WO2021000480A1 - 一种食物模拟吞咽装置和食物模拟吞咽方法 - Google Patents

一种食物模拟吞咽装置和食物模拟吞咽方法 Download PDF

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Publication number
WO2021000480A1
WO2021000480A1 PCT/CN2019/115700 CN2019115700W WO2021000480A1 WO 2021000480 A1 WO2021000480 A1 WO 2021000480A1 CN 2019115700 W CN2019115700 W CN 2019115700W WO 2021000480 A1 WO2021000480 A1 WO 2021000480A1
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swallowing
food
rack
base
tongue
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PCT/CN2019/115700
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English (en)
French (fr)
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钱善华
吴越
刘智
倪自丰
俞经虎
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江南大学
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Publication of WO2021000480A1 publication Critical patent/WO2021000480A1/zh

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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

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  • the invention relates to a food simulating swallowing device and a food simulating swallowing method, and belongs to the field of bionic mechanical design for human swallowing during oral cavity.
  • Dysphagia is caused by a variety of reasons and can occur in different parts of the swallowing dysphagia. Swallowing disorders can affect food intake and nutrient absorption. It can also cause aspiration of food into the trachea and cause aspiration pneumonia. In severe cases, it can be life-threatening. However, due to the complexity of the human swallowing system and nervous system, it can only be used in medicine through gastroscopy and esophagoscopy. Invasive medical equipment is used to obtain the patient's internal information, but it is difficult to obtain the internal measurement data of the food flow and the swallowing system during swallowing, which directly leads to the inability to prescribe the right medicine in medicine, and hinders the research on the influence of food material characteristics on the swallowing process and safe food Development.
  • the present invention provides a food simulating swallowing device and a food simulating swallowing method.
  • a food simulating swallowing device includes a tongue base and soft tissue materials, an upper jaw base and soft tissue materials, a miniature sensing piece, a cam linkage mechanism, a rack and pinion mechanism, a push rod, a motor, a first base, The second base and the corresponding connecting device; wherein the rack and pinion mechanism is connected to different positions of the tongue base, and the cam link mechanism is connected to the tongue base of the tongue base; the miniature sensor chip is arranged inside the food swallowing device.
  • the food simulation swallowing device includes several rack and pinion mechanisms; each rack and pinion mechanism includes: a gear, a rack, a rack position adjustment block, a rack drive, a motor, and a fixed seat; the fixed seat The rack and rack position adjustment block are fixed on the first base; the gear is fixed on the fixed seat; one point of the rack is fixed on the rack position adjustment block, and the slope of the rack is adjusted by the rack position adjustment block; Rack connection; the rack drive is connected to different positions of the tongue base.
  • the cam link mechanism includes a cam, a number of connecting links and a motor; wherein the cam and one of the connecting links are fixed on the second base, the other connecting links are connected in sequence, and the connection between the connecting links One of the points is connected to the base of the tongue.
  • the food simulating swallowing device further includes a collection box fixed on the second base and used for collecting food that passes through the tongue base and reaches the base of the tongue.
  • the upper jaw base includes a hard palate and a soft palate; the curved surface of the soft palate of the upper mandible is covered with soft tissue material to simulate oral soft tissue; the curved surface of the tongue base is covered with soft tissue material; The soft tissue material and the hard palate part of the upper jaw covered by part of the curved surface.
  • the push rod includes a push rod I and a push rod II; one end of the push rod I is fixed on the first base, and the other end is connected with the tongue tip of the tongue base; the push rod II is fixed outside the curved surface of the upper jaw soft palate , The push rod II is driven by the motor to push the upper jaw and soft palate to move up and down.
  • the soft tissue material includes thermoplastic elastomer and silica gel.
  • the cam link mechanism includes four connecting links, which are connecting link I, connecting link II, connecting link III, and connecting link IV; one end of connecting link I is fixed to the second base Above, the other end of connecting rod I is connected with connecting rod IV, connecting rod IV is connected with connecting rod III, connecting rod III is connected with connecting rod II, connecting rod II is connected with cam; connecting rod IV is connected with The connecting point of the connecting rod III is connected to the base of the tongue.
  • This application also provides a food simulating swallowing method, which uses the above food simulating swallowing device for simulation.
  • the method includes: acquiring curve parameters of the human tongue and upper jaw, and setting the number of rack and pinion mechanisms included in the food swallowing device and each gear according to the acquired curve parameters of the human tongue and upper jaw
  • the connection position between the rack mechanism and the tongue base or the slope of the rack in the rack and pinion mechanism, the food simulating swallowing device is used to simulate the swallowing process of food in the human oral cavity
  • the micro-sensor piece is used to obtain the food during the swallowing process. Swallowing pressure and sliding speed.
  • the method further includes: adopting spherical food balls in the simulation process.
  • the diameter of the spherical bolus is 8-11 mm.
