CN107569304A - A kind of human body knee joint biomechanics characteristic test device - Google Patents

Abstract

The present invention relates to a kind of human body knee joint biomechanics characteristic test device, it includes femur angular adjustment module, shin bone angular adjustment module, shin bone drawing/pressure-loaded module, outward turning/interior the torque load-on module that turns up, vision measurement device and frame of reference for visual pursuit in shin bone.The present invention is under different flexion angle states by measuring knee joint, the quantitative loading force/torque in outside, the micro-displacement of femur, shin bone is accurately measured by vision measurement device, reaches the purpose to the test of human body knee joint biomechanics characteristic.The present invention has the characteristics that simple in construction, easy to operate, measurement accuracy is high, it is wide to be applicable crowd.

Description

A device for testing biomechanical properties of human knee joints

technical field

The invention relates to the field of biomedicine, in particular to a device for testing biomechanical properties of human knee joints.

Background technique

The stability of the knee joint is closely related to the biomechanical properties of the knee joint. At present, a series of physical examination tests such as anterior drawer test and Lachman test are commonly used in clinic to test the biomechanical properties of the knee joint, and then evaluate the stability of the knee joint. state. However, when the physical examination test is carried out, the doctor applies force/torque to the knee joint with his hand, and the small displacement of the knee joint is also felt by hand. This method is greatly affected by subjective factors and relies heavily on the doctor’s experience, so quantitative comparison cannot be made. Young people Doctors cannot implement.

Currently on the market, there is a kind of knee joint measuring instrument, mainly including Kneelax3, KT1000/KT2000, etc. The principle is to quantitatively load the tibia of the knee joint with tension and pressure, and measure the distance of the tibia moving forward and backward, so as to achieve quantitative testing of the knee joint. The purpose of joint biomechanical properties. However, this instrument can only apply tension to the tibia, not torque, and can only measure displacement perpendicular to the direction of the tibia. However, the displacement of the knee joint is a compound movement, which includes not only translational movement, but also internal and external rotation and valgus movement, which cannot be accurately measured by these sports knee joint measuring instruments. CN201611058599 discloses a knee joint biomechanical performance testing and evaluation device, which can adjust and fix the flexion angle of the knee joint bionic prosthesis, and measure the stress distribution of the bionic prosthesis under quantitative external load and external force through strain gauges. However, due to volume and configuration issues, this device can only be used to measure the biomechanical properties of knee bionic prosthesis, and cannot be applied clinically.

Contents of the invention

In view of the problems existing in the related technologies, the purpose of the present invention is to provide a device that can accurately measure the biomechanical properties of the knee joint, and can safely measure the biomechanical properties of the knee joint in a real clinical environment.

To achieve the above object, the present invention provides a device for testing biomechanical properties of the human knee joint, comprising: a femoral angle adjustment module, a tibial angle adjustment module, a tibial pull/pressure loading module, a tibial internal rotation/valgus moment loading module, and a visual measurement module. Device and reference frame for visual tracking.

Among them, the femoral angle adjustment module is used to adjust the flexion angle of the human femur, the tibial angle adjustment module is used to adjust the flexion angle of the human tibia, and the tibial tension/pressure loading module is used to realize quantitative loading of the human tibia in the vertical direction of tension and pressure, internal and external rotation of the tibia / The valgus moment loading module is used to quantitatively load the human tibia in the direction of internal and external rotation/valgus and valgus. The reference frame for visual tracking can be implanted in the femoral end and tibial end of the human body and kept stable and fixed. The visual measurement device is used for real-time tracking The three-dimensional space position and attitude of the reference frame, so as to accurately measure the displacement and rotation angle of the knee joint under quantitative force/moment loading.

