CN210836784U - Human lower limb movement simulation device - Google Patents
Human lower limb movement simulation device Download PDFInfo
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- CN210836784U CN210836784U CN201921902735.8U CN201921902735U CN210836784U CN 210836784 U CN210836784 U CN 210836784U CN 201921902735 U CN201921902735 U CN 201921902735U CN 210836784 U CN210836784 U CN 210836784U
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Abstract
The utility model provides a human low limbs motion analogue means, including pelvis model, thighbone model and shin bone model, still include base, first seat, first mounting, interlock subassembly, second seat and second mounting. The base is provided with a flat surface, the flat surface is provided with a guide rail, and the pelvis model is arranged on the base to ensure that the pelvis model is the same as the supine position of the human body; the first seat and the guide rail form a moving pair; the first fixing piece is used for fixedly supporting the femoral model; the linkage assembly and the first seat and the first fixing piece form a spherical pair respectively; the second seat and the guide rail form a moving pair; the second fixing piece is used for fixing and supporting the tibia model and forms a spherical pair with the second seat. The utility model discloses highly having restoreed the limbs motion mode of real human knee joint, during cooperation knee joint operation robot analog operation, can accurately confirm knee joint line of force and femoral head central point and put, provide the powerful support for knee joint operation's clinical application and relevant product's development.
Description
Technical Field
The utility model discloses generally relate to human low limbs model technical field, particularly, relate to a human low limbs motion analogue means.
Background
The knee joint has a greater chance of injury because it is the largest and most complex joint of the human body. With the continuous development of AI technology, intelligent medical treatment is also continuously developing, and knee joint surgical robots have been applied to clinical and telemedicine. In the process of developing the surgical robot, the simulation operation needs to be performed on the surgical steps and the human body position, so that a model capable of simulating the motion of the knee joint limb is needed to be matched with the simulation operation of the knee joint surgical robot.
However, the model in the prior art can only realize the rotation of the tibia and the femur within a certain angle, but cannot realize the rotation and the swing of the tibia and the femur, and cannot highly restore the motion mode of the limb of the knee joint of a real human body, so that the accuracy of determining the force line of the knee joint and the central position of the femoral head is not high, and the research and development of the surgical robot are severely restricted.
The above information disclosed in this background section is only for enhancement of understanding of the background of the invention and therefore it may contain information that does not constitute prior art that is already known to a person of ordinary skill in the art.
SUMMERY OF THE UTILITY MODEL
A main object of the present invention is to overcome at least one of the above-mentioned drawbacks of the prior art, and to provide a device for simulating the movement of lower limbs of a human body, so as to cooperate with a surgical robot to perform the operation of determining the force line of the knee joint and the central position of the femoral head.
In order to realize the purpose of the utility model, the utility model adopts the following technical scheme:
according to an aspect of the utility model, a human lower limbs motion analogue means is provided, including pelvis model, thighbone model, shin bone model, base, first seat, first mounting, interlock subassembly, second seat and second mounting. The base is provided with a flat surface, the flat surface is provided with a guide rail, and the pelvis model is arranged on the base to ensure that the pelvis model is the same as the supine position of the human body; the first seat and the guide rail form a moving pair; the first fixing piece is used for fixedly supporting the femur model; the linkage assembly forms a spherical pair with the first seat and the first fixing piece respectively; the second seat and the guide rail form a moving pair; the second fixing piece is used for fixedly supporting the tibia model and forms a spherical pair with the second seat.
According to an embodiment of the present invention, the first seat can be locked on the path of the guide rail; the second seat can be locked in the path of the guide rail.
According to an embodiment of the present invention, the guide rail includes a protruding strip protruding from the flat surface, and a cross section of the protruding strip is dovetail-shaped; the first seat comprises a groove matched with the raised line, and the cross section of the groove is in a dovetail shape;
when the first seat moves along the guide rail, the first seat cannot be separated from the base by means of the matching of the convex strip and the groove.
According to an embodiment of the present invention, the first seat includes a first ball, and the linkage assembly and the first ball constitute a spherical pair.
According to an embodiment of the present invention, the first fixing member includes a first half clip, a second half clip and a locking member. The second half clamp is arranged opposite to the first half clamp and forms a clamping space; the retaining member is in screw joint respectively half first clamp and half the clamp of second, through rotating the retaining member with control half first clamp with half the distance between the clamp of second.