  • the rack and rack drive rods reciprocate linearly along a straight line; the connecting rod II makes a linear reciprocating motion along a straight line, driving the connecting rod IV to make an elliptical circular motion.
  • the push rod II pushes the upper soft palate downward, so that the spherical food bolus is pushed into the collection box under the combined action of the upper jaw soft palate and the tongue base.
  • the food simulating swallowing device adopts curved surface modeling and rational selection of materials so that the tongue and upper jaw matrix can be manufactured by rapid prototyping technology.
  • the upper jaw matrix adopts hard materials for the front half and soft materials for the latter half. Cover the back half of the upper jaw base and the curved surface of the tongue base with soft media such as PDMS, TPE and other thermoplastic elastomers to simulate oral soft tissues, and arrange a miniature sensor on the upper jaw surface to achieve soft contact between the tongue, food, and upper jaw.
  • the pressure and sliding speed of the food during the swallowing process are measured, and the force result and sliding speed of normal swallowing are compared to adjust the position of each point on the tongue base to achieve normal human swallowing pressure and Slip speed, thereby dynamically demonstrating the swallowing process, obtaining in-vivo measurement data of food flow and swallowing system during swallowing, in order to study the real swallowing state of the human body, so as to simulate the food swallowing process according to the severity of dysphagia of different patients and study the food swallowing
  • the flow characteristics of the food, by improving the material properties of the food, and applying relatively safe food to treat dysphagia is of great research significance.
  • the number of rack and pinion mechanisms included in the food swallowing device, the connection positions or gears of each rack and pinion mechanism and the tongue base body are set according to the acquired curve parameters of the human tongue and upper jaw
  • the slope of the rack in the rack mechanism makes the simulation process closer to the real human swallowing process, and then the micro-sensing chip is used to obtain the swallowing pressure and the sliding speed of the food during the swallowing process, and through the cam-connection Rod and gear-rack mechanism to simulate the curved movement of the tongue, and proposed to change the length of the connecting rod and the speed and angle of the rack and pinion on the device to adapt to the swallowing curve of different people, which has good adaptability.
  • Figure 1 is a schematic diagram of a structure of a food simulating swallowing device based on a cam-link and a rack and pinion combination of the present invention
  • Figure 2 is a schematic structural diagram of the rack adjusting device of the present invention.
  • Figure 3 is a graph showing the output movement of the mechanism of the present invention.
  • Figure 4 is a schematic structural view of the cam link adjusting device of the present invention.
  • 1- the hard palate of the upper jaw; 2- the tongue base; 3- gear I; 4- motor I; 5- push rod I; 6-rack I; 7- fixed seat; 8- rack position adjustment block; 9- Rack II; 10-rack III; 11-first base; 12-rack IV; 13-rack V; 14-rack VI; 15-rack VII; 16-cam; 17-motor II; 18 -Connecting link I; 19-Connecting link II; 20-Connecting link III; 21-Collection box; 22-Connecting link IV; 23-Rack VIII; 24-Upper jaw and soft palate; 25-Push rod II; 26-Miniature sensing piece; 27-Fixed plate; 28-Rack drive bar; 29-Second base; 30-Adjusting connecting rod I; 31-Adjusting connecting rod II.
  • This embodiment provides a food simulating swallowing device, including tongue base and soft tissue material, upper jaw base and soft tissue material, miniature sensor sheet, cam linkage mechanism, rack and pinion mechanism, push rod, motor and linking these main components A series of connecting devices, etc.
  • the applicant When designing the food swallowing device, the applicant extracted the curve parameters of the tongue and the upper jaw through the analysis of the swallowing video, adopted curved surface modeling and reasonably selected materials so that the tongue and the upper jaw matrix can be manufactured by rapid prototyping technology.
  • the upper jaw matrix The first half is made of hard materials, and the second half is made of soft materials.
  • the second half of the upper jaw base and the surface of the tongue base must be covered with soft media such as PDMS, TPE thermoplastic elastomer material to simulate the oral soft tissue, and on the upper jaw surface
  • soft media such as PDMS, TPE thermoplastic elastomer material
  • the micro-sensing piece is arranged to realize the soft contact of the tongue, food, and palate, and at the same time measure the pressure and sliding speed of the food during swallowing, and compare it with the force result and sliding speed of normal swallowing , And then adjust the position of each point on the tongue base to achieve normal swallowing pressure and sliding speed.
  • the base of the tongue is connected with the rack and the connecting rod by pins.
  • the upper jaw is fixed above the tongue with a gap between the tongue.
  • the soft palate of the upper jaw is connected with the push rod.
  • the motor drives the push rod, cam-link mechanism, and rack and pinion.
  • the cam-link mechanism represents the tongue base point, and the rack and pinion represents other points on the tongue, so that the motor's rotary motion is converted into the reciprocating elliptical motion of the connecting rod and the reciprocating linear movement of the rack, rack and pinion and cam -
  • the connecting rod pair converts their respective reciprocating motions into the reciprocating swing of the tongue base.
