
Slideway, first layer slideway have two line slide rails 501, and two sliding blocks are respectively provided with every one slide rail.Four of first layer slideway
Sliding block is attached separately to the one side of sliding block installing plate 503, and another side is equipped with two sliding blocks of the second layer, and a line slide rail 501 is worn
The guide hole of this two sliding blocks is crossed, and is assemblied on arc frame mounting bar 505.It follows that humerus movement guiding arc frame shares three
The free degree (two prismatic pairs, a revolute pair), guides the adjustment of humerus pose.
As shown in Fig. 1, Fig. 3, Fig. 8, head of humerus displacement detecting unit is mainly installed by three-dimensional digital 601, digitizer
602 and G of seat words folder, 603 composition.The base of 3D digitizer 601 is connected with digitizer mounting base 602, and G words press from both sides 603 by number
Word instrument mounting base 602 is clamped on platform 201.3D digitizer 601 has the measurement energy of six-freedom degree displacement
Power, the head of humerus is measured when loading movement in glenoid cavity here with its end high-precision locus perception of sensing
Interior change in location.
Specific embodiment of the utility model is described above.It is to be appreciated that the utility model not office
It is limited to above-mentioned particular implementation, those skilled in the art can make a variety of changes or change within the scope of the claims,
This has no effect on the substantive content of the utility model.
Claims (7)
1. a kind of external bionical power of shoulder joint loads and its Function detection experiment porch, it is characterised in that：Including carrier unit, base
Seat unit, omoplate bone fixation and muscle loading unit, humerus clamping and rotation-measuring unit, humerus movement guiding arc frame unit and
Head of humerus displacement detecting unit, wherein, the base unit and humerus movement guiding arc frame unit directly with it is described
Carrier unit assembly connection, the base unit connects with the omoplate bone fixation and muscle loading unit with hinging manner
Connect, humerus movement guiding arc frame unit is connected with the omoplate bone fixation and muscle loading unit, the humerus
Clamping and rotation-measuring unit are connected with the shoulder blade and muscle loading unit, and the head of humerus displacement detecting unit is consolidated
It is scheduled on the base unit.
2. the external bionical power of shoulder joint according to claim 1 loads and its Function detection experiment porch, it is characterised in that
The carrier unit includes frame, two vertical supporting items, upper slide installing plate, stage+module plate and glidepath installing plate group
It is divided into front and rear two layers by the break crossbeam at place of sand ground into, the frame, two vertical supporting items are symmetrically bolted described in
Crossbeam on, upper slide installing plate, stage+module plate and the glidepath installing plate bolt perpendicular at two successively from top to bottom
In allotment support member.
3. the external bionical power of shoulder joint according to claim 2 loads and its Function detection experiment porch, it is characterised in that
The base unit includes platform, square column, quiet T-shaped seat, rolling bearing units, Building T shaft and moves T-shaped seat, and the platform connects
It is connected on the stage+module plate of carrier unit, the square column is connected on platform, the quiet T-shaped seat connection
In on the square column, the rolling bearing units are installed on the quiet T-shaped seat, and the Building T shaft is described in
Rolling bearing units and locked by the lock-screw on the rolling bearing units, the dynamic T-shaped seat passes through flat key and the Building T
Shaft connects, and is processed on the dynamic T-shaped seat and is equipped with multiple through holes used for positioning, the quiet T-shaped seat is equipped with an energy
The corresponding through hole fixed with the dynamic T-shaped seat upper Positioning holes by axis pin.
4. the external bionical power of shoulder joint according to claim 3 loads and its Function detection experiment porch, it is characterised in that
The omoplate bone fixation and muscle loading unit include transition disk, slotted disk, push rod rod end carrier bar, the carrying of push rod rod end
Plate, multiple muscle carrier bars, muscle guide rod, cross holder, rope, omoplate bone clamping plate, pulling force sensor, threaded connecting sleeve, line
Property push rod, clavicle fixture, clavicle fix carrier bar, multi-dimension force sensor, the transition disk and the dynamic T-shaped seat phase
Even, the slotted disk is connected with the transition disk, and the multi-dimension force sensor is installed on the slotted disk
On, the omoplate bone clamping plate is connected to screw in the installation panel of the multi-dimension force sensor, human vitronectin shoulder joint
The omoplate bone parts of sample are fixed in the omoplate bone clamping plate, and clavicle is partially inserted into the clavicle fixture, described
Clavicle fix carrier bar one end be connected with the clavicle fixture, the other end is connected with the slotted disk, described
Linear push rod is installed on the slotted disk, and the pulling force sensor is connected with the linear push rod rod end, institute
The push rod rod end carrier bar one end stated is fixed on the slotted disk, and the push rod rod end carrier bar other end is equipped with institute
The push rod rod end loading plate stated, is machined with multiple pilot holes on the push rod rod end loading plate, the pilot hole with it is linear
Push rod corresponds, and one end of multiple muscle carrier bars is connected on the slotted disk, multiple muscle carrier bars
The other end by cross holder it is orthogonal with muscle guide rod be connected, the muscle carrier bar is in the ring-like of the slotted disk
Moved in groove.