According to the utility model discloses an embodiment, first half clamp is equipped with the second spheroid, the interlock subassembly with the second spheroid constitutes the spherical pair.
According to the utility model discloses an embodiment, the interlock subassembly includes first splint, second splint, first round pin axle and fastens the cap soon. The second clamping plate is arranged opposite to the first clamping plate; the edge of one side, facing the second clamping plate, of the first clamping plate is provided with a first arc-shaped recess and a second arc-shaped recess; a third arc-shaped recess corresponding to the first arc-shaped recess and a fourth arc-shaped recess corresponding to the second arc-shaped recess are formed in one side, facing the first clamping plate, of the second clamping plate; the first arc-shaped recess and the third arc-shaped recess can wrap a sphere to form a spherical pair, and the second arc-shaped recess and the fourth arc-shaped recess can wrap the sphere to form the spherical pair; a first pin shaft is arranged between the first clamping plate and the second clamping plate, one end of the first pin shaft is fixedly connected with the second clamping plate, the other end of the first pin shaft penetrates through the hole of the first clamping plate and is slidably connected with the first clamping plate, and the other end of the first pin shaft is provided with an external thread; the screwing cap is provided with an internal thread and matched with the external thread at the other end of the first pin shaft, and the screwing cap is rotated to enable the screwing cap to push the first clamping plate to approach the second clamping plate.
In another embodiment, the first clamping plate and the second clamping plate can be clamped in the following manner: one end of the first pin shaft is in threaded connection with the second clamping plate, the other end of the first pin shaft penetrates out of a hole of the first clamping plate and is in slidable connection with the first clamping plate, the screwing cap is fixedly connected with the other end of the first pin shaft, and the screwing cap is rotated to enable the screwing cap to abut against and push the first clamping plate to approach the second clamping plate.
According to the utility model discloses an embodiment, the second seat includes half first holder, half holder of second, second round pin axle and locking cap. The second half clamping seat is opposite to the first half clamping seat; a first concave part is arranged on one side, facing the second half clamping seat, of the first half clamping seat, a second concave part corresponding to the first concave part is arranged on one side, facing the first half clamping seat, of the second half clamping seat, and the first concave part and the second concave part can wrap a sphere to form a spherical pair; a second pin shaft is arranged between the first half clamping seat and the second half clamping seat, one end of the second pin shaft is fixedly connected to the second half clamping seat, the other end of the second pin shaft penetrates through the hole of the first half clamping seat and is slidably connected with the first half clamping seat, and the other end of the second pin shaft is provided with an external thread; the locking cap is provided with an internal thread which is matched with the external thread at the other end part of the second pin shaft, and the locking cap is rotated to enable the locking cap to push the first half clamping seat to be close to the second half clamping seat.
In another embodiment, the clamping manner of the first half holder and the second half holder may be: one end of the second pin shaft is in threaded connection with the second half clamping seat, the other end of the second pin shaft penetrates through a hole of the first half clamping seat and is in slidable connection with the first half clamping seat, the locking cap is fixedly connected with the other end of the second pin shaft, and the locking cap is rotated to enable the locking cap to abut against and push the first half clamping seat to be close to the second half clamping seat.
According to the utility model discloses an embodiment, first half holder with guide rail complex surface is opened has a first half forked tail recess, the second half holder with guide rail complex surface is opened has a second half forked tail recess, first half forked tail recess with second half forked tail recess forms a complete forked tail recess, complete forked tail recess can with the guide rail cooperation constitutes the sliding pair.
According to the utility model discloses an embodiment, the second mounting includes a member, the one end of member is equipped with the third spheroid, the surface of the other end of member is equipped with the external screw thread.
According to the utility model discloses an embodiment, be equipped with the supporting seat on the flat surface of base, be used for supporting the pelvis model.
According to the above technical scheme, the utility model discloses a human low limbs motion analogue means's advantage lies in with positive effect:
through the cooperation of the moving pair and the spherical pairs, when the femur model is swung and the tibia model is bent and stretched, the femur model and the tibia model can be fixed at a certain angle, the femur model can also rotate and swing, the limb movement mode of a real human knee joint is highly restored, when the knee joint operation robot is matched for simulation operation, the knee joint force line and the femoral head central position can be accurately determined, and powerful support is provided for clinical application of knee joint operation and development of related products.