  • the reciprocating tongue base will gradually squeeze the food and finally complete the swallowing process.
  • the device is equipped with a rack and pinion slope adjustment device and a connecting rod size adjustment device, which can adapt to the swallowing conditions of different groups of people by changing the slope of the rack and pinion and the length of the connecting rod angle. .
  • the invention realizes the leap from static to dynamic simulation of food swallowing mechanism and makes up for the singularity of current dynamic devices, and has high innovation.
  • the invention has simple structure and convenient operation, is convenient for adding a measuring device in the bionic oral cavity of the device, and can provide effective relevant data for the relevant food and medical industries.
  • the food swallowing device includes: 1- The hard palate of the upper jaw; 2- Tongue base; 3- Gear I; 4- Motor I; 5- Push rod I; 6-Rack I; 7-Fixed Seat; 8-Rack Position Adjustment Block; 9-Rack II; 10-Rack III; 11- First Base; 12-Rack IV; 13-Rack V; 14-Rack VI; 15-Rack VII; 16-cam; 17-motor II; 18-connecting connecting rod I; 19-connecting connecting rod II; 20-connecting connecting rod III; 21-collecting box; 22-connecting connecting rod IV; 23-rack VIII; 24-upper mandible and soft palate; 25-push rod II; 26-miniature sensor sheet; 27-fixed plate; 28-rack drive bar; 29-second base.
  • the upper jaw hard palate part 1 is fixed on a fixed plate 27, and the fixed plate 27 is fixed on the base 11.
  • the upper jaw and soft palate part 24 is connected to the upper jaw hard palate part 1, and the upper jaw and soft palate part 24 is made of soft tissue material of thermoplastic elastomer (such as TPE) or silicone (PDMS).
  • TPE thermoplastic elastomer
  • PDMS silicone
  • micro-sensing sheets 26 are distributed on the soft tissue material inside the curved surface of the upper jaw hard palate portion 1 and the upper jaw soft palate portion 24 to measure the pressure during swallowing.
  • the push rod II 25 is fixed on the soft palate portion 24 of the upper jaw.
  • the tongue base body 2 is covered with soft tissue material and is connected to the rack drive bar 28, the push rod I 5 and the connecting rod IV 22, the push rod I 5 is fixed on the first base 11, and the gear I 3 is fixed on the fixing seat 7.
  • the rack I 6 is fixed on the rack position adjustment block 8
  • the cam 16 is connected to the connecting rod I 18 and fixed to the second base 29
  • the connecting rod II 19 is connected to the connecting rod III
  • the connecting rod III 20 is connected to
  • the connecting link IV 22 is connected, and the connecting point of the connecting link III 20 and the connecting link IV 22 is connected to the tongue base of the tongue base 2.
  • the connecting link I 18 is fixed on the cam 16.
  • the collection box 21 is fixed on the second base 29.
  • the rack drive bar 28 is fixed on one end of the rack I 6, and the other end of the rack I 6 is fixed on the fixing seat 7. At the same time, any place between the two ends of the rack I 6 can be fixed to the rack.
  • any one of the two ends of the rack I 6 can be connected to the rack position adjustment block 8 in the following way: set the rack I 6 along the axial direction through grooves, and use bolts The way through the slot is fixedly connected with the rack position adjustment block 8.
  • the included angle of the block 8 is sufficient.
  • the position where the rack I 6 is connected to the rack position adjustment block 8 can also be changed to achieve the purpose of swallowing curves of different groups of people.
  • each rack and pinion mechanism are fixed on their corresponding racks, and the corresponding parts in the other rack and pinion mechanisms are not marked. Only one of the rack and pinion mechanisms is used as an example for illustration. .
  • This embodiment provides a food simulating swallowing method.
  • the method uses the food simulating swallowing device described in the first embodiment for simulation, including: acquiring the curve parameters of the human tongue and the upper jaw, and according to the acquired human tongue and upper jaw
  • the curve parameters set the number of rack and pinion mechanisms included in the food swallowing device, the connection position of each rack and pinion mechanism and the tongue base or the slope of the rack in the rack and pinion mechanism, using the food simulation swallowing device to simulate During the swallowing process of food in the human oral cavity, the swallowing pressure and sliding speed of the food during the swallowing process are obtained through the miniature sensor sheet.
  • the reciprocating motion drives the connecting rod IV 22 to make an elliptical circular motion. Since the tongue base 2 is connected to the rack and the connecting rod IV 22, the motion of the rack and connecting rod IV 22 drives the tongue base 2 to move up and down. This will push the food bolus backwards. When the food bolus reaches the soft palate part 24 of the upper jaw, the push rod 25 is energized. After the power is turned on, the motor in the push rod 25 drives the push rod II 25 to push the soft palate part 24 down.
