KR101695659B1 - knee joint simulator - Google Patents

knee joint simulator Download PDF

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Publication number
KR101695659B1
KR101695659B1 KR1020150056867A KR20150056867A KR101695659B1 KR 101695659 B1 KR101695659 B1 KR 101695659B1 KR 1020150056867 A KR1020150056867 A KR 1020150056867A KR 20150056867 A KR20150056867 A KR 20150056867A KR 101695659 B1 KR101695659 B1 KR 101695659B1
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South Korea
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knee joint
base frame
inclined plate
simulator
bone
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KR1020150056867A
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Korean (ko)
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KR20160125844A (en
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배태수
강경민
김남훈
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중원대학교 산학협력단
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    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B23/00—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes
    • G09B23/28—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for medicine
    • G09B23/30—Anatomical models
    • G09B23/32—Anatomical models with moving parts

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  • Health & Medical Sciences (AREA)
  • Chemical & Material Sciences (AREA)
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Abstract

The present invention relates to a base frame for forming a bottom portion; An inclined plate provided on the upper surface of the base frame so as to be vertically inclined and adjustable to a tilt angle; A first connection part connecting the lower end of the tibial bone to the inclined plate in an artificial knee joint; A guide frame vertically erected from both sides of the inclined plate among the upper surfaces of the base frame; A lifting plate installed on the guide frame so as to be adjustable in height; And a second connection part connecting the upper end of the femur bone of the artificial knee joint to the lifting plate. The simulator for a knee joint according to claim 1, In addition to the simulation of the knee joint, gait simulations for each of these gait methods can be used to evaluate the usability of the product in relation to various biomechanical studies related to the knee joint. In addition, Lakman test or pivot test can be reproduced.

Description

A knee joint simulator

The present invention relates to a simulator, more specifically, to a multi-axis control capable of simulating a knee joint which changes according to various gait forms, The present invention relates to a new type of simulator for a knee joint capable of multi-axis control so that a test can be reproduced.

Generally, the knee joint is a complicated mobility joint that is composed of a rotation movement and a slip, and is composed of a femoral joint and a femur joint.

Herein, the femoral tibial joint is in contact with the joint surfaces of the tibial bone and the femur bone to form a hinge-like joint, which is involved in the extension and bending of the knee, and the femur joint is formed between the knee and the femur It plays a role of facilitating the expansion and bending motion of the knee while forming the joints.

The most important knee joints in the knee extension and bending process have been studied in various ways. Such knee joint researches are usually performed after the artificial knee joint is manufactured, and then the artificial knee joint is simulated It is progressing. In this connection, it is as disclosed in Japanese Patent No. 10-1337361, Japanese Patent No. 10-0918012, and the like.

However, in the case of the simulator for simulating the knee joint in the past, it is possible to perform only the test for the bite or bend, and it is disadvantageous that it is impossible to implement the daily life action such as the flat walking, the stair walking and the inclined walking.

In other words, conventional knee joint simulators have limitations in performing usability evaluation in product development related to various biomechanical studies related to the knee joint.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a knee joint simulation apparatus and method capable of simulating a knee joint that changes according to various gait forms, The present invention provides a new type of simulator for a knee joint capable of performing multi-axis control so that the Lakman test or the pivot test can be reproduced.

According to an aspect of the present invention, there is provided a simulator for a knee joint comprising: a base frame forming a bottom portion; An inclined plate provided on the upper surface of the base frame so as to be vertically inclined and adjustable to a tilt angle; A first connecting portion connecting the lower end of the tibial bone of the artificial knee joint to the inclined plate; A guide frame vertically erected from both sides of the inclined plate among the upper surfaces of the base frame; A lifting plate installed on the guide frame so as to be adjustable in height; And a second connection part connecting the upper end of the femur bone of the artificial knee joint to the lifting plate.

Here, the guide frame is installed to be movable along the front-rear direction of the base frame.

A slider is slidably installed in the slide groove, and the first connection part is installed on the slider so as to be movable in a horizontal direction, and an artificial knee And is adjustable in the vertical direction for the adjustment according to the length of the joints.

At least one of the first connection portion and the second connection portion is installed to be rotatable in a horizontal direction by receiving a driving force of the rotation driving portion.

The first connection portion and the tibial bone are connected so that the tibial bone can be tilted back and forth, and the second connection portion and the femur bone are connected so that the femur bone can be inclined forward and backward and abduction and extinction. do.

As described above, the simulator for a knee joint according to the present invention can simulate various walking methods through multi-axis control, and the gait simulation for each of the walking methods can be applied to various biomechanical researches related to the knee joint, It is possible to evaluate the effect.

