An in vitro bionic mechanical testing system for spinal skeletal muscles and its application method

Abstract

The present invention discloses an in vitro bionic mechanical testing system for spinal skeletal muscle and its application method, including: a bionic mechanical loading device generates a preload force on a spinal sample to restore the in vivo mechanical environment of the spinal sample; a mechanical arm driving device drives the spinal sample to perform six-degree-of-freedom bionic functional movements; a mechanical measuring device is used to measure the feedback force on the tendon under functional movements or balanced postures; an industrial computer control device drives the bionic mechanical loading device to generate a preload force on the spinal sample; controls the mechanical arm driving device to drive the spinal sample to perform various bionic movements, receives the feedback force value measured by the mechanical measuring device, and uses a motion capture device to obtain the kinematic data of the spinal sample. This experimental platform is suitable for surgical planning of various spinal ex vivo experiments and mechanical testing of related medical devices.

Description

Technical Field

[0001] The invention relates to the field of in vitro spinal biomechanics experiments, and in particular to an in vitro bionic mechanics testing system for spinal skeletal muscles and an application method thereof. Background Art

[0002] The spine is an important supporting part connecting the skull and extremities, used to protect all the central nervous systems below the head, and has important significance and status in biology and biomechanics. The spine is mainly composed of vertebrae, intervertebral discs, and surrounding muscles and ligaments, with complex structures and complete functions. The spine, especially the cervical spine and lumbar spine, has high mobility, high frequency of use, and heavy loads. In addition to the aggravation of global aging, about 266 million people in the world face the trouble of intervertebral disc degeneration or low back pain every year. As the last bastion of battle for the treatment of spinal diseases, surgery still has a lot of room for improvement in surgical procedures, and spinal implants still need to be continuously improved and improved. In vitro mechanical testing is an important means for the development of spinal surgical procedures and the research and development of new spinal implants. Due to the complex anatomical structure and mechanical environment of the spine, ex vivo bionic mechanical testing of ex vivo spinal samples is an extremely challenging topic.

[0003] The invention of a flexible bionic testing system for the entire spinal segment has very broad clinical and engineering application prospects.

[0004] In the prior art, application number 201810661368.0 discloses a knee joint force loading and biomechanical property detection experimental platform, and application number 201710867402.5 discloses an in vitro shoulder joint bionic force loading and function detection experimental platform. Both use a PC to control the motion device to generate the force generated by the tendon / tendon in the body, so as to build a bionic mechanical platform of the bone joint on the in vitro sample; that is, by building an in vitro test platform, the in vivo mechanical environment of the ex vivo sample is restored, thereby providing more reliable experimental data for subsequent experiments.

[0005] Application No. 201610880042.8 discloses a spinal biomechanical measurement loading device for in vitro mechanical experiments of the spine, wherein the loading device is used to fix the spinal sample and several loading methods including compression loading, flexion loading, lateral flexion loading or a combination of the three. The loading device uses a motor as a power source for compression tests, flexion tests, lateral flexion tests and other tests.

[0006] Due to the complex anatomical structure and mechanical environment of the spine, the current in vitro testing environment for ex vivo bionic mechanical testing of ex vivo spinal samples has the following problems:

[0007] (1) Based on the functional spinal unit (FSU) test, the test sample only contains a test unit consisting of two vertebrae and one intervertebral disc, which cannot reflect the synergistic effect between multiple spinal segments;

[0008] (2) No mechanical restoration or non-bionic mechanical restoration is performed on the spinal tendons and hamstrings; the current testing system can only meet one or several test requirements, such as the range of motion test based on the robotic arm system, and the system flexibility is poor.

[0009] (3) It is impossible to output force to active or static spinal ligaments or tendons, that is, there is currently no good way to directly detect the force value on the ligaments / tendons. Summary of the invention

[0010] In order to overcome the defects of the prior art, the present application provides an in vitro bionic mechanical testing system for spinal skeletal muscle and its application method. By constructing a bionic in vitro skeletal muscle testing system for spinal samples, it can be suitable for multi-segment spinal sample testing and improve the mechanical bionic ability to meet the development of spinal surgical procedures and the research and development needs of spinal implants.

[0011] In a first aspect, an embodiment of the present application provides an in vitro bionic mechanical testing system for spinal skeletal muscles, comprising: a test bench, a bionic mechanical loading device, a robotic arm drive device, a mechanical measuring device, an industrial computer control device, a motion capture device, a spinal sample, and a plurality of artificial tendons.

