WO2024077956A1 - 一种足底软组织在体多维应力-应变检测设备 - Google Patents

一种足底软组织在体多维应力-应变检测设备 Download PDF

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Publication number
WO2024077956A1
WO2024077956A1 PCT/CN2023/095205 CN2023095205W WO2024077956A1 WO 2024077956 A1 WO2024077956 A1 WO 2024077956A1 CN 2023095205 W CN2023095205 W CN 2023095205W WO 2024077956 A1 WO2024077956 A1 WO 2024077956A1
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WIPO (PCT)
Prior art keywords
stress
probe
strain detection
soft tissue
axis
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PCT/CN2023/095205
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English (en)
French (fr)
Inventor
黄然
吴龙燕
朱钧
马昕
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复旦大学
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Publication of WO2024077956A1 publication Critical patent/WO2024077956A1/zh

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/44—Detecting, measuring or recording for evaluating the integumentary system, e.g. skin, hair or nails
    • A61B5/441—Skin evaluation, e.g. for skin disorder diagnosis
    • A61B5/442—Evaluating skin mechanical properties, e.g. elasticity, hardness, texture, wrinkle assessment
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/1036—Measuring load distribution, e.g. podologic studies
    • A61B5/1038—Measuring plantar pressure during gait
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/0048—Detecting, measuring or recording by applying mechanical forces or stimuli
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/1036—Measuring load distribution, e.g. podologic studies
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
    • A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
    • A61B5/6813—Specially adapted to be attached to a specific body part
    • A61B5/6829—Foot or ankle
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/70—Means for positioning the patient in relation to the detecting, measuring or recording means
    • A61B5/702—Posture restraints
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/70—Means for positioning the patient in relation to the detecting, measuring or recording means
    • A61B5/704—Tables
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2562/00—Details of sensors; Constructional details of sensor housings or probes; Accessories for sensors
    • A61B2562/02—Details of sensors specially adapted for in-vivo measurements
    • A61B2562/0261—Strain gauges
    • A61B2562/0266—Optical strain gauges
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
    • A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
    • A61B5/683—Means for maintaining contact with the body
    • A61B5/6834—Means for maintaining contact with the body using vacuum

Definitions

  • the present invention relates to the field of human body detection, and in particular to an in-body multi-dimensional stress-strain detection device for plantar soft tissue.
  • Soft tissue is a general term for human skin, subcutaneous tissue, ligaments, joint capsules, muscles, tendons, synovial bursae, nerves, blood vessels, etc., relative to hard tissue (bone) and independent organs.
  • the plantar soft tissue As the part of the human body with the largest working load, the plantar soft tissue has evolved characteristics such as wear resistance, pressure resistance, and interlayer displacement limitation in its anatomical structure, which is conducive to walking shock absorption and load-bearing stability, and can enhance the foot's tolerance to mechanical loads.
  • Many studies have shown that changes in the mechanical properties of plantar soft tissue are closely related to many foot pains and functional movement disorders of the lower limbs, and may be one of the main causes of functional degeneration of soft tissue in the elderly and diabetic foot ulcers. Therefore, the detection and analysis of the mechanical properties of plantar soft tissue is beneficial to the clinical diagnosis, treatment and compensation of related foot diseases.
  • the detection of mechanical properties of soft tissues is mainly limited to indentation tests on ex vivo tissue specimens.
  • the soft tissue testing devices proposed in Chinese invention patents CN108760489A, CN104535415A, CN106370519A, and utility model patent CN205483873U are all single, low-frequency, vertical direction tests on ex vivo tissue specimens.
  • the testing devices proposed in Chinese invention patents CN105527174A, CN105571956A, CN106680114A, and CN107941613A are capable of performing shear experiments on ex vivo biological soft tissues.
  • test results of ex vivo tissue specimens are difficult to be convincing, and the existing devices cannot simultaneously realize multi-degree-of-freedom dynamic tests in vertical, horizontal shear and torsion directions, which is still far from the dynamic cyclic stress-strain correspondence and viscoelastic analysis in the DMA method.
  • the present invention is made to solve the above-mentioned problems, and its purpose is to provide an in vivo multi-dimensional stress-strain detection device for plantar soft tissue.
  • the present invention provides an in vivo multi-dimensional stress-strain detection device for plantar soft tissue, which has the following characteristics: a detection platform, provided with a detection area corresponding to the plantar; a radial stress-strain detection unit, arranged below the detection platform and used to load periodic vertical tensile force to the plantar soft tissue and perform measurement; a shear stress-strain detection unit, arranged below the detection platform and used to load periodic lateral shear force to the plantar soft tissue and perform measurement; a torque stress-strain detection unit, arranged below the detection platform and used to load periodic torque to the plantar soft tissue and perform measurement; an X-Y axis translation mechanism, used to realize horizontal translation of the radial stress-strain detection unit, the shear stress-strain detection unit, and the torque stress-strain detection unit; and a lifting mechanism, used to realize vertical lifting and lowering of the radial stress-strain detection unit, the shear stress-strain detection unit, and the torque stress-strain detection unit.
  • the radial stress-strain detection unit includes a first drive motor, a first rotation-to-linear motion mechanism and a first probe connected in sequence, as well as a first miniature tensile and pressure sensor and a first miniature displacement sensor, the first rotation-to-linear motion mechanism is used to convert the rotational motion output by the first drive motor into a linear reciprocating motion that drives the first probe in the vertical direction, the first probe is used to be connected to the sole to be detected, the first miniature tensile and pressure sensor is used to detect the internal force of the plantar soft tissue acting on the first probe in the vertical direction, and the first miniature displacement sensor is used to detect the displacement of the first probe during the detection process.
  • the first rotation-to-linear motion mechanism includes a first eccentric wheel, a first linear guide, a first optical axis, a first linear bearing and a first support frame.
  • the rotation center axis of the first eccentric wheel is connected to the output shaft of a horizontally arranged first drive motor, the eccentric axis of the first eccentric wheel is connected to a slider of a horizontally arranged first linear guide, the first optical axis is connected to the slide rail of the first linear guide, and is vertically installed on the first support frame through a first linear bearing;
  • the first probe is arranged at the upper end of the first optical axis, the first miniature tensile and pressure sensor is connected between the first probe and the first optical axis, and the first miniature displacement sensor is installed on the first support frame and arranged beside the first optical axis.
  • the shear stress-strain detection unit includes a second drive motor, a second rotation-to-linear motion mechanism and a second probe, as well as a second micro-tension and pressure sensor and a second micro-displacement sensor connected in sequence
  • the second rotation-to-linear motion mechanism is used to convert the rotational motion output by the second drive motor into a linear reciprocating motion that drives the second probe in the horizontal direction
  • the second probe is used to be connected to the sole to be detected
  • the second micro-tension and pressure sensor is used to detect the internal force of the plantar soft tissue acting on the second probe in the lateral shear direction
  • the second micro-displacement sensor is used to detect the displacement of the second probe during the detection process.
  • the second rotation-to-linear motion mechanism includes a second eccentric wheel, a second connecting member having a large diameter bearing and a small diameter bearing, a second linear bearing, a second optical axis, a second linear guide, a horizontal connecting rod, a limit bearing and a second support frame.
  • the eccentric hole of the second eccentric wheel which serves as the center of rotation, is connected to the output shaft of a second drive motor arranged vertically, the inner ring of the large diameter bearing is connected to the second eccentric wheel, the inner ring of the small diameter bearing is connected to the second linear bearing, the second optical axis is arranged vertically and cooperates with the second linear bearing, the lower end of the second optical axis is connected to the slider of the horizontally arranged second linear guide, the upper end of the second optical axis is connected to a horizontal connecting rod parallel to the second linear guide, the horizontal connecting rod is installed on two limit bearings, and the second linear guide and the two limit bearings are installed on the second support frame; the second probe is connected to the horizontal connecting rod through a vertical connecting rod, the second micro tension and pressure sensor is connected to the horizontal connecting rod, and the second micro displacement sensor is installed on the second support frame and arranged on the side of the vertical connecting rod.
  • the torque stress-strain detection unit includes a third driving motor, a rotation-to-torsion motion mechanism, a third probe, and a miniature dynamic torque sensor and a miniature angle sensor connected in sequence
  • the rotation-to-torsion motion mechanism is used to convert the rotational motion output by the third driving motor into a torsional reciprocating motion that drives the third probe in the horizontal direction
  • the third probe is used to be connected to the plantar to be detected
  • the miniature dynamic torque sensor is used to detect the torque applied to the third probe by the plantar soft tissue
  • the miniature angle sensor is used to detect the rotation angle of the third probe during the detection process.
  • the rotation-to-torsion motion mechanism includes an eccentric turntable, a third linear guide, a ball spline, a first bearing seat with a bearing, a third support frame and a second bearing seat with a bearing.
  • the eccentric hole of the eccentric turntable serving as the rotation center is connected to the output shaft of a third drive motor arranged vertically.
  • the slide rail of the third linear guide is horizontally arranged and connected to the spline sleeve of the ball spline arranged vertically.