Drawings
The above and other features and advantages of the present invention will become more apparent by describing in detail exemplary embodiments thereof with reference to the attached drawings.
Fig. 1 is a perspective view of a human lower limb movement simulation apparatus according to an exemplary embodiment.
Fig. 2 is a top view of fig. 1.
FIG. 3 is a perspective view of a base shown in accordance with an exemplary embodiment.
FIG. 4 is a perspective view of a first seat shown in accordance with an exemplary embodiment.
FIG. 5 is a perspective view of a first fixture shown according to an exemplary embodiment.
FIG. 6 is an assembled perspective view of a second seat and a second fixture, shown according to an exemplary embodiment.
FIG. 7 is a perspective view of a linkage assembly shown according to an exemplary embodiment.
FIG. 8 is an assembled perspective view of the first securing member, the linkage assembly, and the first seat shown in accordance with an exemplary embodiment.
Fig. 9 is a perspective view illustrating a human lower limb movement simulation apparatus provided with a reference frame according to an exemplary embodiment.
FIG. 10 is a cross-sectional view of a second seat shown in accordance with an exemplary embodiment.
Wherein the reference numerals are as follows:
1. pelvis model
2. Femur model
3. Tibia model
10. Base seat
110. Plane surface
120. Guide rail
131. First supporting seat
132. Second supporting seat
20. First seat
210. Groove
220. The first sphere
230. Threaded hole
30. First fixed part
310. First half clamp
320. Second half clamp
330. Locking piece
340. Second sphere
350. Clamping space
40. Linkage assembly
410. First splint
411. First arc-shaped recess
412. Second arc-shaped recess
420. Second splint
421. Third arc-shaped recess
422. Fourth arc shaped recess
430. Screwing cap
431. First pin shaft
440. First elastic member
441. Guide shaft
50. Second seat
510. First half holder
511. First half dovetail groove
512. First concave part
520. Second half holder
521. Second half dovetail groove
522. Second concave part
530. Locking cap
531. Second pin shaft
532. Second elastic member
60. Second fixing part
610. Third sphere
620. External thread
710. First reference frame
720. Second reference frame
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar structures, and thus their detailed description will be omitted.
Although relative terms, such as "upper" and "lower," may be used in this specification to describe one element of an icon relative to another, these terms are used in this specification for convenience only, e.g., in accordance with the orientation of the examples described in the figures. It will be appreciated that if the device of the icon were turned upside down, the element described as "upper" would become the element "lower". Other relative terms, such as "top", "bottom", and the like, are also intended to have similar meanings. The terms "a," "an," "the," and "said" are used to indicate the presence of one or more elements/components/etc.; the terms "comprising" and "having" are intended to be inclusive and mean that there may be additional elements/components/etc. other than the listed elements/components/etc.; the terms "first," "second," "third," and "fourth," etc. are used merely as labels, and are not limiting as to the number of their objects.
The utility model provides a human low limbs motion analogue means, including pelvis model, thighbone model and shin bone model, still include base, first seat, first mounting, interlock subassembly, second seat and second mounting. The base is provided with a flat surface, the flat surface is provided with a guide rail, and the pelvis model is arranged on the base to ensure that the pelvis model is the same as the supine position of the human body; the first seat and the guide rail form a moving pair; the first fixing piece is used for fixedly supporting the femoral model; the linkage assembly and the first seat and the first fixing piece form a spherical pair respectively; the second seat and the guide rail form a moving pair; the second fixing piece is used for fixing and supporting the tibia model and forms a spherical pair with the second seat.
Through the cooperation of the moving pair and the spherical pairs, when the femur model is swung and the tibia model is bent and stretched, the femur model and the tibia model can be fixed at a certain angle, the femur model can also rotate and swing, the limb movement mode of a real human knee joint is highly restored, when the knee joint operation robot is matched for simulation operation, the knee joint force line and the femoral head central position can be accurately determined, and powerful support is provided for clinical application of knee joint operation and development of related products.
The structure, connection mode and functional relationship of the main components of the human body lower limb movement simulation device provided by the present invention will be described in detail with reference to the accompanying drawings.