[0012] The test bench is used to fix the spinal sample for the experiment; wherein the spinal sample includes a plurality of vertebrae, and a plurality of artificial tendons are arranged on the surface of the spinal sample;

[0013] The bionic mechanical loading device is inserted into each artificial tendon and fixedly connected to the tendon attachment point or the vertebral sagittal rotation center on the spinal sample; after receiving the control instruction, a preload force is generated on the spinal sample, and the in vivo mechanical environment of the spinal sample is restored by the generated preload force;

[0014] The mechanical arm driving device is connected to the top of the spinal sample to drive the spinal sample to perform six-degree-of-freedom bionic functional movements;

[0015] The mechanical measurement device measures the feedback force value on the tendon when the spinal sample performs functional movements or balance postures;

[0016] The industrial computer control device is respectively connected to the bionic mechanical loading device, the robotic arm driving device, the mechanical measuring device and the motion capture device by signals; the industrial computer control device has a built-in motion control card, which drives the bionic mechanical loading device based on LabVIEW to generate a preload force on the spinal sample, controls the robotic arm driving device based on MATLAB to drive the spinal sample to perform various bionic functional movements, uses the mechanical measuring device to obtain the bionic mechanical data of each connection and tendon attachment point, and uses the motion capture device to obtain the kinematic data of the spinal sample when performing bionic functional movements.

[0017] Furthermore, the bionic mechanical loading device includes multiple sets of driving devices and traction lines; the two ends of the traction lines are respectively connected to the driving devices and the spinal sample; after receiving the control instructions, the driving devices drive the traction lines to generate a pre-tightening force on the spinal sample by adjusting each of the driving devices, thereby restoring the in vivo mechanical environment of the spinal sample.

[0018] Furthermore, the mechanical measuring device is used to measure the preload value generated by the traction line on the tendon attachment point on the spinal sample; wherein, when the robotic arm driving device drives the spinal sample to a neutral equilibrium state, the measured preload value is defined as an initial preload value; when the robotic arm driving device drives the spinal sample to an expected bionic functional action, the measured preload value is defined as a dynamic preload value; and then, based on the initial preload value and the dynamic preload value, the bionic mechanical data of the artificial tendon on the spinal sample is obtained.

[0019] Furthermore, the traction wires include 8 wires; one end of 2 of the traction wires, after being passed through the corresponding artificial tendons, passes through the various vertebrae of the spinal sample, and is connected to the sagittal plane rotation center, and the other end is connected to the driving device; one end of the other 6 traction wires, after being passed through the corresponding artificial tendons, is connected to the tendon attachment point on the spinal sample, and the other end is connected to the driving device; wherein the artificial tendons use tendon materials with the same mechanical properties as each biological tendon, including bionic rectus abdominis and bionic erector spinae.

[0020] Furthermore, the driving device includes a stepper motor and a motor driver, the motor driver is signal-connected to the stepper motor and the industrial computer control device; the stepper motor is connected to the traction line.

[0021] Furthermore, the mechanical measurement device includes a force sensor, a signal conditioner and a signal acquisition card;

[0022] The signal conditioner is connected to the force sensor and the signal acquisition card; the number of the force sensors matches the traction line and is arranged on the traction line; the force sensor collects the preload force value generated on the traction line, and after being processed by the signal conditioner, it is transmitted to the industrial computer control device using the signal acquisition card.

[0023] Furthermore, the test bench at least includes a base and a supporting device installed on the base; the supporting device includes a bottom plate, a support platform pillar, a support platform and a supporting fixture from bottom to top.

[0024] Furthermore, the robot arm driving device includes a robot arm body, a force gauge and a robot arm clamp, and the force gauge is rigidly connected to the robot arm body and the robot arm clamp respectively through bolts.

[0025] In a second aspect, this embodiment provides an in vitro bionic mechanics measurement method for spinal skeletal muscle, characterized in that the in vitro bionic mechanics test system for spinal skeletal muscle as described in the first aspect is used, and the method comprises:

[0026] S11, fix the spine sample to the test bench;

[0027] S12, after inserting the artificial tendon, the bionic mechanical loading device is fixed to the tendon attachment point of the spinal sample and the sagittal rotation center of each vertebra;

[0028] S13, fix the end of the robot arm driving device to the top of the spine sample;

[0029] S14, sending a control instruction to the bionic mechanical loading device based on LabVIEW, controlling the bionic mechanical loading device to generate a preload force on the spinal sample, and cooperating with the force gauge data output by the mechanical arm driving device to make the spinal sample in a neutral balance state;

[0030] S15, sending a control instruction to the robot arm driving device based on MATLAB, controlling the robot arm driving device to drive the spine sample to perform various bionic functional movements;

[0031] S16, receiving the feedback force value measured by the mechanical measurement device;

[0032] S17, obtaining bionic mechanical data of each tendon attachment point connected thereto according to the changed feedback force value.