The femoral angle adjustment module includes femoral longitudinal support (one on the left and right), transverse U-shaped support on the femur (one on the upper and lower), driving push rods (one on the left and right), lockable guide rail sliders (one on the left and right), ball screw nuts Linear module, fixed box. One end of the femoral longitudinal support is rotationally connected to the lockable guide rail slider through a ball bearing, and the other end is rotationally connected to one end of the drive push rod through a ball bearing; the other end of the drive push rod is connected to the nut of the ball screw nut linear module through a ball bearing The mechanism is rotationally connected; the ball screw nut linear module is fixedly connected to the fixed box through screws; the lockable guide rail slider is fixedly connected to the fixed box through screws; the longitudinal support of the femur, the driving push rod, the lockable guide rail slider and the The ball screw nut linear module forms a triangular configuration, and the lockable guide rail slider and the ball screw nut linear module are connected in series as one side of the triangle. Through the change of its length, the longitudinal support of the femur and the lockable guide rail slide can be adjusted. block angle, thereby adjusting the flexion angle of the femur.

The tibial angle adjustment module includes tibial longitudinal supports (one on each side), ball screws, ball nuts, couplings, drive motors, and motor housings; one end of the tibial longitudinal supports is connected to the drive rod through a ball bearing, and the other end is connected to the drive rod through a quick assembly. The card mechanism realizes telescopic connection with the tibial internal and external rotation/valgus moment loading module; the ball nut is rotationally connected with the tibial internal and external rotation/valgus moment loading module through ball bearings; the ball nut and the ball screw are connected by a screw nut pair; The screw is fixedly connected with the driving motor through a coupling; the driving motor is fixed in the motor housing through screws; the motor housing is connected in rotation with the other end of the driving push rod through ball bearings; the longitudinal support of the tibia, the ball screw, and the driving push rod A triangular configuration is formed; the position of the ball nut is changed through the motor drive, thereby changing the length of one side of the triangle to adjust the flexion angle of the tibia.

The tibial tension/pressure loading module includes a fast loading mechanism, a support column (one on each side), an executive grip, a tension pressure sensor, a gear pair, a drive motor, a nut mechanism, a screw mechanism, and a fixed beam; the support column is quickly installed The clip mechanism and the longitudinal support of the tibia are clamped by friction force; the fixed beam is fixedly connected with the support column through screws; the screw mechanism is fixedly connected with the fixed beam through screws; the driving motor transmits the driving force to the screw mechanism through the gear pair; The lever mechanism is driven to realize linear motion; the tension and pressure sensor connects the nut mechanism with the executive grip through screws, so as to realize quantitative tension/compression loading on the tibia of the knee joint.

The tibial internal and external rotation/valgus moment loading module includes an extended support rod (one on each side), a gear pair, a drive motor, a screw, a nut mechanism, a drive motor, a gear pair, a beam, a six-dimensional force sensor, and a foot immobilizer; The extended support rod is fixed to the longitudinal support of the tibia through the fast clamping mechanism, the driving motor transmits the driving force to the lead screw through the gear pair, and the lead screw transmits the driving force to the nut mechanism through the screw nut transmission pair, driving the foot fixer to move laterally, realizing Valgus moment loading. The driving motor is fixed by a screw and nut mechanism, and the motion is transmitted to the six-dimensional force sensor through the gear pair. The six-dimensional force sensor is fixed by the screw and the foot fixer, and the driving torque is transmitted to the foot fixer, so as to realize the quantification of the inside and outside of the tibia of the knee joint. Rotation/valgus moment loading.

The visual measurement device uses image processing technology to track the spatial position and attitude of the reference frame fixed on the femoral end and tibial end in real time, so as to accurately measure the tiny relative motion between the femur and tibia under the condition of quantitative force/moment loading of the knee joint .

Compared with the prior art, the present invention has the following obvious advantages:

1. A device for testing the biomechanical characteristics of the human knee joint of the present invention uses a DC motor as a power source, uses a gear pair and a ball screw nut mechanism as a transmission pair, and is equipped with a force sensor on the actuator, which can ensure accurate positioning of the knee joint. Force/moment loading.

2. A device for testing biomechanical properties of human knee joints according to the present invention. A visual reference frame is implanted into the end of the femur and the end of the tibia, and the relative motion of the femur and the tibia is accurately measured using a visual measurement device, with an error within 0.8mm.