  • the upper jaw soft palate part 24 and the tongue base 2 are pushed into the collection box 21 under the joint action of the upper jaw soft palate part 24 and the tongue base body 2 is pushed into the collection box 21 to complete a swallowing action and measure the pressure of the food bolus during the swallowing process through the miniature sensor sheet 26.
  • the gear rack adjustment device because each person’s swallowing curve will be different, the present invention makes adjustments to this situation.
  • the rack position adjustment block 8 can adjust the slope of the rack I 6 to achieve different The swallowing curve of the crowd.
  • the output curve of the mechanism movement As shown in Figure 3: the output curve of the mechanism movement.
  • the present invention collects various rack and pinion points at different time points in the swallowing process and the location of the connection point between the cam connecting rod III 20 and the connecting rod IV 22, such as t 1 , t 2 ,
  • the curve points collected at the three time points of t 3 are shown in Fig. 3, and the results show that the present invention can reproduce the tongue movement curve during swallowing well.
  • Part of the steps in the embodiments of the present invention can be implemented by software, and the corresponding software program can be stored in a readable storage medium, such as an optical disc or a hard disk.

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Abstract

一种食物模拟吞咽装置和食物模拟吞咽方法，属于人体口腔期吞咽的仿生机械设计领域。该食物模拟吞咽装置包括：舌头基体（2）及软组织材料、上颚基体及软组织材料、微型感测片（26）、凸轮连杆机构、齿轮齿条机构、推杆、电机、第一底座（11）、第二底座（29）以及对应的连接装置；齿轮齿条机构连接于舌头基体（2）的不同位置，凸轮连杆机构连接于舌头基体（2）的舌根处。通过齿轮齿条机构以及凸轮连杆机构实现对人体吞咽过程的对舌头真实的动态的模拟，获得吞咽时食物流动和吞咽系统的体内测量数据，且可更改连杆长度以及齿轮齿条的速度以及角度适应不同人群的吞咽曲线，适应性较好，对研究食物的流动特性，通过施以相对安全的食品治疗吞咽困难具有研究意义。

Description

一种食物模拟吞咽装置和食物模拟吞咽方法 技术领域