[0033] In a third aspect, this embodiment provides an in vitro bionic kinematics measurement method for spinal skeletal muscles, characterized in that the in vitro bionic mechanics testing system for spinal skeletal muscles as described in the first aspect is used, and the method comprises:

[0034] S21, fix the spine sample to the test bench;

[0035] S22, after inserting the artificial tendon, the bionic mechanical loading device is fixed to the tendon attachment point of the spinal sample and the sagittal rotation center of each vertebra;

[0036] S23, fix the end of the robot arm driving device to the top of the spine sample;

[0037] S24, based on LabVIEW, a control instruction is sent to the bionic mechanical loading device to control the bionic mechanical loading device to generate a preload force on the spinal sample, so that the spinal sample is in a neutral balance state; and three infrared reflective balls are fixed to the vertebral body of each segment to capture the motion of the vertebral body;

[0038] S25, sending a control instruction to the mechanical arm driving device based on MATLAB, controlling the mechanical arm driving device to drive the spinal column sample to perform a certain bionic flexion posture;

[0039] S26, sending a control instruction to the bionic mechanics loading device based on LabVIEW, adjusting the preload force generated by the bionic mechanics loading device, until the force gauge return value on the robot arm drive device is a pure torque, performing the next bionic function action, and looping the operation;

[0040] S28, using a motion capture device to record the position parameters of the motion of each vertebra in the spinal column sample, and obtaining kinematic data of the spinal column sample when performing bionic functional motions according to the position parameters of each vertebra.

[0041] The in vitro bionic mechanical testing system for spinal skeletal muscle and its application method provided in the embodiments of the present application have at least the following technical effects:

[0042] 1. The present invention utilizes a bionic mechanical loading device, a mechanical arm driving device, a mechanical measuring device, an industrial computer control device, a spinal sample, and several artificial tendons to construct a simple and easy-to-use in vitro bionic mechanical testing system for spinal skeletal muscle from the hardware structure and software program, so as to perform biomechanical testing of spinal skeletal muscle, thereby meeting the requirements of mechanical testing and kinematic testing of in vitro spinal skeletal muscle, and presenting a complete closed-loop control circuit and working mode through clear hardware construction, thereby reducing the experimental time cost and learning cost, so as to improve the experimental efficiency, meet the needs of spinal skeletal muscle surgical procedure testing and implant function evaluation. At the same time, it can be expanded to other bionic experiments to improve the flexibility of system testing and the practicality of the system.

[0043] 2. The present invention uses a bionic mechanical loading device to generate a preload force on the spinal sample, thereby restoring the in vivo mechanical environment of the spinal sample through the preload force. Furthermore, multiple driving devices are connected to multiple parts of the spinal sample, including tendon attachment points and the sagittal rotation center of the vertebral body, so that when performing a bionic flexion posture, the preload force value of the tendon to the tendon attachment point or the position parameter of the vertebral body can be obtained, thereby realizing the measurement of the bionic mechanical data or bionic kinematic data of the spinal sample.

[0044] 3. The present invention uses a mechanical measuring device to measure the preload value generated by the traction line on the spinal sample to obtain the bionic mechanical data of each artificial tendon, so as to solve the problem that the existing technology cannot output force to active or static spinal tendons or tendons, that is, there is currently no good way to directly detect the value of the force on the tendon / tendon.

[0045] 4. The present invention has a built-in motion control card in the industrial computer control device to send control instructions to the bionic mechanics loading device and the mechanical arm driving device to drive the spinal sample to produce corresponding movements. The industrial computer control device with a built-in motion control card makes it possible to adjust the driving force of the bionic mechanics loading device and the mechanical arm driving device on the spinal sample, thereby achieving the driving force accuracy of the artificial tendon and the spinal sample, and timely obtaining feedback signals to generate more accurate and flexible driving force.

[0046] 5. One end of a part of the traction line of the present invention passes through the corresponding artificial tendon, starts from the corresponding tendon attachment point, and is then connected to the corresponding driving device. Since the artificial tendon used has the same tendon material with the same mechanical properties as the biological tendon, its anatomical structure (cross-sectional size and length) is the same as the original biological tendon structure at the anatomical point to which it is attached, thereby achieving personalized treatment of each artificial tendon, thereby reducing the rigid impact at the moment of loading and preventing the traction line from falling off at the tendon attachment point, so as to output the preload force value on each artificial tendon in the flexion posture, thereby solving the existing problem of being unable to directly measure the force value generated by the tendon, and further achieving the measurement and recording of force through force loading and movement.