Fig. 1 is a perspective view of a human lower limb movement simulation apparatus according to an exemplary embodiment. Fig. 2 is a top view of fig. 1. FIG. 3 is a perspective view of a base shown in accordance with an exemplary embodiment. FIG. 4 is a perspective view of a first seat shown in accordance with an exemplary embodiment. FIG. 5 is a perspective view of a first fixture shown according to an exemplary embodiment. FIG. 6 is an assembled perspective view of a second seat and a second fixture, shown according to an exemplary embodiment. FIG. 7 is a perspective view of a linkage assembly shown according to an exemplary embodiment. FIG. 8 is an assembled perspective view of the first securing member, the linkage assembly, and the first seat shown in accordance with an exemplary embodiment. Fig. 9 is a perspective view illustrating a human lower limb movement simulation apparatus provided with a reference frame according to an exemplary embodiment. FIG. 10 is a cross-sectional view of a second seat shown in accordance with an exemplary embodiment.
As shown in fig. 1 and 2, an embodiment of the present invention provides a human lower limb movement simulation apparatus, which includes a pelvis model 1, a femur model 2, and a tibia model 3. The femur model 2 and the pelvis model 1 can be connected through the femur head model and the acetabulum model by using elastic materials, for example, to form a spherical pair between the femur model 2 and the pelvis model 1, so that the femur model 2 can do flexion-extension, abduction-adduction and internal rotation-external rotation movements by taking the spherical pair as a center, thereby simulating limb movement between a real human femur and a pelvis.
The tibia model 3 can be elastically connected to the femur model 2 through the tibia platform model and the femur condyle model by using elastic materials, so that the tibia model 3 and the femur model 2 can perform flexion and extension movements, and limb movements between a real human tibia and a real human femur can be simulated.
The embodiment of the utility model provides a human lower limbs motion analogue means still includes base 10, first seat 20, first mounting 30, linkage assembly 40, second seat 50 and second mounting 60.
As shown in fig. 3, in the present embodiment, the base 10 has a flat surface 110, the flat surface 110 is provided with two guide rails 120, and the guide rails 120 are used for guiding the movement of the tibia model 3 and the femur model 2 when the limb movement such as flexion and extension is performed between the tibia model 3 and the femur model 2.
In this embodiment, one of the rails 120 may be used to guide a left knee limb of the human body, and the other rail 120 may be used to guide a right knee limb of the human body.
Of course, in other embodiments, only one rail 120 may be disposed on the base 10.
In an exemplary embodiment, the rail 120 includes a rib protruding from the planar surface 110 of the base 10, the rib having a dovetail shape in cross section, the dovetail rib being inverted, i.e., the wide side of the rib is above the narrow side, such that the first seat 20 engaged with the rib can only move along the rail 120 without disengaging from the rail 120.
The ribs may be formed integrally with the base 10, for example, by milling, or may be formed separately, for example, by fastening the ribs to the flat surface 110 of the base 10 by bolts.
Of course, in another embodiment, the guide rail 120 may be recessed below the flat surface 110 of the base 10, and correspondingly, the first seat 20 is provided with a convex strip matched with the guide rail 120; in another embodiment, the cross section of the guide rail 120 may also take other shapes, such as an i-shape, etc., and will not be described in detail herein.
Referring to fig. 2, in the present embodiment, the base 10 is further provided with two supporting seats, namely a first supporting seat 131 and a second supporting seat 132, and the first supporting seat 131 and the second supporting seat 132 have a height difference, so that when the pelvis model 1 is disposed on the two supporting seats of the base 10, the position of the pelvis model 1 is the same as the position of the pelvis of the human body in the supine position.
In addition, the first supporting seat 131 and the second supporting seat 132 may be made of a wood material, and the pelvis model 1 may be fixed to the first supporting seat 131 and the second supporting seat 132 by wood screws.
As shown in fig. 2 and 4, in the present embodiment, the first carriage 20 and the guide rail 120 constitute a moving pair. Specifically, a surface of the first seat 20 that is engaged with the guide rail 120 is provided with a groove 210, and the cross section of the groove 210 is dovetail-shaped. When the first seat 20 moves along the guide rail 120, the first seat 20 can only move along the guide rail 120 without being separated from the base 10 by the cooperation of the convex strip and the concave groove 210.