本发明涉及一种食物模拟吞咽装置和食物模拟吞咽方法，属于人体口腔期吞咽的仿生机械设计领域。
背景技术
吞咽障碍是多种原因引起的、可发生于不同部位的吞咽时咽下困难。吞咽障碍可影响摄食及营养吸收，还可导致食物误吸入气管导致吸入性肺炎，严重者危及生命，但是由于人体吞咽系统结构与神经系统的复杂性，在医学上只能通过胃镜、食管镜等侵入式医疗设备来获得患者的体内信息，但却不易获得吞咽时食物流动和吞咽系统的体内测量数据，直接导致在医学上不能对症下药，并且阻碍了食品材质特性对吞咽过程影响的研究以及安全食品的开发。
为了提高吞咽障碍医疗诊断水平，研发人员研制出一些吞咽装置结构模型，提供体外试验环境，但是，当前的吞咽装置结构模型大多为静态的结构模型，无法动态的演示吞咽过程，更加无法获得食物被吞咽时的流动特性，部分动态结构模型结构较为简单，未能正确表达食物吞咽过程，而且由于不同人群具有不同的吞咽曲线，现有的吞咽装置结构模型无法针对不同人群进行适应性模拟。
所以为了获得食物被吞咽时的流动特性，动态的演示吞咽过程，获得吞咽时食物流动和吞咽系统的体内测量数据，进而改善吞咽患者的生活质量，亟需研发一种能够真实模拟人体吞咽过程的模型。
发明内容
为了解决目前存在的吞咽装置结构模型无法动态的演示吞咽过程和无法针对不同人群具有不同的吞咽曲线进行适应性模拟的问题，本发明提供了一种食物模拟吞咽装置和食物模拟吞咽方法。
一种食物模拟吞咽装置，所述食物模拟吞咽装置包括舌头基体及软组织材料、上颚基体及软组织材料、微型感测片、凸轮连杆机构、齿轮齿条机构、推杆、电机、第一底座、第二底座以及对应的连接装置；其中，齿轮齿条机构连接于舌头基体的不同位置，凸轮连杆机构连接于舌头基体的舌根处；微型感测片设置于所述食物吞咽装置内部。
可选的，所述食物模拟吞咽装置包括若干齿轮齿条机构；每个齿轮齿条机构包括：齿轮、齿条、齿条位置调整块、齿条传动条、电机、固定座；所述固定座和齿条位置调整块固定在 第一底座上；齿轮固定在固定座上；齿条的一点固定在齿条位置调整块上，通过齿条位置调整块调整齿条的斜率；齿条传动条与齿条连接；齿条传动条连接于舌头基体的不同位置。
可选的，所述凸轮连杆机构包括凸轮、若干连接连杆和电机；其中，凸轮和其中一个连接连杆固定在第二底座上，其余连接连杆依次相连，连接连杆之间的连接点之一与舌头基体的舌根处连接。
可选的，所述食物模拟吞咽装置还包括收集盒，所述收集盒固定于所述第二底座上，用于收集经过舌头基体到达舌根处的食物。
可选的，所述上颚基体包括上颚硬腭部分、上颚软腭部分；其中上颚软腭部分曲面内部覆盖有软组织材料以模拟口腔软组织；所述舌头基体曲面覆盖有软组织材料；微型感测片设置于上颚软腭部分曲面内部覆盖的软组织材料和上颚硬腭部分。
可选的，所述推杆包括推杆Ⅰ和推杆Ⅱ；推杆Ⅰ一端固定在第一底座上，另一端与舌头基体的舌尖端连接；推杆Ⅱ固定在所述上颚软腭部分曲面外部，推杆Ⅱ在电机的带动下推动所述上颚软腭部分上下运动。
可选的，所述软组织材料包括热塑性弹性体、硅胶。
可选的，所述凸轮连杆机构包括4段连接连杆，分别为连接连杆Ⅰ、连接连杆Ⅱ、连接连杆Ⅲ和连接连杆Ⅳ；其中连接连杆Ⅰ一端固定在第二底座上，连接连杆Ⅰ另一端与连接连杆Ⅳ相连，连接连杆Ⅳ与连接连杆Ⅲ相连，连接连杆Ⅲ与连接连杆Ⅱ相连，连接连杆Ⅱ与凸轮相连；连接连杆Ⅳ与连接连杆Ⅲ的连接点和舌头基体的舌根处连接。
本申请还提供一种食物模拟吞咽方法，所述方法采用上述食物模拟吞咽装置进行模拟。
可选的，所述方法包括：获取人体舌头以及上颚的曲线参数，根据所述获取到的人体舌头以及上颚的曲线参数设定食物吞咽装置中所包含的齿轮齿条机构的个数、各个齿轮齿条机构与舌头基体的连接位置或者齿轮齿条机构中齿条的斜率，利用所述食物模拟吞咽装置模拟食物在人体口腔中的吞咽过程，通过其中的微型感测片获取吞咽过程中食物所受到的吞咽压力及滑移速度。
可选的，所述方法还包括：在模拟过程中采用球状食团的食物。
可选的，所述球状食团的直径取8-11mm。
可选的，模拟过程中，齿条和齿条传动条沿直线作往复直线运动；连接连杆Ⅱ沿直线做直线往复运动，带动连接连杆Ⅳ做类椭圆圆周运动。
可选的，模拟过程中，当球状食团到达上颚软腭部分时，推杆Ⅱ将上颚软腭部分往下推，使得球状食团在上颚软腭部分和舌头基体的共同作用下被推入收集盒，完成一次吞咽过程的 模拟。
本发明有益效果是：