  • the slider of the third linear guide is installed at the edge of the eccentric turntable.
  • the spline sleeve of the ball spline is connected to the inner ring of the bearing of the first bearing seat and are installed together on the third support frame.
  • the lower end of the spline rod of the ball spline cooperates with the bearing of the second bearing seat.
  • the third probe is arranged at the upper end of the spline rod, the miniature dynamic torque sensor is connected between the third probe and the spline rod, and the miniature angle sensor is connected to the lower end of the spline rod.
  • the in vivo multi-dimensional stress-strain detection device for plantar soft tissue may also have the following feature: the probe is a rigid plane probe or a vacuum suction cup probe.
  • the X-Y axis translation mechanism includes a mobile platform, an X-axis drive motor, a cylindrical gear set, an X-axis lead screw slider module, a Y-axis drive motor, a dual-axis reducer, a synchronous pulley assembly, an engagement block, and a Y-axis linear guide; a radial stress-strain detection unit, a shear stress-strain detection unit, a torque stress-strain detection unit and a lifting mechanism are installed on the mobile platform; the mobile platform is installed on the slider of the X-axis lead screw slider module; the lead screw of the X-axis lead screw slider module is driven by the X-axis drive motor through the cylindrical gear set; the Y-axis drive motor drives two synchronous pulley assemblies on both sides thereof through the dual-axis reducer for synchronous transmission; engagement blocks are installed at both ends of
  • the lifting mechanism includes a driving member, a rotating shaft, a bevel gear set, and a Z-axis lead screw slider module
  • the driving member is connected to the horizontally arranged rotating shaft
  • the rotating shaft is connected to the lead screw of the Z-axis lead screw slider module through the bevel gear set
  • the slider of the Z-axis lead screw slider module is connected and drives the radial stress-strain detection unit, the shear stress-strain detection unit, and the torque stress-strain detection unit to lift and lower in the vertical direction.
  • the present detection device can directly perform force-displacement dynamic characteristic detection of positive tensile pressure, shear force, and torsional force on the soft tissue of the plantar foot; because it includes an X-Y axis translation mechanism that can drive the three stress-strain detection units to translate in the horizontal direction and a lifting mechanism that can lift and lower in the vertical direction, the present detection device can realize the mechanical property detection of soft tissues in different parts of the plantar foot.
  • FIG1 is a schematic diagram of the three-dimensional structure of an in vivo multi-dimensional stress-strain detection device for plantar soft tissue in an embodiment of the present invention
  • FIG2 is a schematic diagram of the overall structure of radial, shear, and torque stress-strain detection units and a lifting mechanism in an embodiment of the present invention
  • FIG3 is a schematic structural diagram of a radial stress-strain detection unit and a corresponding lifting mechanism in an embodiment of the present invention
  • FIG. 4 is a schematic diagram of the connection between the first eccentric wheel and the first linear guide rail of the first rotation-to-linear motion mechanism in an embodiment of the present invention
  • FIG. 5 is a schematic structural diagram of a shear stress-strain detection unit and a corresponding lifting mechanism in an embodiment of the present invention
  • FIG. 6 is a schematic diagram of the connection between the second eccentric wheel, the second connecting member and the second optical axis of the second rotation-to-linear motion mechanism in an embodiment of the present invention
  • FIG7 is a schematic structural diagram of a torque stress-strain detection unit and a corresponding lifting mechanism in an embodiment of the present invention
  • FIG. 8 is a schematic diagram of the connection between the third linear guide and the ball spline of the rotation-to-torsion motion mechanism in the embodiment of the present invention.
  • FIG. 9 is a schematic diagram of the structure of the X-Y axis translation mechanism in an embodiment of the present invention.
  • Figure 1 is a schematic diagram of the three-dimensional structure of the in vivo multi-dimensional stress-strain detection equipment for plantar soft tissue
  • Figure 2 is a schematic diagram of the overall structure of the radial, shear, and torque stress-strain detection units and the lifting mechanism.
  • this embodiment provides an in vivo multi-dimensional stress-strain detection device for plantar soft tissue, including a detection platform 10 and a radial stress-strain detection unit 20, a shear stress-strain detection unit 30, a torque stress-strain detection unit 40, an X-Y axis translation mechanism 50, and a lifting mechanism 60 arranged below the detection platform 10.
  • the testing platform 10 is used to support the foot.
  • the testing platform 10 is provided with a testing area corresponding to the sole of the foot and provided with three stress-strain testing units to test the soft tissue of the sole of the foot.
  • the testing platform 10 includes a horizontally arranged platform plate 11 and supporting legs 12 installed at the four corners of the bottom surface of the platform plate 11.
  • the platform plate 11 is used to support the foot.
  • the platform plate 11 is provided with a plurality of waist-shaped holes 111 arranged in parallel. These plurality of waist-shaped holes 111 correspond to different parts of the sole of the foot and constitute a testing area.
  • the testing platform 10 may be provided with a fixing device for fixing the foot, such as a fixing belt, a clamp, etc., so that the test is carried out in a stable static state to eliminate the interference of body activities.
  • a fixing device for fixing the foot such as a fixing belt, a clamp, etc.
  • a magic belt (not shown in the figure) for fixing the foot is provided on the platform plate 11.
  • the radial stress-strain detection unit 20 is used to load periodic vertical tensile pressure to the plantar soft tissue and measure it
  • the shear stress-strain detection unit 30 is used to load periodic lateral shear force to the plantar soft tissue and measure it
  • the torque stress-strain detection unit 40 is used to load periodic torque to the plantar soft tissue and measure it.
  • the X-Y axis translation mechanism 50 is used to achieve the horizontal translation of the three stress-strain detection units. In this embodiment, the X-Y axis translation mechanism 50 is set as one, which is shared by the three stress-strain detection units, which can save space.
  • the lifting mechanism 60 is used to achieve the lifting and lowering of the three stress-strain detection units in the vertical direction.
  • the lifting mechanism 60 is set as three, which independently drives the three stress-strain detection units to lift and lower, which can prevent the stress-strain detection units that do not need to be detected from interfering with the detection platform 10 or the sole during the detection process. The following is a detailed description of each part.
  • FIG. 3 is a schematic structural diagram of the radial stress-strain detection unit 20 and the corresponding lifting mechanism 60.
  • the radial stress-strain detection unit 20 includes a first drive motor 21, a first rotation-to-linear motion mechanism 22, a first probe 23, a first micro tension and pressure sensor 24, and a first micro displacement sensor 25.
  • the first drive motor 21, the first rotation-to-linear motion mechanism 22, and the first probe 23 are connected in sequence, and the first rotation-to-linear motion mechanism 22 is used to convert the rotational motion output by the first drive motor 21 into a linear reciprocating motion that drives the first probe 23 in the vertical direction.
  • the first probe 23 is used to connect with the sole to be detected to load periodic vertical tension and pressure.
  • the first micro tension and pressure sensor 24 is used to detect the internal force of the soft tissue of the sole of the foot acting on the first probe 23 in the vertical direction, so as to obtain the stress value of the soft tissue of the sole of the foot when it is subjected to vertical tension and pressure.
  • the first micro displacement sensor 25 is used to detect the displacement of the first probe 23 during the detection process, so as to obtain the strain value of the soft tissue of the sole of the foot when it is subjected to vertical tension and pressure.
  • FIG. 4 is a schematic diagram of the connection between the first eccentric wheel 221 and the first linear guide rail 222 of the first rotation-to-linear motion mechanism 22 .
  • the first drive motor 21 is a servo motor that can be precisely controlled, and its output shaft is arranged horizontally.
  • the first rotation-to-linear motion mechanism 22 mainly includes a first eccentric wheel 221, a first linear guide rail 222, a first optical axis 223, a first linear bearing 224 and a first support frame 227, wherein the rotation center axis of the first eccentric wheel 221 is connected to the output shaft of the horizontally arranged first drive motor 21 through an elastic diaphragm coupling 225, the eccentric axis of the first eccentric wheel 221 is connected to the slider of the first linear guide rail 222, the slide rail of the first linear guide rail 222 is arranged in the horizontal direction, the first optical axis 223 is connected to the slide rail through a first connecting member 226, and is installed on the first support frame 227 (a vertical plate is hidden in the figure) in a gantry-shaped direction through a flange-type first linear bearing 224.
  • the first probe 23 is arranged at the upper end of the first optical axis 223, and the first micro tension and pressure sensor 24 is connected between the first probe 23 and the first optical axis 223.
  • the first micro displacement sensor 25 is mounted on the first support frame 227 and is arranged beside the first optical axis 223.
  • the first micro displacement sensor 25 detects the displacement of the first connecting member 226 during the detection process, which is equivalent to detecting the displacement of the first probe 23.
  • the lifting mechanism 60 corresponding to the radial stress-strain detection unit 20 mainly includes a driving member 61, a rotating shaft 62, a bevel gear set 63, and a Z-axis lead screw slider module 64.