As shown in fig. 4, in the present embodiment, the first seat 20 has a first ball 220, and the interlocking unit 40 forms a spherical pair connection with the first seat 20 by entirely or partially covering the ball, so that the interlocking unit 40 can perform flexion-extension, abduction-adduction, and internal rotation-external rotation movements around the first ball 220.
The first seat 20 is further provided with a through threaded hole 230, when the operator swings the tibia model 3 and the femur model 2 to the preset positions, the position of the first seat 20 is relatively fixed, and a bolt is inserted into the threaded hole 230 to fix the first seat 20 on the guide rail 120, so that the first seat 20 is prevented from moving again.
Of course, in other embodiments, the first seat 20 can be fixed in other manners, which are not listed here.
As shown in fig. 5, in the present embodiment, the first fixing member 30 includes a first half clip 310, a second half clip 320, and a locking member 330. The second half-clamp 320 is disposed opposite to the first half-clamp 310 and forms a clamping space 350, and the clamping space 350 is used for clamping the femur model 2. The locking member 330 is screw-coupled to the first half clamp 310 and the second half clamp 320, respectively, and the distance between the first half clamp 310 and the second half clamp 320 is controlled by rotating the locking member 330. When the distance between the first half clamp 310 and the second half clamp 320 is close enough, the first fixture 30 clamps the femoral model 2; as the distance between the first half clamp 310 and the second half clamp 320 becomes gradually larger, the femoral model 2 is detached from the first fixture 30.
Referring to fig. 5, the first fixing element 30 includes a second sphere 340, for example, the second sphere 340 is disposed on a side surface of the first half clip 310, and the linking element 40 is connected to the first fixing element 30 by a spherical pair in a manner of completely or partially wrapping the sphere, so that the linking element 40 can perform flexion-extension, abduction-adduction, and internal rotation-external rotation movements with the second sphere 340 as a center.
As shown in fig. 6 and 10, in the present embodiment, the second seat 50 includes a first half holder 510, a second half holder 520, a second pin 531, a second elastic member 532, and a locking cap 530. Second cartridge half 520 is disposed opposite first cartridge half 510. The second pin 531 is disposed between the first half holder 510 and the second half holder 520, one end of the second pin 531 is fixedly connected to the second half holder 520, the other end of the second pin 531 penetrates through the hole of the first half holder 510 and is slidably connected to the first half holder 510, and the other end of the second pin 531 has an external thread. The locking cap 530 has an internal thread and can be engaged with an external thread of the other end portion of the second pin 531. The locking cap 530 is rotated to push the locking cap 530 against the first half holder 510 toward the second half holder 520.
In one embodiment, second pin 531 may be a stepped shaft having a larger cross-sectional dimension at a portion slidably coupled to first half holder 510 than at a portion fixedly coupled to second half holder 520.
The second elastic member 532, such as a compression spring, is sleeved on the outer circumference of the second pin 531, and two ends of the second elastic member 532 respectively abut against the first half holder 510 and the second half holder 520, so that an elastic force is provided between the first half holder 510 and the second half holder 520.
Of course, in other embodiments, the distance between the first half holder 510 and the second half holder 520 may be controlled in other manners, for example, one end of the second pin 531 is connected to the second half holder 520 by a screw, the other end of the second pin 531 passes through the hole of the first half holder 510 and is slidably connected to the first half holder 510, the locking cap 530 is fixedly connected to the other end of the second pin 531, and the locking cap 530 is rotated to push the first half holder 510 toward the second half holder 520.
The surface of the first half holder 510, which is matched with the guide rail 120, is provided with a first half dovetail groove 511, the surface of the second half holder 520, which is matched with the guide rail 120, is provided with a second half dovetail groove 521, and the first half dovetail groove 511 and the second half dovetail groove 521 form a complete dovetail groove which can be matched with the guide rail 120 to form a sliding pair.
Further, by adjusting the distance between first half holder 510 and second half holder 520, second holder 50 can be held on rail 120, and second holder 50 can be fixed.
Referring to fig. 6, a first concave portion 512 is disposed on a side of the first half holder 510 facing the second half holder 520, a second concave portion 522 corresponding to the first concave portion 512 is disposed on a side of the second half holder 520 facing the first half holder 510, and the first concave portion 512 and the second concave portion 522 can wrap a sphere to form a spherical pair, so that the second fixing member 60 can perform flexion-extension, abduction-adduction, and internal rotation-external rotation motions with the spherical pair as a center.