本发明提供的食物模拟吞咽装置，通过采用曲面造型并合理的选用了材料使得舌头与上颚基体能采用快速原型技术加工制造，上颚基体前半部分采用硬质材料，后半部分采用柔软性材料，后期在上颚基体的后半部分以及舌头基体曲面上覆盖柔软性的介质如PDMS、TPE等热塑性弹性体模拟口腔软组织，并在上颚表面布置微型感测片，可以在实现舌头、食物、上颚的软接触同时，还将吞咽过程中食物所受的压力与滑移速度测量出来，通过与正常吞咽的受力结果以及滑移速度进行对比，进而调节舌头基体上各点的位置以达到正常人吞咽压力及滑移速度，从而动态的演示吞咽过程，获得吞咽时食物流动和吞咽系统的体内测量数据，为研究人体真实吞咽状态，从而针对不同患者吞咽困难的严重程度，模拟食物吞咽过程，研究食物在吞咽的流动特性，通过改善食品的材质特性，施以相对安全的食品，来治疗吞咽困难具有重大研究意义。另外，模拟吞咽过程中，根据所述获取到的人体舌头以及上颚的曲线参数设定食物吞咽装置中所包含的齿轮齿条机构的个数、各个齿轮齿条机构与舌头基体的连接位置或者齿轮齿条机构中齿条的斜率，使得模拟过程更接近与真实的人体吞咽过程，再通过其中的微型感测片获取吞咽过程中食物所受到的吞咽压力及滑移速度，而且，通过凸轮-连杆以及齿轮-齿条机构来模拟舌头的曲线运动，并提出在装置上更改连杆长度以及齿轮齿条的速度以及角度来适应不同人群的吞咽曲线，有较好的适应性。
附图说明
为了更清楚地说明本发明实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本发明基于凸轮-连杆和齿轮齿条组合的食物模拟吞咽装置的一种结构示意图；
图2为本发明的齿条调整装置的结构示意图；
图3为本发明的机构输出运动曲线图；
图4为本发明的凸轮连杆调整装置的结构示意图；
其中，1-上颚硬腭部分；2-舌头基体；3-齿轮Ⅰ；4-电机Ⅰ；5-推杆Ⅰ；6-齿条Ⅰ；7-固定座；8-齿条位置调整块；9-齿条Ⅱ；10-齿条Ⅲ；11-第一底座；12-齿条Ⅳ；13-齿条Ⅴ；14-齿条Ⅵ；15-齿条Ⅶ；16-凸轮；17-电机Ⅱ；18-连接连杆Ⅰ；19-连接连杆Ⅱ；20-连接连杆Ⅲ；21-收集盒；22-连接连杆Ⅳ；23-齿条Ⅷ；24-上颚软腭部分；25-推杆Ⅱ；26-微型感测 片；27-固定板；28-齿条传动条；29-第二底座；30-调整连杆Ⅰ；31-调整连杆Ⅱ。
具体实施方式
为使本发明的目的、技术方案和优点更加清楚，下面将结合附图对本发明实施方式作进一步地详细描述。
实施例一：
本实施例提供一种食物模拟吞咽装置，包括舌头基体及软组织材料、上颚基体及软组织材料、微型感测片、凸轮连杆机构、齿轮齿条机构、推杆、电机以及将这些主要部件联系起来的一系列连接装置等。
申请人在设计该食物吞咽装置时，通过对吞咽视频的解析，提取出舌头以及上颚的曲线参数，采用曲面造型并合理的选用了材料使得舌头与上颚基体能采用快速原型技术加工制造，上颚基体前半部分采用硬质材料，后半部分采用柔软性材料，后期需在上颚基体的后半部分以及舌头基体曲面上覆盖柔软性的介质如PDMS、TPE热塑性弹性体材料模拟口腔软组织，并在上颚表面布置微型感测片，可以在实现舌头、食物、上颚的软接触同时，还将吞咽过程中食物所受的压力与滑移速度测量出来，通过与正常吞咽的受力结果以及滑移速度进行对比，进而调节舌头基体上各点的位置以达到正常人吞咽压力及滑移速度。
舌头基体通过销钉与齿条以及连杆相连，上颚固定在舌头的上方并与舌头之间留有间隙，上颚的软腭部分与推杆相连，电机驱动推杆、凸轮-连杆机构、齿轮齿条机构，凸轮-连杆机构代表舌根点，齿轮齿条代表舌头上其他点，这样就把电机的旋转运动转化为连杆的往复类类椭圆运动以及齿条的往复直线移动，齿轮齿条以及凸轮-连杆副将各自的往复运动转化为舌头基体的往复摆动，往复摆动的舌头基体会将食物逐步的挤压并最终完成吞咽过程。
为了能实现不同人群的吞咽曲线的不同，该装置设置了齿轮齿条斜率调整装置以及连杆大小调整装置，通过改变齿轮齿条的斜率以及连杆角度长度大小即可适应不同人群的吞咽工况。
本发明实现了食物吞咽机制模拟从静态到动态的跨越以及弥补了目前动态装置的单一性，具有较高的创新性。
本发明结构简单操作方便，便于在装置仿生口腔中增设测量装置，能对相关食品及医疗行业提供有效相关数据。