  • the driving member 61 is connected to and can drive the horizontally arranged rotating shaft 62 to rotate, and the rotating shaft 62 drives the lead screw of the Z-axis lead screw slider module 64 to rotate through the bevel gear set 63, so that the slider is lifted and lowered.
  • the first driving motor 21 is installed on the slider, and the first driving motor 21 is driven to rise and fall, and then the first rotary-to-linear motion mechanism 22 can be used to drive the first probe 23 to rise and fall, so that the first probe 23 is raised to a position in contact with the sole of the foot during detection, and is lowered and reset after the detection is completed.
  • the driving member 61 is a handle, and the lifting mechanism 60 is driven manually, which is easy to operate and can save costs.
  • the rotating shaft 62 is horizontally installed on the seat bearing 65.
  • One end of the rotating shaft 62 is connected to the driving member 61 and is provided with a locking mechanism 66 with a locking screw.
  • the locking mechanism 66 can prevent the rotating shaft 62 from rotating during the detection process to avoid the reduction of static friction of the spiral pair caused by dynamic detection and affect the self-locking state of the rotating shaft 62.
  • An active spur bevel gear is installed on the other end of the rotating shaft 62.
  • a driven spur bevel gear is installed at the lower end of the screw of the Z-axis lead screw slider module 64.
  • the two spur bevel gears mesh with each other to form a bevel gear set 63.
  • the slider of the Z-axis lead screw slider module 64 is driven by the ball nut on the lead screw to lift and lower.
  • FIG5 is a schematic structural diagram of the shear stress-strain detection unit 30 and the corresponding lifting mechanism 60.
  • the shear stress-strain detection unit 30 includes a second drive motor 31, a second rotation-to-linear motion mechanism 32, a second probe 33, a second micro-tension pressure sensor 34, and a second micro-displacement sensor 35.
  • the second drive motor 31, the second rotation-to-linear motion mechanism 32, and the second probe 33 are connected in sequence, and the second rotation-to-linear motion mechanism 32 is used to convert the rotational motion output by the second drive motor 31 into a linear reciprocating motion that drives the second probe 33 in the horizontal direction, and the second probe 33 is used to connect with the sole to be detected to load periodic transverse shear force.
  • the second micro-tension pressure sensor 34 is used to detect the internal force of the sole soft tissue acting on the second probe 33 in the transverse shear direction, so as to obtain the stress value of the sole soft tissue when the transverse shear force acts on it.
  • the second micro-displacement sensor 35 is used to detect the displacement of the second probe 33 during the detection process, so as to obtain the strain value of the sole soft tissue when the transverse shear force acts on it.
  • FIG. 6 is a schematic diagram of the connection between the second eccentric wheel 321 , the second connecting member 322 and the second optical axis 324 of the second rotation-to-linear motion mechanism 32 .
  • the second drive motor 31 is a servo motor that can be precisely controlled, and its output shaft is arranged vertically upward.
  • the second rotation-to-linear motion mechanism 32 mainly includes a second eccentric wheel 321, a second connecting member 322 having a large diameter bearing 3221 and a small diameter bearing 3222, a second linear bearing 323, a second optical axis 324, a second linear guide rail 325, a horizontal connecting rod 326, a limit bearing 327 and a second support frame 328, wherein the eccentric hole of the second eccentric wheel 321 as the rotation center is connected to the output shaft of the second drive motor 31, the inner ring of the large diameter bearing 3221 of the second connecting member 322 is connected to the second eccentric wheel 321, the inner ring of the small diameter bearing 3222 of the second connecting member 322 is connected to the second linear bearing 323, and the second optical axis 324 is arranged vertically and cooperates with the second linear bearing 323.
  • the lower end of the second optical axis 324 is connected to the slider of the second linear guide 325 arranged horizontally.
  • the upper end of the second optical axis 324 is connected to the horizontal connecting rod 326 parallel to the second linear guide 325 through a right-angle connector 329.
  • the horizontal connecting rod 326 is installed on two limit bearings 327.
  • the two limit bearings 327 and the second linear guide 325 are both installed on the second support frame 328.
  • the second probe 33 is connected to the horizontal connecting rod 326 through the vertical connecting rod 310.
  • the second micro tension and pressure sensor 34 is connected to the horizontal connecting rod 326.
  • the horizontal connecting rod 326 is divided into two sections.
  • the second micro tension and pressure sensor 34 is connected between the two sections of the horizontal connecting rod 326.
  • the second micro displacement sensor 35 is installed on the second support frame 328 and is arranged beside the vertical connecting rod 310.
  • the second micro displacement sensor 35 detects the displacement of the vertical connecting rod 310 during the detection process, which is equivalent to
  • the lifting mechanism 60 corresponding to the shear stress-strain detection unit 30 also includes a driving member 61, a rotating shaft 62, a bevel gear set 63, a Z-axis screw slider module 64, a seat bearing 65, and a locking mechanism 66.
  • a second support frame 328 is installed on the slider of the Z-axis screw slider module 64.
  • the second support frame 328 By driving the second support frame 328 to rise and fall, all the components carried by the second support frame 328, especially the second probe 33, can be driven to rise and fall, so that the second probe 33 is raised to a position in contact with the sole of the foot during detection, and is lowered and reset after the detection is completed.
  • FIG. 7 is a schematic structural diagram of the torque stress-strain detection unit 40 and the corresponding lifting mechanism 60.
  • the torque stress-strain detection unit 40 includes a third drive motor 41, a rotation-to-torsion motion mechanism 42, a third probe 43, a micro dynamic torque sensor 44, and a micro angle sensor 45.
  • the third drive motor 41, the rotation-to-torsion motion mechanism 42, and the third probe 43 are connected in sequence, and the rotation-to-torsion motion mechanism 42 is used to convert the rotational motion output by the third drive motor 41 into a torsional reciprocating motion that drives the third probe 43 in the horizontal direction.
  • the third probe 43 is used to connect to the sole to be detected to load a periodic torque.
  • the micro dynamic torque sensor 44 is used to detect the torque applied to the third probe 43 by the soft tissue of the sole, so as to obtain the stress value of the soft tissue of the sole when the torque is applied.
  • the micro angle sensor 45 is used to detect the rotation angle of the third probe 43 during the detection process, so as to obtain the strain value of the soft tissue of the sole when the torque is applied.
  • FIG. 8 is a schematic diagram of the connection between the third linear guide rail 422 and the ball spline 423 of the rotation-to-torsion motion mechanism 42 .
  • the third drive motor 41 is a precisely controlled servo motor, whose output shaft is vertically arranged upwards.
  • the third drive motor 41 and the second drive motor 31 can use the same servo motor.
  • the rotation-torsion-converting motion mechanism 42 mainly includes an eccentric rotating disk 421, a third linear guide 422, a ball spline 423, a first bearing seat 424 with a bearing, a third support frame 425, and a second bearing seat 426 with a bearing, wherein the eccentric hole of the eccentric rotating disk 421 as the rotation center is connected to the output shaft of the third drive motor 41, the slider of the third linear guide 422 is fixed at the edge of the eccentric rotating disk 421, the slide rail of the third linear guide 422 is horizontally arranged and one end is connected to the spline sleeve of the ball spline 423 arranged vertically, the spline sleeve of the ball spline 423 is connected to the inner ring of
  • the third probe 43 is arranged at the upper end of the spline rod, and the micro dynamic torque sensor 44 is connected between the third probe 43 and the spline rod.
  • the micro angle sensor 45 is connected to the lower end of the spline rod through a coupling 427 .
  • the lifting mechanism 60 corresponding to the torque stress-strain detection unit 40 also includes a driving member 61, a rotating shaft 62, a bevel gear set 63, a Z-axis screw slider module 64, a seat bearing 65, and a locking mechanism 66.
  • the connection relationship between the various parts is referred to in the previous text and will not be repeated here.
  • the Z-axis screw slider module 64 is installed on the third support frame 425, and a lifting plate is installed on the slider of the Z-axis screw slider module 64.
  • the second bearing seat 426 and the micro angle sensor 45 are installed on the lifting plate.
  • the spline rod of the ball spline 423, the micro dynamic torque sensor 44 and the third probe 43 can be driven to rise and fall, so that the third probe 43 is raised to a position in contact with the sole of the foot during detection, and is lowered and reset after the detection is completed.
  • the first probe 23, the second probe 33, and the third probe 43 can be a rigid plane probe or a vacuum suction cup probe, which can be selected according to the subject's wishes, but it is necessary to ensure that the probe is effectively connected to the plantar soft tissue, so as to ensure that the plantar soft tissue is deformed synchronously with the probe during the detection process.
  • a rigid plane probe is selected, a non-biotoxic and easy-to-clean adhesive is used to bond the rigid plane of the rigid plane probe to the surface skin of the plantar soft tissue. It has the advantages of good fixing effect and high synchronization between the plantar soft tissue and the probe, but it also has the disadvantages of more troublesome experimental processing, less optional adhesives, and the subject's willingness to cooperate.