As shown in fig. 6, in the present embodiment, the second fixing member 60 includes a rod, one end of which is provided with a third ball 610, and the outer surface of the other end of which is provided with an external thread 620. The third ball 610 is enclosed in the first concave portion 512 and the second concave portion 522 of the second mount 60 to form a spherical pair. The other end of the rod is connected to the end of the tibia model 3 far away from the femur model 2 through an external thread 620.
As shown in fig. 7, in the present embodiment, the linkage assembly 40 includes a first clamp plate 410, a second clamp plate 420, a first pin 431, and a tightening cap 430. Second splint 420 sets up with first splint 410 relatively, and first round pin axle 431 is located between first splint 410 and the second splint 420, and one end fixed connection in second splint 420 of first round pin axle 431, but another tip of first round pin axle 431 wear out the hole of first splint 410 and with first splint 410 sliding connection, another tip of first round pin axle 431 has the external screw thread. The screwing cap 430 has an internal thread and is engaged with an external thread of the other end portion of the first pin 431, and the screwing cap 430 is rotated to push the screwing cap 430 against the first clamping plate 410 to approach the second clamping plate 420.
The edges of the two ends of the first clamping plate 410 facing the second clamping plate 420 are respectively provided with a first arc-shaped recess 411 and a second arc-shaped recess 412; a third arc recess 421 corresponding to the first arc recess 411 and a fourth arc recess 422 corresponding to the second arc recess 412 are formed at a side of the second clamping plate 420 facing the first clamping plate 410. The first arc-shaped recess 411 and the third arc-shaped recess 421 can wrap the sphere to form a spherical pair, and the second arc-shaped recess 412 and the fourth arc-shaped recess 422 can wrap the sphere to form a spherical pair.
A first elastic member 440 is further disposed between the first clamping plate 410 and the second clamping plate 420, two ends of the first elastic member 440 respectively abut against the first clamping plate 410 and the second clamping plate 420 to provide an elastic force, the elastic force respectively acts on the first clamping plate 410 and the second clamping plate 420, and the first elastic member 440 is, for example, a compression spring, so that the first clamping plate 410 always tends to be away from the second clamping plate 420.
In some embodiments, the first elastic member 440 may be sleeved on an outer circumference of the guide shaft 441, the guide shaft 441 is disposed between the first clamping plate 410 and the second clamping plate 420, one end of the guide shaft 441 is fixedly connected to the second clamping plate 420, and the other end of the guide shaft 441 penetrates through the first clamping plate 410 and is slidably engaged with the first clamping plate 410.
Further, the two guide shafts 441 and the two first elastic members 440 are included, the two first elastic members 440 are respectively sleeved outside the two guide shafts 441, and the two guide shafts 441 are respectively located at two sides of the first pin 431, so that the elastic force applied between the first clamping plate 410 and the second clamping plate 420 is kept balanced.
Of course, in other embodiments, the first clamping plate 410 and the second clamping plate 420 may be controlled to be clamped or unclamped from each other in other manners, for example, one end of the first pin 431 is screwed with the second clamping plate 420, the other end of the first pin 431 penetrates through the hole of the first clamping plate 410 and is slidably connected with the first clamping plate 410, the screwing cap 430 is fixedly connected with the other end of the first pin 431, and the screwing cap 430 is rotated to push the screwing cap 430 to the second clamping plate 420.
As shown in fig. 8, the first clamping plate 410 and the second clamping plate 420 are oppositely disposed, one end of the first clamping plate 410 and one end of the second clamping plate 420 are wrapped around the ball of the second fixing member 60 through the first arc-shaped recess 411 and the third arc-shaped recess 421 to form a spherical pair, and the other end of the first clamping plate 410 and the other end of the second clamping plate 420 are wrapped around the ball of the first seat 20 through the second arc-shaped recess 412 and the fourth arc-shaped recess 422 to form a spherical pair.