Furthermore, the simulator for the knee joint of the present invention has the effect of increasing the probability of success of surgery because it is possible to reproduce the Rakman test or the pivot test for determining the success of the ACL reconstruction surgery.

In addition, the simulator for the knee joint of the present invention has an effect that can be used as a new surgical methodological verification in knee joint surgery.

1 is a perspective view illustrating a simulator for a knee joint according to an embodiment of the present invention;
2 is a front view illustrating a simulator for a knee joint according to an embodiment of the present invention.
3 is a side view illustrating a simulator for a knee joint according to an embodiment of the present invention.
4 is a plan view illustrating a simulator for a knee joint according to an embodiment of the present invention.
5 to 7 are side sectional views for explaining the operation states of the inclined plates of the knee joint simulator according to the embodiments of the present invention,
FIGS. 8 to 10 are views illustrating a state of the knee joint simulator according to an embodiment of the present invention,

Hereinafter, a preferred embodiment of a simulator for a knee joint according to the present invention will be described with reference to FIGS. 1 to 10.

FIG. 1 is a perspective view illustrating a simulator for a knee joint according to an embodiment of the present invention, FIG. 2 is a front view illustrating a simulator for a knee joint according to an embodiment of the present invention, FIG. FIG. 4 is a plan view illustrating a simulator for a knee joint according to an embodiment of the present invention. FIG. 4 is a side view illustrating a simulator for a knee joint according to an embodiment of the present invention.

As shown in these drawings, the simulator for a knee joint according to an embodiment of the present invention can be applied to various knee joints using an artificial knee joint 10 including a femur bone 11 and a tibial bone 12 An inclined plate 200, a first connecting part 300, a guide frame 400, a lifting plate 500, and a second connecting part 300. The first connecting part 300 is a part of the base frame 100, Axis control structure including a second connection unit 600 and a control unit (not shown), thereby enabling simulations of the knee joints varying according to various gait forms, and a Lakman test or a pivot test to be reproduced.

This will be described in more detail below for each configuration.

First, the base frame 100 forms a body of the simulator for a knee joint according to an embodiment of the present invention.

The base frame 100 is formed in a flat plate structure and is mounted on the ground so that it can be laid on the ground, and guide grooves 110 having a long structure in forward and backward directions are formed on both sides of the upper surface.

Next, the inclined plate 200 is a portion constituting the bottom surface according to various gait characteristics such as inclined walking, stepped walking, and general walking.

The inclined plate 200 is vertically inclined on the upper surface of the base frame 100 so that the inclination angle of the inclined plate 200 can be adjusted. To form a floor, or to make a flat floor.

5, such as the bottom of a downhill slope as shown in FIG. 5, the bottom of a ramp as shown in FIG. 6, or the bottom of a flat floor as shown in FIG. 7, So that various types of bottoms can be achieved.

At this time, on the upper surface of the base frame 100, a seat frame 210 for installing and receiving the slant plate 200 is provided. In addition, guide pins 220 are provided on both front ends of the slant plate 200 And is rotatably installed through both side surfaces of the seating frame 210 while being protruded.

Particularly, although the inclined plate 200 may be configured to be manually adjusted to its inclination angle, a separate driving unit (not shown) for forcibly rotating the guide pin 220 may be additionally provided So that the inclination angle can be adjusted by automatic control of the control unit to be described later.

At the center of the upper surface of the inclined plate 200, a slide groove 230 having a long structure in the forward and backward direction is formed.

Next, the first connection part 300 connects the lower end of the tibial bone 12 of the artificial knee joint 10 to the inclined plate 200.

At this time, the first connection part 300 and the tibial bone 12 are connected using the universal joint 310 so that the tibial bone 12 can be inclined or rotated back and forth in a complex manner, abduction, adduction, flexion, extension, and rotation are connected to enable simulation.

In addition, a slider 240 is slidably installed in the slide groove 230 formed in the inclined plate 200, and the first connection portion 300 is configured to be connected to the slider 240, The connecting portion 300 can be inclined up and down by the inclination angle of the inclined plate 200, and the slider 240 can be moved back and forth. At this time, the slider 240 is installed to be slid along the slide groove 230 by a separate sliding drive unit (not shown). At this time, the sliding driving unit may be a stepping motor, an actuator, or a linear motor.

Particularly, the first connection part 300 is provided movably along the horizontal direction of the slider 240 (the direction perpendicular to the direction in which the slider is moved along the slide groove) And it is structured as shown in Fig. 1 attached hereto.