  • the vacuum generator When a vacuum suction cup probe is selected, the vacuum generator is made to reach a certain pressure through an electromagnetic valve, so that the vacuum suction cup probe can suck the surface skin of the plantar soft tissue. It has the advantages of easy use and high willingness of the subject to cooperate, but the suction cup itself has a large deformation space, and there are disadvantages such as weak synchronization between the plantar soft tissue and the probe, and unstable fixing effect.
  • the vertical displacement stroke of the first probe 23 of the radial stress-strain detection unit 20 is controlled within the range of ⁇ 5mm
  • the lateral displacement stroke of the second probe 33 of the shear stress-strain detection unit 30 is controlled within the range of ⁇ 5mm
  • the steering angle of the third probe 43 of the rotary torsion motion mechanism 42 is controlled within the range of ⁇ 30°
  • the cycle frequency does not exceed 100Hz.
  • the vertical displacement stroke of the first probe 23 can be adjusted by the eccentric distance of the first eccentric wheel 221
  • the lateral displacement stroke of the second probe 33 can be adjusted by the eccentric distance of the eccentric turntable 421
  • the steering angle range of the third probe 43 can be adjusted by the eccentric distance and radius of the eccentric turntable 421, that is, changing the position of the third linear guide 422.
  • the movement frequency of each probe can be adjusted by a motor servo system.
  • FIG. 9 is a schematic diagram of the structure of the X-Y axis translation mechanism 50 in an embodiment of the present invention.
  • the X-Y axis translation mechanism 50 mainly includes a mobile platform 51, an X-axis drive motor 52, a cylindrical gear set 53, an X-axis lead screw slider module 54, a Y-axis drive motor 55, a dual-axis reducer 56, a synchronous pulley assembly 57, an engagement block 58, and a Y-axis linear guide 59.
  • the mobile platform 51 is a platform that carries three stress-strain detection units and three corresponding lifting mechanisms 60.
  • the mobile platform 51 is installed on the sliders of two X-axis lead screw slider modules 54.
  • the lead screw of one of the X-axis lead screw slider modules 54 is driven by the X-axis drive motor 52 through the cylindrical gear set 53.
  • the X-axis drive motor 52 adopts a stepping motor
  • the ball nut on the lead screw of the X-axis lead screw slider module 54 is realized through the transmission of the cylindrical gear set 53.
  • the linear guide of the X-axis lead screw slider module 54 drives the mobile platform 51 to translate in the X-axis direction.
  • the Y-axis driving motor 55 adopts a stepper motor, which drives the two synchronous pulley assemblies 57 on both sides thereof for synchronous transmission through the connected dual-axis reducer 56.
  • each X-axis lead screw slider module 54 corresponds to the two synchronous pulley assemblies 57 respectively.
  • the end of each X-axis lead screw slider module 54 is provided with an engaging block 58 that engages with the synchronous belt of the corresponding synchronous pulley assembly 57.
  • the entire X-Y axis translation mechanism 50 can be arranged on a movable trolley platform 70, which can realize the overall movement function of the in-vivo multi-dimensional stress-strain detection device for plantar soft tissue.
  • the subject sits on a chair, places the subject's foot on the testing area on the testing table 10, and fixes the foot and leg with a magic tape so that the test is carried out in a stable and static state.
  • the X-Y axis translation mechanism 50 After the foot of the subject is fixed, the X-Y axis translation mechanism 50 starts to operate. Since radial, shear, and torque stress-strain detection can be realized, the probes of the three stress-strain detection units can be moved to the bottom of the sole by the X-Y axis translation mechanism 50 according to the detection needs, so as to realize the three stress-strain characteristic detection of the tested part. After the radial, shear, and torque stress-strain detection of a tested part of the sole is completed, the tested part of the sole can be changed by the X-Y axis translation mechanism 50 and the detection can be carried out again.
  • the X-axis drive motor 52 is controlled to operate, and the cylindrical gear set 53 is used to drive the mobile platform 51 to translate along the X-axis direction in cooperation with the operation of the X-axis lead screw slider module 54, thereby changing the position of the probe in the X-axis direction until the probe and the tested part of the sole of the foot move to the same X coordinate.
  • the Y-axis drive motor 55 is controlled to operate, and the two synchronous pulley assemblies 57 are driven to transmit synchronously through the dual-axis reducer 56, and then the mobile platforms 51 on the two X-axis lead screw slider modules 54 are driven to translate along the Y-axis direction through the meshing block 58, thereby changing the position of the probe in the Y-axis direction until the probe and the tested part of the sole of the foot move to the same Y coordinate.
  • the probe is located directly below the tested part of the sole of the foot, and the X-Y axis translation mechanism 50 completes the translation work.
  • the driving member 61 of the lifting mechanism 60 is operated, and the screw of the Z-axis screw slider module 64 is driven to rotate through the rotating shaft 62 and the bevel gear set 63, so as to drive the ball nut on the screw to rise in the vertical direction, thereby realizing the vertical rise of the probe of the corresponding stress-strain detection unit until the probe contacts the sole of the foot, that is, when the force is detected for the first time in the force sensor, the driving member 61 is stopped from rotating, and the locking mechanism 66 is locked.
  • the probe is fixed to the surface skin of the sole soft tissue by adhesive bonding or vacuum adsorption to ensure that the probe can drive the sole soft tissue to move synchronously during the dynamic detection process.
  • the detection phase begins, and the servo motor controlling the corresponding stress-strain detection unit starts to operate.
  • the first micro-tension pressure sensor 24 and the first micro-displacement sensor 25 detect and record force and displacement respectively
  • the second micro-tension pressure sensor 34 and the second micro-displacement sensor 35 detect and record force and displacement respectively
  • torque stress-strain detection is performed
  • the micro-dynamic torque sensor 44 and the micro-angle sensor 45 detect and record torque and rotation angle respectively.
  • the periodic stress-strain data obtained is a characterization method of dynamic mechanical analysis (DMA) in material mechanics, and can be analyzed using the classical DMA method to characterize the mechanical properties of the vertical tensile and compressive resistance, lateral shear resistance, and rotational torque resistance of the tested plantar soft tissue.
  • DMA dynamic mechanical analysis
  • the tested part is not limited to the plantar soft tissue of the human body. According to the different tested parts and actual usage requirements, the support and fixing methods of the detection platform 10 can be changed to realize the detection of soft tissue characteristics of other parts of the human body.
  • the present detection device can directly perform force-displacement dynamic characteristic detection of positive tensile pressure, shear force, and torsional force on the soft tissue of the plantar foot; because it includes an X-Y axis translation mechanism that can drive the three stress-strain detection units to translate in the horizontal direction and a lifting mechanism that can lift and lower in the vertical direction, the present detection device can realize the mechanical characteristic detection of soft tissues in different parts of the plantar foot.