When the model of the utility model is used, by means of the sliding pair between the first seat 20 and the guide rail 120, the linkage assembly 40, the spherical pair between the first seat 20 and the first fixing member 30 and the spherical pair between the femur model 2 and the pelvis model 1, the femur model 2 can simulate the thigh of the human body to realize rotation and swing, and angular motion between the femur model 2 and the base 10 is ensured; the tibia model 3 can simulate the human tibia to bend and extend by means of the sliding pair between the second seat 50 and the guide rail 120 and the spherical pair between the second seat 50 and the second fixing member 60.
The utility model provides a human lower limbs motion analogue means can use with NDI equipment cooperation to calculate the operating procedure of femoral head central point and knee joint line of force in the simulation operation.
Specifically, a first reference frame 710 is arranged on the femur model 2, and a second reference frame 720 is arranged on the tibia model 3, respectively, and the first reference frame 710 and the second reference frame 720 have different shapes and are provided with spherical reflection points. The first reference frame 710, the second reference frame 720 and the NDI apparatus constitute a monitoring and measuring system, which enables the NDI apparatus to calculate the femoral head center position and the knee joint force line by swinging the flexion-extension femoral model 2 and the tibial model 3. The utility model provides a model can highly restore real human knee joint limb motion, and real human is pressed close to more to the analog parameter who obtains, provides powerful support for the clinical application of knee joint operation and the development of relevant product.
In addition, it should be understood that those skilled in the art may replace the pelvis model, the femur model 2 and the tibia model 3 with other objects according to design requirements, and the relative movement of the other objects under the limitation of the above-disclosed base 10, the first fixing member 30, the second fixing member 60, the first seat 20 and the second seat 50 together may be changed, added, replaced, deleted or otherwise changed by the above-described embodiments, and still be within the protection scope of the present invention.
To sum up, the utility model provides a pair of human low limbs motion analogue means's advantage and beneficial effect lie in:
through the cooperation of the moving pair and the spherical pairs, when the femur model 2 and the flexion-extension tibia model 3 are swung, the femur model 2 and the tibia model 3 can be fixed at a certain angle, the femur model 2 can also rotate and swing, the limb motion mode of a real human knee joint is highly restored, the knee joint force line and the femoral head central position can be accurately determined by cooperating with the knee joint operation robot for simulation operation, and powerful support is provided for clinical application of knee joint operation and development of related products.
It should be noted here that the human lower limb movement simulation apparatus shown in the drawings and described in the present specification is only one example employing the principles of the present invention. It should be clearly understood by those skilled in the art that the principles of the present invention are not limited to any of the details or any of the components of the apparatus shown in the drawings or described in the specification.
It is to be understood that the invention is not limited in its application to the details of construction and the arrangement of components set forth in the description. The present invention is capable of other embodiments and of being practiced and carried out in a variety of ways. The foregoing variations and modifications fall within the scope of the present invention. It will be understood that the invention disclosed and defined in this specification extends to all alternative combinations of two or more of the individual features mentioned or evident from the text and/or drawings. All of these different combinations constitute various alternative aspects of the present invention. The embodiments set forth herein explain the best modes known for practicing the invention and will enable others skilled in the art to utilize the invention.
Claims (11)
1. The utility model provides a human lower limbs motion analogue means, includes pelvis model, thighbone model and shin bone model, its characterized in that still includes:
the base is provided with a flat surface, the flat surface is provided with a guide rail, and the pelvis model is arranged on the base to ensure that the pelvis model is the same as the supine position of the human body;
the first seat and the guide rail form a moving pair;
the first fixing piece is used for fixedly supporting the femur model;
the linkage assembly forms a spherical pair with the first seat and the first fixing piece respectively;
the second seat and the guide rail form a moving pair; and
and the second fixing piece is used for fixing and supporting the tibia model and forms a spherical pair with the second seat.
2. The human lower extremity motion simulator of claim 1, wherein said first seat is lockable in the path of said rail; the second seat can be locked in the path of the guide rail.
3. The human lower extremity movement simulation apparatus of claim 1, wherein the guide rail includes a rib protruding from the planar surface, the rib having a dovetail-shaped cross-section; the first seat comprises a groove matched with the raised line, and the cross section of the groove is in a dovetail shape;
when the first seat moves along the guide rail, the first seat cannot be separated from the base by means of the matching of the convex strip and the groove.
4. The human lower limb movement simulation device of claim 3, wherein the first seat comprises a first ball, and the linkage assembly and the first ball form a spherical pair.