具体的，请参考图1，该食物吞咽装置包括：1-上颚硬腭部分；2-舌头基体；3-齿轮Ⅰ；4-电机Ⅰ；5-推杆Ⅰ；6-齿条Ⅰ；7-固定座；8-齿条位置调整块；9-齿条Ⅱ；10-齿条Ⅲ；11- 第一底座；12-齿条Ⅳ；13-齿条Ⅴ；14-齿条Ⅵ；15-齿条Ⅶ；16-凸轮；17-电机Ⅱ；18-连接连杆Ⅰ；19-连接连杆Ⅱ；20-连接连杆Ⅲ；21-收集盒；22-连接连杆Ⅳ；23-齿条Ⅷ；24-上颚软腭部分；25-推杆Ⅱ；26-微型感测片；27-固定板；28-齿条传动条；29-第二底座。
所述上颚硬腭部分1固定在固定板27，固定板27固定在底座11上。上颚软腭部分24连接在上颚硬腭部分1，上颚软腭部分24采用热塑性弹性体(如TPE)或硅胶(PDMS)的软组织材料。
所述微型感测片26分布在上颚硬腭部分1、上颚软腭部分24曲面内部软组织材料上用以测量吞咽过程中的压力。
所述推杆Ⅱ 25固定在上颚软腭部分24上。
所述舌头基体2上方覆盖有软组织材料并与齿条传动条28、推杆Ⅰ 5以及连杆Ⅳ 22相连，推杆Ⅰ 5固定在第一底座11上，齿轮Ⅰ 3固定在固定座7上，齿条Ⅰ 6固定在齿条位置调整块8上，凸轮16连接连杆Ⅰ 18并固定在第二底座29上，连接连杆Ⅱ 19与连接连杆Ⅲ 20相连，连接连杆Ⅲ 20与连接连杆Ⅳ 22相连，连接连杆Ⅲ 20和连接连杆Ⅳ 22的连接点与舌头基体2的舌根处连接。
所述连接连杆Ⅰ 18固定在凸轮16上。
所述收集盒21固定在第二底座29上。
所述齿条传动条28固定在齿条Ⅰ 6的一端上，齿条Ⅰ 6的另一端固定在固定座7上，同时齿条Ⅰ 6的两端之间的任意一处可固定于齿条位置调整块8上，齿条Ⅰ 6的两端之间的任意一处与齿条位置调整块8的具体连接方式可采用以下方式：将齿条Ⅰ 6沿轴向方向设置通槽，通过螺栓穿过通槽的方式与齿条位置调整块8固定连接，当需要调整齿条Ⅰ 6的斜率以实现不同人群的吞咽曲线时，只需调松螺栓然后改变齿条Ⅰ 6与齿条位置调整块8的夹角即可，实际应用中，还可以通过改变齿条Ⅰ 6连接于齿条位置调整块8的位置来达到实现不同人群的吞咽曲线的目的。
对应的，各个齿轮齿条机构中的齿条传动条均固定在其对应的齿条上，其余齿轮齿条机构中的相应部件标号未标出，仅以其中一个齿轮齿条机构为例进行说明。
实施例二
本实施例提供一种食物模拟吞咽方法，所述方法采用上述实施例一所述的食物模拟吞咽装置进行模拟，包括：获取人体舌头以及上颚的曲线参数，根据所述获取到的人体舌头以及上颚的曲线参数设定食物吞咽装置中所包含的齿轮齿条机构的个数、各个齿轮齿条机构与舌 头基体的连接位置或者齿轮齿条机构中齿条的斜率，利用所述食物模拟吞咽装置模拟食物在人体口腔中的吞咽过程，通过其中的微型感测片获取吞咽过程中食物所受到的吞咽压力及滑移速度。
具体的，模拟过程中，使用时先将约8-11mm直径的球状食团放置舌头基体2中，并利用推杆Ⅰ 5抵住食团往舌头基体2后部移动，电机Ⅰ 4通电后带动齿轮Ⅰ 3周转，并带动齿条Ⅰ 6和齿条传动条28沿直线作往复直线运动，齿条Ⅱ 9、齿条Ⅲ 10、齿条Ⅳ 12、齿条Ⅴ 13、齿条Ⅵ 14、齿条Ⅶ 15、齿条Ⅷ 23在各自电机的作用下都会沿各自的直线做往复直线运动，电机Ⅱ 17通电后带动凸轮16以及连接连杆Ⅰ 18做周转，并且带动连接连杆Ⅱ 19做直线往复运动，带动连接连杆Ⅳ 22做类椭圆圆周运动，由于舌头基体2与齿条以及连接连杆Ⅳ 22相连，因此，齿条以及连接连杆Ⅳ 22的运动带动舌头基体2进行上下运动，这样将会把食团往后推送，当在食团到达上颚软腭部分24时，推杆25通电，通电后，推杆25中电机带动推杆Ⅱ 25将上颚软腭部分24往下推，食团在上颚软腭部分24和舌头基体2的共同作用下被推入收集盒21中，完成一次吞咽动作并通过微型感测片26测量出吞咽过程中食团所受到的压力。
如图2所示：齿轮齿条调整装置，由于每个人的吞咽曲线都会有差别，因此本发明针对该情况做出调整，可以通过齿条位置调整块8调整齿条Ⅰ 6的斜率，实现不同人群的吞咽曲线。
需要说明的是，上述对于调整齿条斜率的说明仅以齿条Ⅰ 6和齿条位置调整块8为例进行说明。
如图3所示：机构运动输出曲线图，本发明通过采集吞咽过程中不同时间点各齿轮齿条点以及凸轮连杆Ⅲ 20与连杆Ⅳ 22连接点所在位置，如t 1、t 2、t 3三个时间点所采集的曲线点如图3所示，结果显示本发明可以很好地复现吞咽时舌头的运动曲线。
如图4所示：凸轮连杆机构装置，由于每个人的吞咽曲线都会有差别，因此本发明针对该情况做出调整，可以通过在连接连杆Ⅳ 22上增加不同角度、不同长度的调整连杆如调整连杆Ⅰ 30、调整连杆Ⅱ 31并连接在舌头基体2上来实现不同的运动轨迹。