Abstract

一种足底软组织在体多维应力‑应变检测设备，涉及人体检测领域，包括：检测台（10），设有对应足底的检测区域；径向应力‑应变检测单元（20），用于向足底软组织加载周期性垂直拉压力并进行测量；剪切应力‑应变检测单元（30），用于向足底软组织加载周期性横向剪切力并进行测量；扭矩应力‑应变检测单元（40），用于向足底软组织加载周期性扭矩并进行测量；X‑Y轴平移机构（50），用于实现三个应力‑应变检测单元在水平方向的平移；以及升降机构（60），用于实现三个应力‑应变检测单元在竖直方向的升降。本检测设备能实现对足底不同部位软组织的正拉压力、剪切力、扭转力的力‑位移动态特性检测。

Description

一种足底软组织在体多维应力-应变检测设备 技术领域
本发明涉及人体检测领域，具体涉及一种足底软组织在体多维应力‑应变检测设备。
 背景技术
软组织，是相对于硬组织(骨)和独立脏器而言，对人体的皮肤、皮下组织、韧带、关节囊、肌肉、肌腱、滑膜囊、神经、血管等的统称。足底软组织作为人体工况负荷最大的部位，在解剖结构上进化出了耐磨、耐压、层间位移限制等特性，有利于行走缓震和负重稳定，可以增强足部对机械负荷的耐受性。许多研究表明，足底软组织力学特性的改变与诸多足部 疼痛和下肢功能性运动障碍密切相关，可能是导致老年足部软组织功能退变以及糖足溃疡的主要原因之一。因此，对足底软组织力学特性的检测和分析，有益于相关足部疾病的临床诊断、治疗和代偿。
现有的研究表明，足底软组织具有复杂的非线性粘弹动力学行为，体现出能量吸收、缓慢回弹和蠕变的特性，其中，与硬度和弹性等特性相比，粘度与糖尿病足等疾病的相关性更大。在经典材料力学中，粘度表征一般采用动态力学分析(DMA)获得周期性的“应力‑应变”数据，建立本构方程。因此，在软组织粘度的研究中，长期、周期性的直接力学测量是不可避免的。
 技术问题
到目前为止，对软组织力学特性的检测主要局限于对离体组织标本的压痕实验，例如中国发明专利CN108760489A、CN104535415A、CN106370519A、以及实用新型专利CN205483873U提出的软组织测试装置，都是对离体组织标本进行的单次、低频、垂直方向检测。中国发明专利CN105527174A、CN105571956A、CN106680114A、CN107941613A提出的测试装置能够对离体生物软组织进行剪切实验。然而，离体组织标本的测试结果很难有说服力，且现有装置不能同步实现垂直、水平剪切和扭转方向的多自由度动态测试，这与DMA方法中的动态周期应力‑应变对应和粘弹性分析仍有很大差距。
显然，如果能够对活体进行直接的多维动态力学测量，将对软组织的材料性质有更精确的测量和分析手段，这对于研究认识软组织的性质、为临床诊疗等提供更多的诊疗数据依据、以及仿生材料设计、更符合解剖结构的足部有限元模型的开发等，都具有重大的意义。
 技术解决方案
本发明是为了解决上述问题而进行的，目的在于提供一种足底软组织在体多维应力‑应变检测设备。
本发明提供了一种足底软组织在体多维应力‑应变检测设备，具有这样的特征，包括：检测台，设有对应足底的检测区域；径向应力‑应变检测单元，设置在检测台的下方且用于向足底软组织加载周期性垂直拉压力并进行测量；剪切应力‑应变检测单元，设置在检测 台的下方且用于向足底软组织加载周期性横向剪切力并进行测量；扭矩应力‑应变检测单元，设置在检测台的下方且用于向足底软组织加载周期性扭矩并进行测量；X‑Y轴平移机构，用于实现径向应力‑应变检测单元、剪切应力‑应变检测单元、扭矩应力‑应变检测单元在水平方向的平移；以及升降机构，用于实现径向应力‑应变检测单元、剪切应力‑应变检测单元、扭矩应力‑应变检测单元在竖直方向的升降。
在本发明提供的足底软组织在体多维应力‑应变检测设备中，还可以具有这样的特征：径向应力‑应变检测单元包括依次连接的第一驱动电机、第一旋转变直线运动机构和第一探头，以及第一微型拉压力传感器和第一微型位移传感器，第一旋转变直线运动机构用于将第一驱动电机输出的旋转运动转换成带动第一探头在竖直方向的直线往复运动，第一探头用于与待检测的足底连接，第一微型拉压力传感器用于检测足底软组织在垂直方向上作用到第一探头上的内力，第一微型位移传感器用于检测第一探头在检测过程中的位移。
进一步地，第一旋转变直线运动机构包括第一偏心轮、第一直线导轨、第一光轴、第一直线轴承以及第一支撑架，第一偏心轮的转动中心轴与水平设置的第一驱动电机的输出轴连接，第一偏心轮的偏心轴与水平设置的第一直线导轨的滑块连接，第一光轴与第一 直线导轨的滑轨连接，并通过第一直线轴承沿竖向安装在第一支撑架上；第一探头设置在第一光轴的上端，第一微型拉压力传感器连接在第一探头和第一光轴之间，第一微型位移传感器安装在第一支撑架上且设置在第一光轴的旁侧。
在本发明提供的足底软组织在体多维应力‑应变检测设备中，还可以具有这样的特征：剪切应力‑应变检测单元包括依次连接的第二驱动电机、第二旋转变直线运动机构和第二探头，以及第二微型拉压力传感器和第二微型位移传感器，第二旋转变直线运动机构用于将第二驱动电机输出的旋转运动转换成带动第二探头在水平方向的直线往复运动，第二探头用于与待检测的足底连接，第二微型拉压力传感器用于检测足底软组织在横向剪切方向上作用到第二探头上的内力，第二微型位移传感器用于检测第二探头在检测过程中的位移。
进一步地，第二旋转变直线运动机构包括第二偏心轮、具有大径轴承和小径轴承的第二连接件、第二直线轴承、第二光轴、第二直线导轨、水平连杆、限位轴承以及第二支撑 架，第二偏心轮的作为转动中心的偏心孔与沿竖向设置的第二驱动电机的输出轴连接，大径轴承的内圈与第二偏心轮连接，小径轴承的内圈与第二直线轴承连接，第二光轴沿竖向设置且与第二直线轴承配合，第二光轴的下端与水平设置的第二直线导轨的滑块连接，第二光轴的上端与平行于第二直线导轨的水平连杆连接，水平连杆安装在两个限位轴承上，第二直线导轨和两个限位轴承安装在第二支撑架上；第二探头通过竖向连杆连接在水平连杆上，第二微型拉压力传感器连接在水平连杆上，第二微型位移传感器安装在第二支撑架上且设置在竖向连杆的旁侧。
 在本发明提供的足底软组织在体多维应力‑应变检测设备中，还可以具有这样的特征：扭矩应力‑应变检测单元包括依次连接的第三驱动电机、旋转变扭转运动机构、第三探头，以及微型动态扭矩传感器和微型角度传感器，旋转变扭转运动机构用于将第三驱动电机输出的旋转运动转换成带动第三探头在水平方向的扭转往复运动，第三探头用于与待检测的足底连接，微型动态扭矩传感器用于检测足底软组织作用到第三探头上的扭矩，微型角度传感器用于检测第三探头在检测过程中的转动角度。
进一步地，旋转变扭转运动机构包括偏心转盘、第三直线导轨、滚珠花键、带轴承的第一轴承座、第三支撑架以及带轴承的第二轴承座，偏心转盘的作为转动中心的偏心孔与沿竖向设置的第三驱动电机的输出轴连接，第三直线导轨的滑轨水平设置且与沿竖向设置的滚珠花键的花键套连接，第三直线导轨的滑块安装在偏心转盘的边缘处，滚珠花键的 花键套与第一轴承座的轴承的内圈连接，并一起安装在第三支撑架上，滚珠花键的花键杆的下端与第二轴承座的轴承配合；第三探头设置在花键杆的上端，微型动态扭矩传感器连接在第三探头和花键杆之间，微型角度传感器与花键杆的下端连接。
在本发明提供的足底软组织在体多维应力‑应变检测设备中，还可以具有这样的特征：探头为刚性平面探头或真空吸盘探头。
在本发明提供的足底软组织在体多维应力‑应变检测设备中，还可以具有这样的特征：X‑Y轴平移机构包括移动平台、X轴驱动电机、圆柱齿轮组、X轴丝杠滑块模组、Y轴驱动 电机、双轴减速机、同步带轮组件、啮合块、以及Y轴直线导轨，移动平台上安装径向应力‑应变检测单元、剪切应力‑应变检测单元、扭矩应力‑应变检测单元以及升降机构，X轴丝杠滑块模组的滑块上安装移动平台，X轴丝杠滑块模组的丝杠由X轴驱动电机通过圆柱齿轮组进 行驱动，Y轴驱动电机通过双轴减速机带动位于其两侧的两个同步带轮组件同步传动，X轴丝杠滑块模组的两端均安装有啮合块，并且两个啮合块分别与两个同步带轮组件的同步带啮合，X轴丝杠滑块模组的两端分别安装在两个Y轴直线导轨的滑块上。
在本发明提供的足底软组织在体多维应力‑应变检测设备中，还可以具有这样的特征：升降机构包括驱动件、转轴、圆锥齿轮组、以及Z轴丝杠滑块模组，驱动件与水平设置的转轴连接，转轴通过圆锥齿轮组与Z轴丝杠滑块模组的丝杠连接，Z轴丝杠滑块模组的滑块连接并带动径向应力‑应变检测单元、剪切应力‑应变检测单元、扭矩应力‑应变检测单元在竖直方向升降。
 有益效果
发明的作用与效果