5. The human lower extremity motion simulator of claim 1, wherein said first attachment member includes:
a first half clamp;
the second half clamp is arranged opposite to the first half clamp and forms a clamping space; and
the retaining member, respectively spiro union in half first clamp and half the clamp of second are through rotating the retaining member in order to control half first clamp with half distance between the clamp of second.
6. The human lower limb movement simulation device of claim 5, wherein the first half clamps a second ball, and the linkage assembly and the second ball form a spherical pair.
7. The human lower limb movement simulation device of claim 1, wherein the linkage assembly comprises:
a first splint;
the second clamping plate is arranged opposite to the first clamping plate; the edge of one side, facing the second clamping plate, of the first clamping plate is provided with a first arc-shaped recess and a second arc-shaped recess; a third arc-shaped recess corresponding to the first arc-shaped recess and a fourth arc-shaped recess corresponding to the second arc-shaped recess are formed in one side, facing the first clamping plate, of the second clamping plate; the first arc-shaped recess and the third arc-shaped recess can wrap a sphere to form a spherical pair, and the second arc-shaped recess and the fourth arc-shaped recess can wrap the sphere to form the spherical pair;
the first pin shaft is arranged between the first clamping plate and the second clamping plate, one end of the first pin shaft is in threaded connection with the second clamping plate, and the other end of the first pin shaft penetrates through the hole of the first clamping plate and is in slidable connection with the first clamping plate; and
and the screwing cap is fixedly connected with the other end of the first pin shaft, and is rotated to enable the screwing cap to abut against and push the first clamping plate to approach the second clamping plate.
8. The human lower extremity motion simulator of claim 1, wherein said second seat comprises:
a first half of the clamping seat;
the second half clamping seat is opposite to the first half clamping seat; a first concave part is arranged on one side, facing the second half clamping seat, of the first half clamping seat, a second concave part corresponding to the first concave part is arranged on one side, facing the first half clamping seat, of the second half clamping seat, and the first concave part and the second concave part can wrap a sphere to form a spherical pair;
the second pin shaft is arranged between the first half clamping seat and the second half clamping seat, one end of the second pin shaft is in threaded connection with the second half clamping seat, and the other end of the second pin shaft penetrates through the hole of the first half clamping seat and is in slidable connection with the first half clamping seat;
and the locking cap is fixedly connected with the other end part of the second pin shaft, and is rotated to enable the locking cap to push the first half clamping seat to be close to the second half clamping seat.
9. The human body lower limb movement simulation device according to claim 8, wherein the surface of the first half holder, which is engaged with the guide rail, is provided with a first half dovetail groove, the surface of the second half holder, which is engaged with the guide rail, is provided with a second half dovetail groove, the first half dovetail groove and the second half dovetail groove form a complete dovetail groove, and the complete dovetail groove can be engaged with the guide rail to form a sliding pair.
10. The human body lower limb movement simulation device of claim 1, wherein the second fixing member comprises a rod, one end of the rod is provided with the third ball, and the outer surface of the other end of the rod is provided with external threads.
11. The human lower limb movement simulator of claim 1, wherein a support base is provided on the flat surface of the base for supporting the pelvic model.
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| CN201921902735.8U CN210836784U (en) | 2019-11-06 | 2019-11-06 | Human lower limb movement simulation device |
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| CN201921902735.8U CN210836784U (en) | 2019-11-06 | 2019-11-06 | Human lower limb movement simulation device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112767810A (en) * | 2019-11-06 | 2021-05-07 | 北京纳通医学科技研究院有限公司 | Human lower limb movement simulation device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112767810A (en) * | 2019-11-06 | 2021-05-07 | 北京纳通医学科技研究院有限公司 | Human lower limb movement simulation device |
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Effective date of registration: 20220816 Address after: G357, 3rd floor, building 1, yard 9, CHENGWAN street, Haidian District, Beijing 100094 Patentee after: Beijing natong Medical Robot Technology Co.,Ltd. Address before: 100095 Building 2, 103 Beiqing Road, Haidian District, Beijing Patentee before: Beijing natong Medical Technology Holding Co.,Ltd. Patentee before: BEIJING NATON TECHNOLOGY GROUP Co.,Ltd. |