Of course, the first connection part 300 may be configured to adjust the height of the slider 240 in the vertical direction (vertical direction in the drawing). That is, the length of the artificial knee joint can be adjusted so that the length of the bone and the height of the simulator for the knee joint according to the embodiment of the present invention can be matched with each other. The adjustment of the height of the first connection part 300 can be accomplished through, for example, a structure in which the universal joint 310 is movable up and down, or the first connection part 300 is installed to be movable up and down.

Next, the guide frame 400 is a portion for guiding the lifting and lowering of the lifting plate 500 to be described later.

The guide frame 400 includes two vertical frames 410 vertically installed from both sides of the inclined plate 200 in the upper surface of the base frame 100, And a horizontal frame 420 connecting the ends thereof to each other.

At this time, the two vertical frames 410 constituting the guide frame 400 are moved in the forward and backward directions along the guide grooves 110 formed in the base frame 100 by receiving the driving force of the front and rear driving parts (not shown) So that it is possible to adjust the longitudinal position of the portion where the femur 11 is connected. The front and rear driving unit may be an actuator, a stepping motor, a linear motor, or the like.

Next, the elevating plate 500 is connected to both vertical frames 410 of the guide frame 400, and both ends of the elevating plate 500 are elevated by the guide of the two vertical frames 410.

At this time, the lifting and lowering plate 500 is configured to be movable up and down by a lifting and driving unit (not shown) such as a stepping motor. Of course, the elevation driving unit may be configured to be able to adjust the elevation position (elevation movement distance) of the elevation plate 500 while being applied to an actuator or a linear motor in addition to the stepping motor.

Next, the second connection portion 600 connects the upper end of the femur bone 11 of the artificial knee joint 10 to the lifting plate 500 to hang it.

At this time, the second connection portion 600 and the femur bone 11 are connected using the universal joint 610 so that they can perform complex movements such as forward and backward tilting and rotation of the femur bone 11, Simulations for abduction, adduction, flexion, extension, and rotation are linked to enable.

In the embodiment of the present invention, at least one of the first connection part 300 and the second connection part 600 is installed to be rotatable in a horizontal direction by receiving a driving force of a rotation driving part (not shown) . That is, it is possible to simulate the twist of the knee joint 10 through the rotatable structure of any one of the connecting portions 300 and 600. In this case, it is preferable that the rotation driving unit is configured to be directly connected to any one of the connection units 300 and 600 and to rotate the connection units 300 and 600, and in particular, to be capable of controlling a rotation angle or a rotational force.

Next, the controller (not shown) is a controller for controlling the operation of each of the operation parts (the inclined plate, the guide plate, the lift plate, the slider, and each connection part).

The control unit is configured to receive control values of the operation type for the respective operation sites from the user and to control the operation of the driving unit to operate the respective operation sites based on the input control values.

Hereinafter, a knee joint simulation process using the simulator for a knee joint according to an embodiment of the present invention will be described in detail with reference to FIGS. 8 to 10.

First, FIG. 8 shows a simulation process when walking downhill.

That is, in order to simulate the above-described downward slope walking, the inclined plate 200 is inclined downwardly toward the front.

In this case, the angle of inclination may be adjusted based on the angle to be simulated, the inclination angle may be controlled by the automatic control, and a separate adjusting member 710 may be mounted on the seat frame 210, The angle of inclination of the inclined plate 200 can be controlled by being supported by the bottom surface of the inclined plate 200.

In this state, the lifting and lowering plate 500 is lifted and lowered by the drive control of the lifting and lowering drive part, and the slider 240 is moved by the drive control of the sliding drive part, or the guide frame 400 driven by the drive control of the front and rear drive parts is moved forward and backward The simulation for the downhill slope walking as shown in FIG. 8 is performed.

9 shows a simulation process when the stairs are walked.

That is, in order to simulate the stair walking, the elevating plate 500 is moved up and down by the drive control of the elevation driving unit in a state in which the inclination plate 200 is horizontally adjusted, The user moves the guide frame 240 by moving the guide frame 400 by the drive control of the front and rear drive units, and performs the simulation of the stair walking as shown in FIG.

In addition, FIG. 10 shows a simulation process for a general walking.

That is, in order to simulate the above-mentioned general walking, the elevating plate 500 is moved up and down by the drive control of the elevation driving part in a state where the inclination plate 200 is adjusted to be horizontally placed, The user moves the guide frame 240 by moving the guide frame 400 forward or backward by the drive control of the front and rear drive units, and performs the simulation at the time of the general walking as shown in FIG.

At this time, each control value for driving control of the elevation driving part, the sliding driving part, and the front and rear driving part for each walking method can be arbitrarily changed by the experimenter, so that various gait walking simulations can be performed.