根据本发明所涉及的足底软组织在体多维应力‑应变检测设备，因为包括检测台及设置在检测台下方的径向应力‑应变检测单元、剪切应力‑应变检测单元、以及扭矩应力‑应变检测单元，所以，本检测设备能直接对足底软组织进行正拉压力、剪切力、扭转力的力‑位移动态特性检测；因为包括能带动三个应力‑应变检测单元在水平方向平移的X‑Y轴平移 机构和在竖直方向升降的升降机构，所以，本检测设备能实现对足底不同部位软组织的力学特性检测。
 附图说明
图1是本发明的实施例中足底软组织在体多维应力‑应变检测设备的立体结构示意图；
图2是本发明的实施例中径向、剪切、扭矩应力‑应变检测单元和升降机构的整体结构示意图；
图3是本发明的实施例中径向应力‑应变检测单元和对应的升降机构的结构示意图；
图4是本发明的实施例中第一旋转变直线运动机构的第一偏心轮和第一直线导轨的连接处示意图；
图5是本发明的实施例中剪切应力‑应变检测单元和对应的升降机构的结构示意图；
图6是本发明的实施例中第二旋转变直线运动机构的第二偏心轮、第二连接件和第二光轴的连接处示意图；
图7是本发明的实施例中扭矩应力‑应变检测单元和对应的升降机构的结构示意图；
图8是本发明的实施例中的旋转变扭转运动机构的第三直线导轨和滚珠花键的连接处示意图；
图9是本发明的实施例中X‑Y轴平移机构的结构示意图。
附图标记说明：10检测台；11平台板；111腰型孔；12支撑腿；20径向应力‑应变检测单元；21第一驱动电机；22第一旋转变直线运动机构；221第一偏心轮；222第一直线导轨；223第一光轴；224第一直线轴承；225弹性膜片联轴器；226第一连接件；227第一支撑架；23第一探头；24第一微型拉压力传感器；25第一微型位移传感器；30剪切应力‑应变检测单元；31第二驱动电机； 32第二旋转变直线运动机构；321第二偏心轮；322第二连接件；3221大径轴承；3222小径轴 承；323第二直线轴承；324第二光轴；325第二直线导轨；326水平连杆；327限位轴承；328第 二支撑架；329直角连接件；310竖向连杆；33第二探头；34第二微型拉压力传感器；35第二微 型位移传感器；40扭矩应力‑应变检测单元；41第三驱动电机；42旋转变扭转运动机构；421 偏心转盘；422第三直线导轨；423滚珠花键；424第一轴承座；425第三支撑架；426第二轴承 座；427联轴器；43第三探头；44微型动态扭矩传感器；45微型角度传感器；50X‑Y轴平移机 构；51移动平台；52X轴驱动电机；53圆柱齿轮组；54X轴丝杠滑块模组；55Y轴驱动电机；56双 轴减速机；57同步带轮组件；58啮合块；59Y轴直线导轨；60升降机构；61驱动件；62转轴；63圆锥齿轮组；64Z轴丝杠滑块模组；65带座轴承；66锁紧机构；70小车平台。
 本发明的实施方式
为了使本发明实现的技术手段、创作特征、达成目的与功效易于明白了解，以下实施例结合附图对本发明作具体阐述。
实施例
 图1是足底软组织在体多维应力‑应变检测设备的立体结构示意图，图2是径向、剪切、扭矩应力‑应变检测单元和升降机构的整体结构示意图。
如图1所示，本实施例提供了一种足底软组织在体多维应力‑应变检测设备，包括检测台10及设置在检测台10下方的径向应力‑应变检测单元20、剪切应力‑应变检测单元30、扭矩应力‑应变检测单元40、X‑Y轴平移机构50、以及升降机构60。
检测台10用于承载足部，检测台10上设有对应足底且供三个应力‑应变检测单元 对足底软组织进行检测的检测区域，在本实施例中，检测台10包括水平设置的平台板11和安装在平台板11底面四角处的支撑腿12，平台板11用于承载足部，平台板11上开设有多个并列布置的腰型孔111，这多个腰型孔111对应足底的不同部位，构成检测区域。检测台10上可配置有用于固定足部的固定装置，如固定带、夹具等，使得检测在稳定静态下进行，排除躯体活动的干扰，在本实施例中，平台板11上设有用于固定足部的魔术带(图中未示出)。
径向应力‑应变检测单元20用于向足底软组织加载周期性垂直拉压力并进行测量，剪切应力‑应变检测单元30用于向足底软组织加载周期性横向剪切力并进行测量，扭矩应力‑应变检测单元40用于向足底软组织加载周期性扭矩并进行测量。X‑Y轴平移机构50用于实现三个应力‑应变检测单元在水平方向的平移，在本实施例中，X‑Y轴平移机构50设置为一个，由三个应力‑应变检测单元共用，可以节省空间。升降机构60用于实现三个应力‑应变检测单元在竖直方向的升降，在本实施例中，升降机构60设置为三个，分别独立驱动三个应力‑应变检测单元升降，能防止不需要进行检测的应力‑应变检测单元在检测过程中与检 测台10或足底发生干涉。下面对各部分作具体说明。
图3是径向应力‑应变检测单元20和对应的升降机构60的结构示意图。
如图3所示，径向应力‑应变检测单元20包括第一驱动电机21、第一旋转变直线运动机构22、第一探头23、第一微型拉压力传感器24、以及第一微型位移传感器25。第一驱动电机21、第一旋转变直线运动机构22、第一探头23依次连接，第一旋转变直线运动机构22用于将第一驱动电机21输出的旋转运动转换成带动第一探头23在竖直方向的直线往复运动，第一探头23用于与待检测的足底连接以加载周期性垂直拉压力。第一微型拉压力传感器24用于检测足底软组织在垂直方向上作用到第一探头23上的内力，从而能得到足底软组织受垂直拉压力作用时的应力值。第一微型位移传感器25用于检测第一探头23在检测过程中的位移，从而能得到足底软组织受垂直拉压力作用时的应变值。
图4是第一旋转变直线运动机构22的第一偏心轮221和第一直线导轨222的连接处示意图。
如图3和图4所示，在本实施例中，第一驱动电机21为能精确控制的伺服电机，其输出轴水平设置。第一旋转变直线运动机构22主要包括第一偏心轮221、第一直线导轨222、第 一光轴223、第一直线轴承224以及第一支撑架227，其中，第一偏心轮221的转动中心轴通过弹性膜片联轴器225与水平设置的第一驱动电机21的输出轴连接，第一偏心轮221的偏心轴与第一直线导轨222的滑块连接，第一直线导轨222的滑轨沿水平方向设置，第一光轴223通 过第一连接件226与滑轨连接，并且通过法兰式的第一直线轴承224沿竖直方向地安装在呈龙门架状的第一支撑架227(图中隐藏了一块竖板)上。第一探头23设置在第一光轴223的上端，第一微型拉压力传感器24连接在第一探头23和第一光轴223之间。第一微型位移传感器 25安装在第一支撑架227上且设置在第一光轴223的旁侧，第一微型位移传感器25检测第一连接件226在检测过程中的位移，就相当于检测第一探头23的位移。
如图3所示，对应径向应力‑应变检测单元20的升降机构60主要包括驱动件61、转轴62、圆锥齿轮组63、以及Z轴丝杠滑块模组64。驱动件61连接并能驱动水平设置的转轴62转动，转轴62通过圆锥齿轮组63带动Z轴丝杠滑块模组64的丝杠转动，从而使滑块实现升降，滑块上安装第一驱动电机21，通过带动第一驱动电机21升降，进而能通过第一旋转变直线运动机构22带动第一探头23升降，使得第一探头23在检测时升高至与足底接触的位置，在检测结束后下降复位。
在本实施例中，驱动件61为手柄，采用手动方式驱动升降机构60，操作便捷，而且可以节约成本。转轴62水平安装在带座轴承65上，转轴62的一端与驱动件61相连且其上设有具有锁紧螺钉的锁紧机构66，锁紧机构66能防止转轴62在检测过程中转动，避免因动态检测造成螺旋副的静摩擦力减小而影响到转轴62的自锁状态，转轴62的另一端上安装有主动直齿锥齿轮。Z轴丝杠滑块模组64的丝杠的下端安装有从动直齿锥齿轮，两个直齿锥齿轮 相啮合构成圆锥齿轮组63，Z轴丝杠滑块模组64的滑块由丝杠上的滚珠螺母带动进行升降。 
图5是剪切应力‑应变检测单元30和对应的升降机构60的结构示意图。
如图5所示，剪切应力‑应变检测单元30包括第二驱动电机31、第二旋转变直线运 动机构32、第二探头33、第二微型拉压力传感器34、以及第二微型位移传感器35。第二驱动 电机31、第二旋转变直线运动机构32、第二探头33依次连接，第二旋转变直线运动机构32用 于将第二驱动电机31输出的旋转运动转换成带动第二探头33在水平方向的直线往复运动，第二探头33用于与待检测的足底连接以加载周期性横向剪切力。第二微型拉压力传感器34用于检测足底软组织在横向剪切方向上作用到第二探头33上的内力，从而能得到足底软组 织受横向剪切力作用时的应力值。第二微型位移传感器35用于检测第二探头33在检测过程中的位移，从而能得到足底软组织受横向剪切力作用时的应变值。
图6是第二旋转变直线运动机构32的第二偏心轮321、第二连接件322和第二光轴324的连接处示意图。