3. A device for testing the biomechanical properties of the human knee joint of the present invention ensures the stability of the knee joint fixation through the double triangle configuration, and changes the side length of the double triangle through the screw and nut mechanism to realize the adjustment of the knee joint flexion angle.

Description of drawings

Fig. 1 is the structural diagram of the biomechanical characteristic testing device of human knee joint;

Fig. 2 is the structural diagram of the femoral angle adjustment module in Fig. 1;

Fig. 3 is a structural diagram of the tibial angle adjustment module in Fig. 1;

Fig. 4 is the structural diagram of the tibial pull/compression loading module in Fig. 1;

Fig. 5 is a structural diagram of the tibial internal and external rotation/valgus valgus moment loading module in Fig. 1;

Fig. 6 is a structural diagram of the visual measurement device in Fig. 1;

Fig. 7 is a structural diagram of the reference frame for visual tracking in Fig. 1;

Fig. 8 is the specific implementation environment layout diagram of the present invention

detailed description

Specific embodiments of the present invention will be described below in conjunction with the accompanying drawings.

As shown in Figure 1, a device for testing the biomechanical properties of the human knee joint includes a femoral angle adjustment module (1), a tibial angle adjustment module (2), a tibial tension/pressure loading module (3), and a tibial internal and external rotation/valgus Moment loading module (4), vision measurement device (5) and reference frame (6) for vision tracking.

As shown in Figure 2, the described femoral angle adjustment module includes a femoral longitudinal support (101) (one each on the left and right), a transverse U-shaped support on the femur (102) (one each on the upper and lower sides), and a drive push rod (103) (one on the left and right respectively). ), a lockable guide rail slider (104) (one on each side), a ball screw nut linear module (105), a fixed box (106); one end of the femoral longitudinal support (101) is connected to the The locking guide rail slider (104) is rotationally connected, and the other end is rotationally connected with one end of the drive push rod (103) through a roller bearing; the other end of the drive push rod (103) is connected with the ball screw nut linear module ( The nut mechanism of 105) is rotationally connected; the ball screw nut linear module (105) is fixedly connected to the fixed box (106) by screws; the lockable guide rail slider (104) is fixedly connected to the fixed box (106) by screws ; the femoral longitudinal support (101), the driving push rod (103), the lockable guide rail slider (104) and the ball screw nut linear module (105) form a triangular configuration, and the lockable guide rail slider (104) and The ball screw nut linear module (105) is connected in series as a side of the triangle, through the change of its length, the angle between the longitudinal support of the femur (101) and the lockable guide rail slider (104) can be adjusted, thereby adjusting the flexion of the femur angle.

As shown in Figure 3, described tibial angle adjustment module comprises tibial longitudinal support (201) (one each on the left and right), ball screw (202), ball nut (203), shaft coupling (204), driving motor (205 ), motor housing (206); one end of the tibial longitudinal support (201) is rotationally connected with the drive rod (103) through a ball bearing, and the other end is connected with the tibial internal rotation/valgus moment loading module (4 ) to realize telescopic connection; the ball nut (203) is rotationally connected with the tibial internal and external rotation/valgus and valgus moment loading module (4) through a ball bearing; the ball nut (203) and the ball screw (202) are connected by wire The rod and nut pairs are matched and connected; the ball screw is connected with the drive motor (205) through a shaft coupling (204); the drive motor (205) is fixed in the motor housing (206) by screws; the The motor housing (206) is rotationally connected to the other end of the drive push rod (103) through a ball bearing; the tibia longitudinal support (201), ball screw (202), and drive push rod (103) form a triangular configuration. The position of the ball nut (203) is changed by driving the motor, thereby changing the length of one side of the triangle to adjust the flexion angle of the tibia.