需要进行说明的是，上述通过在连接连杆Ⅳ 22上增加不同角度、不同长度的调整连杆进行调整时，需要进行拆卸组装。
本发明实施例中的部分步骤，可以利用软件实现，相应的软件程序可以存储在可读取的存储介质中，如光盘或硬盘等。
以上所述仅为本发明的较佳实施例，并不用以限制本发明，凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。

Claims (13)

  1. 一种食物模拟吞咽装置，其特征在于，所述食物模拟吞咽装置包括舌头基体及软组织材料、上颚基体及软组织材料、微型感测片、凸轮连杆机构、齿轮齿条机构、推杆、电机、第一底座、第二底座以及对应的连接装置；其中，齿轮齿条机构连接于舌头基体的不同位置，凸轮连杆机构连接于舌头基体的舌根处；微型感测片设置于所述食物吞咽装置内部。
  2. 根据权利要求1所述的食物模拟吞咽装置，其特征在于，所述食物模拟吞咽装置包括若干齿轮齿条机构；每个齿轮齿条机构包括：齿轮、齿条、齿条位置调整块、齿条传动条、电机、固定座；所述固定座和齿条位置调整块固定在第一底座上；齿轮固定在固定座上；齿条的一点固定在齿条位置调整块上，通过齿条位置调整块调整齿条的斜率；齿条传动条与齿条连接；齿条传动条连接于舌头基体的不同位置。
  3. 根据权利要求1所述的食物模拟吞咽装置，其特征在于，所述凸轮连杆机构包括凸轮、若干连接连杆和电机；其中，凸轮和其中一个连接连杆固定在第二底座上，其余连接连杆依次相连，连接连杆之间的连接点之一与舌头基体的舌根处连接。
  4. 根据权利要求3所述的食物吞咽装置，其特征在于，所述食物模拟吞咽装置还包括收集盒，所述收集盒固定于所述第二底座上，用于收集经过舌头基体到达舌根处的食物。
  5. 根据权利要求1所述的食物模拟吞咽装置，其特征在于，所述上颚基体包括上颚硬腭部分、上颚软腭部分；其中上颚软腭部分曲面内部覆盖有软组织材料以模拟口腔软组织；所述舌头基体曲面覆盖有软组织材料；微型感测片设置于上颚软腭部分曲面内部覆盖的软组织材料和上颚硬腭部分。
  6. 根据权利要求5所述的食物模拟吞咽装置，其特征在于，所述推杆包括推杆Ⅰ和推杆Ⅱ；推杆Ⅰ一端固定在第一底座上，另一端与舌头基体的舌尖端连接；推杆Ⅱ固定在所述上颚软腭部分曲面外部，推杆Ⅱ在电机的带动下推动所述上颚软腭部分上下运动。
  7. 根据权利要求1-6任一所述的食物模拟吞咽装置，其特征在于，所述软组织材料包括热塑性弹性体、硅胶。
  8. 根据权利要求7所述的食物模拟吞咽装置，其特征在于，所述凸轮连杆机构包括4 段连接连杆，分别为连接连杆Ⅰ、连接连杆Ⅱ、连接连杆Ⅲ和连接连杆Ⅳ；其中连接连杆Ⅰ一端固定在第二底座上，连接连杆Ⅰ另一端与连接连杆Ⅳ相连，连接连杆Ⅳ与连接连杆Ⅲ相连，连接连杆Ⅲ与连接连杆Ⅱ相连，连接连杆Ⅱ与凸轮相连；连接连杆Ⅳ与连接连杆Ⅲ的连接点和舌头基体的舌根处连接。
  9. 一种食物模拟吞咽方法，其特征在于，所述方法采用权利要求1-8任一所述的食物模拟吞咽装置进行模拟。
  10. 根据权利要求9所述的方法，其特征在于，所述方法包括：获取人体舌头以及上颚的曲线参数，根据所述获取到的人体舌头以及上颚的曲线参数设定食物吞咽装置中所包含的齿轮齿条机构的个数、各个齿轮齿条机构与舌头基体的连接位置或者齿轮齿条机构中齿条的斜率，利用所述食物模拟吞咽装置模拟食物在人体口腔中的吞咽过程，通过其中的微型感测片获取吞咽过程中食物所受到的吞咽压力及滑移速度。
  11. 根据权利要求10所述的方法，其特征在于，所述方法还包括：在模拟过程中采用球状食团的食物。
  12. 根据权利要求11所述的方法，其特征在于，所述球状食团的直径取8-11mm。
  13. 根据权利要求12所述的方法，其特征在于，模拟过程中，当球状食团到达上颚软腭部分时，推杆Ⅱ将上颚软腭部分往下推，使得球状食团在上颚软腭部分和舌头基体的共同作用下被推入收集盒，完成一次吞咽过程的模拟。
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CN111896424A (zh) * 2020-08-04 2020-11-06 江南大学 基于食道蠕动仿生的流体食物滑移装置及模拟吞咽方法

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