如图5和图6所示，在本实施例中，第二驱动电机31为能精确控制的伺服电机，其输出轴竖直向上设置。第二旋转变直线运动机构32主要包括第二偏心轮321、具有大径轴承 3221和小径轴承3222的第二连接件322、第二直线轴承323、第二光轴324、第二直线导轨325、水平连杆326、限位轴承327以及第二支撑架328，其中，第二偏心轮321的作为转动中心 的偏心孔与第二驱动电机31的输出轴连接，第二连接件322的大径轴承3221的内圈与第二偏心轮321连接，第二连接件322的小径轴承3222的内圈与第二直线轴承323连接，第二光轴 324沿竖向设置且与第二直线轴承323配合，第二光轴324的下端与水平设置的第二直线导轨325的滑块连接，第二光轴324的上端通过直角连接件329与平行于第二直线导轨325的水平连杆326连接，水平连杆326安装在两个限位轴承327上，这两个限位轴承327和第二直线导轨325均安装在第二支撑架328上。第二探头33通过竖向连杆310连接在水平连杆326上。第二微型拉压力传感器34连接在水平连杆326上，具体地，水平连杆326分成两段，第二微型拉压力传感器34连接在两段水平连杆326之间。第二微型位移传感器35安装在第二支撑架328上且设置在竖向连杆310的旁侧，第二微型位移传感器35检测竖向连杆310在检测过程中的位移，就相当于检测第二探头33的位移。
如图5所示，对应剪切应力‑应变检测单元30的升降机构60同样包括驱动件61、转轴62、圆锥齿轮组63、Z轴丝杠滑块模组64、带座轴承65、以及锁紧机构66，各部分之间的连接关系参照前文，这里不再赘述。其中，Z轴丝杠滑块模组64的滑块上安装第二支撑架328，通过带动第二支撑架328升降，进而能带动第二支撑架328上承载的所有部件尤其是第二探头33升降，使得第二探头33在检测时升高至与足底接触的位置，在检测结束后下降复位。 
图7是扭矩应力‑应变检测单元40和对应的升降机构60的结构示意图。
如图7所示，扭矩应力‑应变检测单元40包括第三驱动电机41、旋转变扭转运动机 构42、第三探头43、微型动态扭矩传感器44、以及微型角度传感器45。第三驱动电机41、旋转变扭转运动机构42、第三探头43依次连接，旋转变扭转运动机构42用于将第三驱动电机41 输出的旋转运动转换成带动第三探头43在水平方向的扭转往复运动，第三探头43用于与待检测的足底连接以加载周期性扭矩。微型动态扭矩传感器44用于检测足底软组织作用到第三探头43上的扭矩，从而能得到足底软组织受扭矩作用时的应力值。微型角度传感器45用于检测第三探头43在检测过程中的转动角度，从而能得到足底软组织受扭矩作用时的应变值。
图8是旋转变扭转运动机构42的第三直线导轨422和滚珠花键423的连接处示意图。
如图7和图8所示，在本实施例中，第三驱动电机41为能精确控制的伺服电机，其输出轴竖直向上设置，第三驱动电机41可以与第二驱动电机31用同一台伺服电机。旋转变扭转运动机构42主要包括偏心转盘421、第三直线导轨422、滚珠花键423、带轴承的第一轴承 座424、第三支撑架425以及带轴承的第二轴承座426，其中，偏心转盘421的作为转动中心的偏心孔与第三驱动电机41的输出轴连接，偏心转盘421的边缘处固定第三直线导轨422的滑块，第三直线导轨422的滑轨水平设置且一端与沿竖向设置的滚珠花键423的花键套连接，滚珠花键423的花键套与第一轴承座424的轴承的内圈连接，第一轴承座424安装在第三支撑架425上，滚珠花键423的花键杆的下端与第二轴承座426的轴承配合，并且花键杆上加工有用于轴向限位的轴肩。第三探头43设置在花键杆的上端，微型动态扭矩传感器44连接在第三探头43和花键杆之间。微型角度传感器45通过联轴器427与花键杆的下端连接。
如图7所示，对应扭矩应力‑应变检测单元40的升降机构60同样包括驱动件61、转 轴62、圆锥齿轮组63、Z轴丝杠滑块模组64、带座轴承65、以及锁紧机构66，各部分之间的连接关系参照前文，这里不再赘述。其中，Z轴丝杠滑块模组64安装在第三支撑架425上，Z轴丝 杠滑块模组64的滑块上安装有升降板，第二轴承座426和微型角度传感器45安装在该升降板上，通过带动升降板升降，进而能带动滚珠花键423的花键杆、微型动态扭矩传感器44以 及第三探头43升降 ，使得第三探头43在检测时升高至与足底接触的位置，在检测结束后下降复位。
在三个应力‑应变检测单元中，第一探头23、第二探头33、第三探头43可以为刚性平面探头或真空吸盘探头，其可根据受试者的意愿进行选择，但均需要保证探头与足底软组织有效连接，从而保证足底软组织在检测过程中跟随探头同步形变。当选用刚性平面探头时，使用无生物毒害且易清理的胶黏剂将刚性平面探头的刚性平面与足底软组织表面皮肤粘接，其具有固定效果好、足底软组织与探头同步程度高等优点，但也有实验处理较为麻烦、可选胶粘剂较少、受试者可能配合意愿不高等缺点。当选用真空吸盘探头时，通过电磁 阀使真空发生器达到一定的压强，从而让真空吸盘探头吸住足底软组织表面皮肤，其具有使用简便、受试者可能配合意愿高等优点，但是吸盘自身形变空间较大，存在足底软组织与探头同步程度弱、以及固定效果不稳定等缺点。
考虑到受试舒适度及根据人体软组织的一般可承受的受力强度，径向应力‑应变检测单元20的第一探头23的垂直位移行程控制在±5mm范围内，剪切应力‑应变检测单元30的第二探头33的横向位移行程控制在±5mm范围内，旋转变扭转运动机构42的第三探头43的转向角度控制在±30°范围内，周期频率均不超过100Hz。其中，第一探头23的垂直位移行程可以通过第一偏心轮221的偏心距离进行调节，第二探头33的横向位移行程可以通过偏心转盘421的偏心距离进行调节，第三探头43的转向角度范围可以通过偏心转盘421的偏心距离和半径即改变第三直线导轨422的位置进行调节。此外，各个探头的运动频率可以通过电机伺服系统实现调节。
图9是本发明的实施例中X‑Y轴平移机构50的结构示意图。
如图9所示，在本实施例中，X‑Y轴平移机构50主要包括移动平台51、X轴驱动电机52、圆柱齿轮组53、X轴丝杠滑块模组54、Y轴驱动电机55、双轴减速机56、同步带轮组件57、啮合块58、以及Y轴直线导轨59。其中，移动平台51为承载三个应力‑应变检测单元和对应的三个升降机构60的平台，移动平台51安装在两个X轴丝杠滑块模组54的滑块上，其中一个X轴丝杠滑块模组54的丝杠由X轴驱动电机52通过圆柱齿轮组53进行驱动，具体地，X轴驱动电机52采用步进电机，通过圆柱齿轮组53的传动实现X轴丝杠滑块模组54的丝杠上的滚珠螺母的换向和变速，配合X轴丝杠滑块模组54的直线导轨，带动移动平台51在X轴方向平移。 Y轴驱动电机55采用步进电机，通过相连接的双轴减速机56带动位于其两侧的两个同步带轮组件57同步传动，每个X轴丝杠滑块模组54的两端分别对应两个同步带轮组件57设置，每个X轴丝杠滑块模组54的端部设有与相对应同步带轮组件57的同步带啮合的啮合块58，Y轴直线导轨59设置为两个，每个X轴丝杠滑块模组54的两端分别安装在两个Y轴直线导轨59的 滑块上，如此，两个同步带轮组件57能带动两个X轴丝杠滑块模组54在Y轴方向平移，进而带动移动平台51在Y轴方向平移。
整个X‑Y轴平移机构50可以设置在一个可移动的小车平台70上，能实现本足底软组织在体多维应力‑应变检测设备整体的移动功能。
以下对本足底软组织在体多维应力‑应变检测设备的使用过程做具体说明。
受测者坐在椅子上，将受试足置于检测台10上的检测区域，通过魔术带将脚和腿固定住，使得检测在稳定静态下进行。
待受测者的脚部固定好后，X‑Y轴平移机构50开始运行，由于可以实现径向、剪切、扭矩三种应力‑应变检测，故根据检测需要，可以通过X‑Y轴平移机构50分别移动三个应力‑应变检测单元的探头至足底的正下方，实现对受测部位的三种应力‑应变特性检测。在对足底一个受测部位进行完径向、剪切、扭矩应力‑应变检测之后，可以通过X‑Y轴平移机构50更 改足底受测部位，再次进行检测。
具体地，首先，控制X轴驱动电机52运转，通过圆柱齿轮组53传动，配合X轴丝杠滑块模组54的运作，带动移动平台51沿着X轴方向平移，从而改变探头在X轴方向的位置，直至探头与足底受测部位移动到同一个X坐标上。接着，控制Y轴驱动电机55运转，通过双轴减速 机56带动两个同步带轮组件57同步传动，进而通过啮合块58带动两个X轴丝杠滑块模组54上的移动平台51沿着Y轴方向平移，从而改变探头在Y轴方向的位置，直至探头与足底受测部位移动到同一个Y坐标上。此时探头位于足底受测部位的正下方，X‑Y轴平移机构50完成平移工作。