5. the external bionical power of shoulder joint according to claim 4 loads and its Function detection experiment porch, it is characterised in that
Humerus clamping and rotation-measuring unit include bicipital muscle of arm loading plate, humerus fixture, linear push rod mounting ring, screw rod plus
It is long nut, bearing inner sleeve, bearing (ball) cover, bearing, bearing outside, shaft coupling, encoder mounting rack, angular encoder, sliding on arc
Block, adjusting sleeve, mini linear push rod, mini threaded connecting sleeve, wherein, the arc top shoe includes sliding block roller, two pieces of cunnings
Block composition plate, sliding block blocking, the sliding block roller are connected by screw on the sliding block composition plate, the sliding block
There is gasket to separate between roller and sliding block composition plate, two panels sliding block forms plate and is connected to sliding block composition by screw
The both sides of block, the humerus fixture is connected by the humerus part of lock-screw and human vitronectin shoulder joint sample and both axis
Line is approximate to be overlapped, and the bicipital muscle of arm loading plate is on the humerus fixture big end end face, the pulling force sensor
It is connected by the mini threaded connecting sleeve with the mini linear push rod, the mini linear push rod is mounted in linear push
In bar mounting ring, the linear push rod mounting ring is connected with the circumferentia of the humerus fixture, and the screw rod is from described
The small end threaded hole of humerus fixture be screwed into, and be inserted into humerus sections inner side, the humerus fixture small end is screwed with lock-screw,
The lengthening nut is screwed on the screw rod, and the bearing inner sleeve is fixed on the screw rod, in the bearing
Set cylinder interference fit is provided with bearing inner race, and bearing outside interference fit is provided with bearing outer ring, the bearing
End cap pushes down the bearing outer ring and prevents its axial float on the bearing outside end face, outside the bearing
Set is connected by bolt with the arc top shoe at the same time, equipped with adjusting sleeve bearing outside is protected with sliding block on the bolt
Certain spacing is held, the encoder mounting rack is connected with the arc top shoe, and the angular encoder is installed on institute
On the encoder mounting rack stated, the shaft end of the angular encoder passes through the shaft coupling and the screw rod tail end phase
Even.
6. the external bionical power of shoulder joint according to claim 5 loads and its Function detection experiment porch, it is characterised in that
The humerus movement guiding arc frame includes more line slide rails, at least two groups of linear sliders, sliding block installing plate, limited block, arc frame
Mounting bar, arc frame shaft, arc frame rolling bearing units, upper holder, lower holder and semicircle slide composition, the semicircle slide both sides add
Work has annular groove, and the arc top shoe is assemblied on the semicircle slide, and the sliding block roller is in the annular
Movement in sliding slot, described, the both ends of the semicircle slide are attached separately on the upper holder and lower holder, the upper holder
With the one end for being mounted in the arc frame shaft on lower holder by key connection, the other end of the arc frame shaft is through described
The inner ring of arc frame rolling bearing units is simultaneously fixed by its lock-screw, and the arc frame rolling bearing units are mounted in the arc frame mounting bar one
Hold, limited block is housed in the other end face of arc frame mounting bar, the arc frame mounting bar at the semicircle slide both ends is attached separately to
At least on two groups of straight line slide units, at least two groups of straight line slide units have upper and lower two layers of slideway, and first layer slideway has two line slide rails, often
Two sliding blocks are respectively provided with one slide rail, two sliding blocks of first layer slideway are attached separately to the one side of sliding block installing plate, separately
Two sliding blocks of the second layer are simultaneously housed, a line slide rail passes through the guide hole of this two sliding blocks, and is assemblied in the arc frame
On mounting bar.
7. a kind of external bionical power of shoulder joint according to claim 6 loads and its Function detection experiment porch, its feature
It is, head of humerus displacement detecting unit includes 3D digitizer, digitizer mounting base and G words folder, the 3-dimensional digital
The base for changing instrument is connected with the digitizer mounting base, and digitizer mounting base is clamped on platform by G words folder.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201721225759.5U CN207248608U (en) | 2017-09-22 | 2017-09-22 | A kind of external bionical power of shoulder joint loads and its Function detection experiment porch |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107702978A (en) * | 2017-09-22 | 2018-02-16 | 赵金忠 | A kind of external bionical power of shoulder joint loads and its Function detection experiment porch |
| CN108937946A (en) * | 2018-07-25 | 2018-12-07 | 南京信息工程大学 | A kind of human spine real-time monitoring system and its control method |
-
2017
- 2017-09-22 CN CN201721225759.5U patent/CN207248608U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107702978A (en) * | 2017-09-22 | 2018-02-16 | 赵金忠 | A kind of external bionical power of shoulder joint loads and its Function detection experiment porch |
| CN107702978B (en) * | 2017-09-22 | 2024-03-19 | 上海逸动医学科技有限公司 | In-vitro shoulder joint bionic force loading and function detection experiment platform thereof |
| CN108937946A (en) * | 2018-07-25 | 2018-12-07 | 南京信息工程大学 | A kind of human spine real-time monitoring system and its control method |
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Effective date of registration: 20190819 Address after: No. 600 Yishan Road, Xuhui District, Shanghai, 2003 Patentee after: No.6 People's Hospital, Shanghai City Address before: No. 600 Yishan Road, Xuhui District, Shanghai, 2003 Co-patentee before: Yu Suiran Patentee before: Zhao Jinzhong Co-patentee before: Fang Liang Co-patentee before: Jiang Jia |
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Effective date of registration: 20210608 Address after: Room 180611, Songqiao Road, Xinjiang District, Shanghai Patentee after: SHANGHAI INNOMOTION Inc. Address before: 200233 No. 600, Xuhui District, Shanghai, Yishan Road Patentee before: SHANGHAI 6TH PEOPLE'S Hospital |