As shown in Figure 4, the tibia pull/pressure loading module includes a quick clamping mechanism (301), a support column (302) (one on each side), an executive grip (303), a pull pressure sensor (304), a gear pair (305), drive motor (306), nut mechanism (307), lead screw mechanism (308), fixed beam (309); the support column (302) is supported vertically with the tibia through the fast clamping mechanism (301) (201) is clamped by friction; the fixed beam (309) is fixedly connected with the support column (302) by screws; the screw mechanism (308) is fixedly connected with the fixed beam (309) by screws; The driving motor (306) transmits the driving force to the lead screw mechanism (308) through the gear pair (305); the described nut mechanism (307) is driven by the lead screw mechanism (308) to realize the pull-press movement; The sensor (304) securely connects the nut mechanism (307) with the executive grip (303) through screws.

As shown in Figure 5, the described tibial internal and external rotation/valgus moment loading module includes an extension support rod (401) (one on each side), a gear pair (402), a driving motor (403), a lead screw (404), a nut Mechanism (405), drive motor (406), gear pair (407), beam (408), six-dimensional force sensor (409), foot anchor (410); The card mechanism is fixed with the tibial longitudinal support (201), the driving motor (403) transmits the driving force to the leading screw (404) through the gear pair (402), and the leading screw (404) transmits the driving force to the nut mechanism ( 405), driving the foot fixer (410) to move laterally to realize valgus moment loading; the drive motor (406) is fixed by the screw and nut mechanism (405), and the motion is transmitted to the six-dimensional force sensor by the gear pair (407) (409), the six-dimensional force sensor (409) is fixed to the foot immobilizer (410) by screws, and transmits the driving torque to the foot immobilizer (410), so as to realize the quantitative internal and external rotation/valgus moment loading of the tibia of the knee joint.

As shown in Fig. 6, the described visual measurement device is a system that simulates the principle of human vision and uses image processing technology to realize real-time tracking and precise measurement of specific marks, and can track the spatial position and attitude of the reference frame (6) in real time.

As shown in Figure 7, the reference frame for visual tracking can be safely implanted in the femur and tibia, and kept tightly fixed, with different marking patterns on its upper part for the visual measurement device (5) to identify and track .

As shown in Figure 8, when the device is used, the person lies flat on the operating bed, the device is fixed at one end of the operating bed, and a leg to be tested is fixed on the device. A reference frame was implanted at the femoral end and the tibial end of the knee joint, and the visual measurement device was fixed on the side of the operating table, and the visual measurement device could track the positions of the two reference frames at the same time. When performing the test, first adjust the knee joint to the flexion angle to be tested through the controller, and record the current poses of the two reference frames. Next, precise force/moment loading is implemented on the knee joint through the control program. After loading, the poses of the two reference frames are recorded again. Finally, the computer processed and analyzed the two recorded poses to obtain the precise displacement and rotation angle of the femur and tibia before and after knee force/moment loading.

Claims (7)