然后，操作升降机构60的驱动件61，通过转轴62和圆锥齿轮组63传动，带动Z轴丝杠滑块模组64的丝杠转动，实现带动丝杠上的滚珠螺母沿竖直方向的升高，进而实现相应 应力‑应变检测单元的探头在竖直方向的升高，直至探头与足底相接触，即力传感器中第一 次检测到力时，停止转动驱动件61，并锁紧锁紧机构66。此时，将探头通过胶黏剂粘合或真空吸附与足底软组织表面皮肤固定，确保在动态检测过程中探头能带动足底软组织同步位移。
下面进入检测阶段，控制相应应力‑应变检测单元的伺服电机开始运转。当进行径向应力‑应变检测时，第一微型拉压力传感器24和第一微型位移传感器25分别进行力和位移的检测与记录；当进行剪切应力‑应变检测时，第二微型拉压力传感器34和第二微型位移传感器35分别进行力和位移的检测与记录；当进行扭矩应力‑应变检测时，微型动态扭矩传 感器44和微型角度传感器45分别进行扭矩和转角的检测与记录。所获得的周期性的应力‑应变数据是材料力学中动态力学分析(DMA)的表征方式，可以用经典DMA方法进行分析，以表征受测足底软组织的垂直耐拉压、横向耐剪切、旋转耐扭矩的力学性质。
此外，需要说明的是，在实际设计构建本足底软组织在体多维应力‑应变检测设备时，受测部位并不拘泥于人体足底软组织，根据受测部位不同以及实际使用需求，更改检测台10的支撑、固定方式，也可实现对人体其他部位的软组织特性的检测。
实施例的作用与效果
根据本实施例所涉及的足底软组织在体多维应力‑应变检测设备，因为包括检测台及设置在检测台下方的径向应力‑应变检测单元、剪切应力‑应变检测单元、以及扭矩应力‑应变检测单元，所以，本检测设备能直接对足底软组织进行正拉压力、剪切力、扭转力的力‑位移动态特性检测；因为包括能带动三个应力‑应变检测单元在水平方向平移的X‑Y轴平移机构和在竖直方向升降的升降机构，所以，本检测设备能实现对足底不同部位软组织的力学特性检测。
上述实施方式为本发明的优选案例，并不用来限制本发明的保护范围。

Claims (10)

  1. 一种足底软组织在体多维应力‑应变检测设备，其特征在于，包括：检测台，设有对应足底的检测区域；径向应力‑应变检测单元，设置在所述检测台的下方且用于向所述足底软组织加载周期性垂直拉压力并进行测量； 剪切应力‑应变检测单元，设置在所述检测台的下方且用于向所述足底软组织加载周期性横向剪切力并进行测量；扭矩应力‑应变检测单元，设置在所述检测台的下方且用于向所述足底软组织加载周期性扭矩并进行测量； X‑Y轴平移机构，用于实现所述径向应力‑应变检测单元、所述剪切应力‑应变检测单元、所述扭矩应力‑应变检测单元在水平方向的平移；以及 升降机构，用于实现所述径向应力‑应变检测单元、所述剪切应力‑应变检测单元、所述扭矩应力‑应变检测单元在竖直方向的升降。
  2. 根据权利要求1所述的足底软组织在体多维应力‑应变检测设备，其特征在于：其中，所述径向应力‑应变检测单元包括依次连接的第一驱动电机、第一旋转变直线运动机构和第一探头，以及第一微型拉压力传感器和第一微型位移传感器， 所述第一旋转变直线运动机构用于将所述第一驱动电机输出的旋转运动转换成带动所述第一探头在竖直方向的直线往复运动，所述第一探头用于与待检测的足底连接，所述第一微型拉压力传感器用于检测足底软组织在垂直方向上作用到所述第一探头 上的内力，所述第一微型位移传感器用于检测所述第一探头在检测过程中的位移。
  3. 根据权利要求2所述的足底软组织在体多维应力‑应变检测设备，其特征在于：其中 ，所述第一旋转变直线运动机构包括第一偏心轮、第一直线导轨、第一光轴、第一直线轴承以及第一支撑架，所述第一偏心轮的转动中心轴与水平设置的所述第一驱动电机的输出轴连接，所述第一偏心轮的偏心轴与水平设置的所述第一直线导轨的滑块连接， 所述第一光轴与所述第一直线导轨的滑轨连接，并通过所述第一直线轴承沿竖向安装在所述第一支撑架上； 所述第一探头设置在所述第一光轴的上端，所述第一微型拉压力传感器连接在所述第一探头和所述第一光轴之间，所述第一微型位移传感器安装在所述第一支撑架上且设置在所述第一光轴的旁侧。
  4. 根据权利要求1所述的足底软组织在体多维应力‑应变检测设备，其特征在于：其中，所述剪切应力‑应变检测单元包括依次连接的第二驱动电机、第二旋转变直线运动机构和第二探头，以及第二微型拉压力传感器和第二微型位移传感器， 所述第二旋转变直线运动机构用于将所述第二驱动电机输出的旋转运动转换成带动所述第二探头在水平方向的直线往复运动，所述第二探头用于与待检测的足底连接，所述第二微型拉压力传感器用于检测足底软组织在横向剪切方向上作用到所述第二 探头上的内力，所述第二微型位移传感器用于检测所述第二探头在检测过程中的位移。
  5. 根据权利要求4所述的足底软组织在体多维应力‑应变检测设备，其特征在于：其中 ，所述第二旋转变直线运动机构包括第二偏心轮、具有大径轴承和小径轴承的第二连接件、第二直线轴承、第二光轴、第二直线导轨、水平连杆、限位轴承以及第二支撑架，所述第二偏心轮的作为转动中心的偏心孔与沿竖向设置的所述第二驱动电机的输出轴连接，所述大径轴承的内圈与所述第二偏心轮连接，所述小径轴承的内圈与所述第二直线轴承连接， 所述第二光轴沿竖向设置且与所述第二直线轴承配合，所述第二光轴的下端与水平设置的所述第二直线导轨的滑块连接，所述第二光轴的上端与平行于所述第二直线导轨的水 平连杆连接，所述水平连杆安装在两个所述限位轴承上，所述第二直线导轨和两个所述限位轴承安装在所述第二支撑架上；所述第二探头通过竖向连杆连接在所述水平连杆上，所述第二微型拉压力传感器连接在所述水平连杆上，所述第二微型位移传感器安装在所述第二支撑架上且设置在所述竖向连杆的旁侧。
  6. 根据权利要求1所述的足底软组织在体多维应力‑应变检测设备，其特征在于：其中，所述扭矩应力‑应变检测单元包括依次连接的第三驱动电机、旋转变扭转运动机构、第三探头，以及微型动态扭矩传感器和微型角度传感器，所述旋转变扭转运动机构用于将所述第三驱动电机输出的旋转运动转换成带动所述第三探头在水平方向的扭转往复运动， 所述第三探头用于与待检测的足底连接，所述微型动态扭矩传感器用于检测足底软组织作用到所述第三探头上的扭矩，所述微型角度传感器用于检测所述第三探头在检测过程中的转动角度。
  7. 根据权利要求6所述的足底软组织在体多维应力‑应变检测设备，其特征在于：  其中 ，所述旋转变扭转运动机构包括偏心转盘、第三直线导轨、滚珠花键、带轴承的第一轴承座、第三支撑架以及带轴承的第二轴承座， 所述偏心转盘的作为转动中心的偏心孔与沿竖向设置的所述第三驱动电机的输出轴连接，所述第三直线导轨的滑轨水平设置且与沿竖向设置的所述滚珠花键的花键套连接，所 述第三直线导轨的滑块安装在所述偏心转盘的边缘处，所述滚珠花键的花键套与所述第一轴承座的轴承的内圈连接，并一起安装在所述第三支撑架上，所述滚珠花键的花键杆的下端与所述第二轴承座的轴承配合；所述第三探头设置在所述花键杆的上端，所述微型动态扭矩传感器连接在所述第三探头和所述花键杆之间，所述微型角度传感器与所述花键杆的下端连接。
  8. 根据权利要求2～7任一项所述的足底软组织在体多维应力‑应变检测设备，其特征在于：其中，探头为刚性平面探头或真空吸盘探头。
  9. 根据权利要求1所述的足底软组织在体多维应力‑应变检测设备，其特征在于： 其中，所述X‑Y轴平移机构包括移动平台、X轴驱动电机、圆柱齿轮组、X轴丝杠滑块模组、Y轴驱动电机、双轴减速机、同步带轮组件、啮合块、以及Y轴直线导轨，所述移动平台上安装所述所述径向应力‑应变检测单元、所述剪切应力‑应变检测单元、所述扭矩应力‑应变检测单元以及所述升降机构， 所述X轴丝杠滑块模组的滑块上安装所述移动平台，所述X轴丝杠滑块模组的丝杠由所述X轴驱动电机通过所述圆柱齿轮组进行驱动，所述Y轴驱动电机通过所述双轴减速机带动位于其两侧的两个所述同步带轮组件同步传动，所述X轴丝杠滑块模组的两端均安装有所述啮合块，并且两个所述啮合块分别与两个 所述同步带轮组件的同步带啮合，所述X轴丝杠滑块模组的两端分别安装在两个所述Y轴直线导轨的滑块上。
  10. 根据权利要求1所述的足底软组织在体多维应力‑应变检测设备，其特征在于： 其中，所述升降机构包括驱动件、转轴、圆锥齿轮组、以及Z轴丝杠滑块模组， 所述驱动件与水平设置的所述转轴连接，所述转轴通过所述圆锥齿轮组与所述Z轴丝杠滑块模组的丝杠连接，所述Z轴丝杠滑块模组的滑块连接并带动所述径向应力‑应变检测单元、所述剪切应力‑应变检测单元、所述扭矩应力‑应变检测单元在竖直方向升降。
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