On the other hand, when simulation of a twist to the knee joint is to be performed, the operation control of the rotation driving unit that rotates at least one of the connecting parts 300, 600 among the connecting parts in the above-described walking condition of each circumstance or other walking conditions is performed. That is, the artificial knee joint 10 connected to the two connection portions 300 and 600 is twisted by the rotation of the connection portions 300 and 600 by the operation control of the rotation driving portion. As a result, the simulation of the twist of the knee joint 10 In addition, it is possible to simulate abduction and civil war.

As a result, the simulator for the knee joint according to the present invention can simulate various walking methods through multi-axis control, and it is possible to evaluate usability in development of products related to various biomechanical researches related to the knee joints by the gait simulation for each of the walking methods .

In addition, the simulator for the knee joint of the present invention can perform not only the simulation of each of the walking methods described above, but also the Lakman test or the pivot test performed to determine the success of the operation after ACL reconstruction surgery, This makes it possible to further increase the probability of success of the operation.

In addition, the simulator for the knee joint of the present invention can be used as a new surgical methodological verification in the knee joint surgery.

10. Knee joints 11. Femur bone
12. Tongue bone 100. Base frame
110. Guide groove 200. Inclined plate
210. Seat frame 220. Guide pin
230. Slide groove 240. Slider
300. First connection 310. Universal joint
400. Guide frame 410. Vertical frame
420. Horizontal frame 500. Lifting plate
600. Second coupling portion 710. Control member

Claims (5)

A simulator using an artificial knee joint comprising a femur bone and a tibial bone,
A base frame forming a bottom portion;
An inclined plate provided on the upper surface of the base frame so as to be vertically inclined and adjustable to a tilt angle;
A first connecting portion connecting the lower end of the tibial bone of the artificial knee joint to the inclined plate;
A guide frame vertically erected from both sides of the inclined plate among the upper surfaces of the base frame;
A lifting plate installed on the guide frame so as to be adjustable in height; And,
And a second connection part connecting the upper end of the femur bone of the artificial knee joint to the lifting plate. The method according to claim 1,
Wherein the guide frame is installed to be movable along the front-rear direction of the base frame. The method according to claim 1,
A slide groove is formed at the center of the upper surface of the inclined plate,
A slider is slidably installed in the slide groove,
Wherein the first connecting portion is installed to be movable in a horizontal direction on the slider and is adjustable in a vertical direction for adjusting according to a length of the artificial knee joint. The method according to claim 1,
Wherein at least one of the first connection portion and the second connection portion is installed to be rotatable in a horizontal direction by receiving a driving force of the rotation driving portion. The method according to claim 1,
Wherein the first connection portion and the tibial bone are connected so that the tibial bone can be inclined forward and backward,
Wherein the second connecting portion and the femur bone are connected so that the femur bone can be tilted forward and backward, abduction and adduction.
KR1020150056867A 2015-04-22 2015-04-22 knee joint simulator KR101695659B1 (en)

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Publication number Priority date Publication date Assignee Title
KR101888257B1 (en) * 2016-11-03 2018-08-13 재단법인대구경북과학기술원 Rehabilitation education device
CN106373473B (en) * 2016-11-30 2018-11-30 中南大学 It is a kind of for simulating the experimental provision of human body knee joint friction
CN108635087B (en) * 2018-04-11 2020-11-10 北京精博现代假肢矫形器技术有限公司 Torsion testing machine and system for lower limb artificial limb joint
CN108498101A (en) * 2018-05-24 2018-09-07 新疆医科大学 A kind of noninvasive femur fixing device for rat knee joints angle measurement
CN109830158B (en) * 2019-03-25 2023-10-20 北京大学第三医院 Dynamic knee joint simulation device
CN111192498B (en) * 2020-04-14 2020-07-03 上海龙慧医疗科技有限公司 Multi-position hip joint artificial bone simulation operation demonstration device
CN114112337A (en) * 2021-10-22 2022-03-01 武汉奥绿新生物科技股份有限公司 Device for simulating biomechanics during extension of knee joint and loading method

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JP3530959B2 (en) 1993-12-13 2004-05-24 株式会社東京アールアンドデー Electric assist device for flatland walking and stair walking

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JP3530959B2 (en) 1993-12-13 2004-05-24 株式会社東京アールアンドデー Electric assist device for flatland walking and stair walking

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A physical model of sensorimotor interactions during locomotion, Theresa J Klein and M Anthony Lewis (2012)
Combined in Vivo/in Vitro Method to Study Anteriomedial Bundle Strain in the Anterior Cruciate Ligament Using a Dynamic Knee Simulator, Karla Cassidy(2013)

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