1. A device for testing biomechanical properties of human knee joint, characterized in that it comprises: Femoral angle adjustment module (1), tibial angle adjustment module (2), tibial tension/pressure loading module (3), tibial internal rotation/valgus moment loading module (4), visual measurement device (5) and for visual tracking reference frame (6). 2. a kind of biomechanical characteristic testing device of human knee joint according to claim 1, is characterized in that, The femoral angle adjustment module (1) includes a femoral longitudinal support (101), a femoral transverse U-shaped support (102), a driving push rod (103), a lockable guide rail slider (104), a ball screw nut linear mold group (105), fixed box (106); said femoral longitudinal support (101), one left and right, symmetrically distributed; said femoral transverse U-shaped support (102) has two, one upper and lower respectively; said There is one driving push rod (103) on the left and right, symmetrically distributed; one end of the femoral longitudinal support (101) is rotatably connected to the lockable guide rail slider (104) through a ball bearing, and the other end is connected to the driving push rod (103) through a ball bearing. ) is rotationally connected to one end; the other end of the drive push rod (103) is rotationally connected to the nut mechanism of the ball screw nut linear module (105) through a ball bearing; the ball screw nut linear module (105) is connected to the fixed box through a screw body (106) is fixedly connected; the lockable guide rail slider (104) is fixedly connected with the fixed box body (106) by screws; ) and the ball screw nut linear module (105) form a triangular configuration, the lockable guide rail slider (104) and the ball screw nut linear module (105) are connected in series as a side of the triangle, through the change of its length, Adjust the included angle between the femoral longitudinal support (101) and the lockable guide rail slide block (104). 3. a kind of biomechanical characteristic testing device of human knee joint according to claim 1, is characterized in that, The tibial angle adjustment module (2) includes tibial longitudinal support (201), ball screw (202), ball nut (203), coupling (204), driving motor (205), motor housing (206) The tibial longitudinal supports (201) are symmetrically distributed, one on each side; one end of the tibial longitudinal supports (201) is rotatably connected to the driving rod (103) through a ball bearing, and the other end is connected to the internal and external rotation of the tibia through a quick clamping mechanism. /valgus moment loading module (4) realizes telescopic connection; the ball nut (203) is rotationally connected with the tibial internal and external rotation/valgus moment loading module (4) through a ball bearing; the ball nut (203) and The ball screw (202) is connected with a screw nut pair; the ball screw is connected with the drive motor (205) through a coupling (204); the drive motor (205) is fixed on the motor housing by screws (206); the motor housing (206) realizes rotational connection with the other end of the drive push rod (103) through a ball bearing; the tibia longitudinal support (201), ball screw (202), drive push rod (103) form a triangular configuration; the position of the ball nut (203) is changed by driving the motor, thereby changing the length of one side of the triangle and adjusting the flexion angle of the tibia. 4. a kind of human knee joint biomechanical characteristic testing device according to claim 1, is characterized in that, The tibial pulling/pressing loading module (3) includes a quick clamping mechanism (301), a supporting column (302), an executive hand grasping (303), a pulling pressure sensor (304), a gear pair (305), a drive motor ( 306), a nut mechanism (307), a lead screw mechanism (308), a fixed crossbeam (309); each of the fast card-loading mechanisms (301) is symmetrically distributed; each of the left and right support columns (302) is one , distributed symmetrically; the support column (302) is clamped by friction force with the tibial longitudinal support (201) through the quick clamping mechanism (301); the fixed beam (309) is fixed to the support column (302) by screws connected; the screw mechanism (308) is fixedly connected to the fixed beam (309) by screws; the driving motor (306) transmits the driving force to the screw mechanism (308) through the gear pair (305); the The nut mechanism (307) is driven by the lead screw mechanism (308) to realize linear motion; the tension and pressure sensor (304) connects the nut mechanism (307) with the executive grip (303) through screws. 5. a kind of biomechanical characteristic test device of human knee joint according to claim 1, is characterized in that, The tibial internal and external rotation/valgus moment loading module (4) includes an extension support rod (401), a gear pair (402), a drive motor (403), a lead screw (404), a nut mechanism (405), a drive motor ( 406), gear pair (407), crossbeam (408), six-dimensional force sensor (409), foot immobilizer (410); described extension support rods (401) each one on the left and right, symmetrically distributed; The support rod (401) is fixed to the longitudinal support of the tibia (201) through the fast clamping mechanism, the driving motor (403) transmits the driving force to the lead screw (404) through the gear pair (402), and the lead screw (404) passes the lead screw nut The pair transmits the driving force to the nut mechanism (405), drives the foot fixer (410) to move laterally, and realizes valgus moment loading; the driving motor (406) is fixed by the screw and the nut mechanism (405), and is fixed by the gear pair (407) The motion is transmitted to the six-dimensional force sensor (409), the six-dimensional force sensor (409) is fixed with the foot fixer (410) by screws, and the driving torque is transmitted to the foot fixer (410), which can quantify the tibia of the knee joint Pronation/valgus moment loading. 6. a kind of biomechanical characteristic testing device of human knee joint according to claim 1, is characterized in that, The visual measurement device (5) is a device that simulates the principle of human vision and uses image processing technology to realize real-time tracking and precise measurement of specific marks, and can track the spatial position and attitude of the reference frame (6) in real time. 7. A kind of human knee joint biomechanical characteristic testing device according to claim 1, is characterized in that, There are two reference frames (6) for visual tracking, which can be implanted in the femur and the tibia and kept tightly fixed.