[0047] 6. The bionic mechanical loading device adopted in the present invention includes multiple sets of driving devices and traction lines, which are respectively connected to the spinal samples. According to the direction of each traction line, the pre-tightening force of the driving device on the traction line is adjusted, and the accuracy of the pre-tightening force on the spinal sample is improved through the different dynamic pre-tightening forces of each traction line. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 This is a structural block diagram of an in vitro bionic mechanical testing system for spinal skeletal muscle in an embodiment of the present application;

[0049] Figure 2This is a schematic diagram of the overall assembly structure of an in vitro bionic mechanical testing system for spinal skeletal muscle in an embodiment of the present application;

[0050] Figure 3 This is a schematic diagram of the assembly structure of a test bench in an embodiment of the present application;

[0051] Figure 4 It is a schematic diagram of the motion load control structure of the bionic mechanics loading device in the embodiment of the present application;

[0052] Figure 5 A schematic diagram of the traction structure of the bionic mechanics loading device in an embodiment of the present application;

[0053] Figure 6 A schematic diagram of a sample structure of a robotic arm controlling a spine in an embodiment of the present application;

[0054] Figure 7 It is a schematic diagram of the structure of a force feedback loop of a mechanical measurement device in an embodiment of the present application;

[0055] Figure 8 This is a schematic diagram of the installation of reflective balls on the surface of the spine sample in the embodiment of the present application;

[0056] Fig. 9 This is a flow chart of an in vitro bionic mechanical testing method for spinal skeletal muscle in an embodiment of the present application;

[0057] Fig.10 This is a flow chart of an in vitro bionic kinematic measurement method of spinal skeletal muscles in an embodiment of the present application.

[0058] Figure Number:

[0059] Industrial computer control device 100, bionic mechanical loading device 200, stepper motor 211, motor driver 212, traction line 220, robot arm drive device 300, robot arm body 310, force gauge 320, robot arm fixture 330, mechanical measuring device 400, force sensor 410, signal conditioner 420, signal acquisition card 430, test bench 500, base 510, support device 520, bottom plate 521, support platform 522, support platform pillar 523, support fixture 524, power supply device 600, spinal sample 1a, artificial tendon 2b, motion capture device 700, reflective ball 710. DETAILED DESCRIPTION

[0060] In order to better understand the above technical solution, the above technical solution will be described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0061] Embodiment 1

[0062] refer to Figure 1-2As shown, this embodiment provides an in vitro bionic mechanical testing system for spinal skeletal muscles, including: a test bench 500, a bionic mechanical loading device 200, a robotic arm driving device 300, a mechanical measuring device 400, an industrial computer control device 100, a motion capture device 700, a spinal sample 1a and a plurality of artificial tendons 2b.

[0063] In this embodiment, a power supply device 600 is also included to provide power to the bionic mechanical loading device 200 , the robot arm driving device 300 , the mechanical measuring device 400 , the industrial computer control device 100 and the motion capture device 700 .

[0064] The test bench 500 in this embodiment is used to fix the spinal sample 1a of the experiment. The spinal sample 1a includes a plurality of vertebrae, and a plurality of artificial tendons are arranged on the surface of the spinal sample 1a. Figure 3 As shown, the test bench 500 in this embodiment includes at least a base 510 and a support device 520 installed on the base 510. The base 510 is set on the ground or on a platform, and the base 510 is larger than the support device 520, so as to improve the stability of the experiment in the hardware structure. Among them, the upper surface of the base 510 in this embodiment is provided with a plurality of criss-cross mounting grooves. Through the criss-cross mounting groove design, it is convenient to install the support device 520, so that the equipment can be recycled to different experimental occasions, thereby reducing the cost of the experimental equipment. The support device 520 in this embodiment includes a bottom plate 521, a support support column 523, a support platform 522 and a support fixture 524 from bottom to top. Among them, the bottom plate 521 is rigidly connected to the base 510 by bolts, and a plurality of support pillars 523 are installed on the bottom plate 521. In this embodiment, according to the rectangular shape of the support 522, four support pillars 523 are installed, which are respectively arranged at the four corners of the support 522. A support clamp 524 is fixedly installed on the upper end of the support 522, and the bottom end of the spine sample 1a is fixed by the support clamp 524.

[0065] Reference Figure 4-5 As shown, the bionic mechanical loading device 200 in this embodiment is provided with artificial tendons 2b and fixedly connected to the tendon attachment points or the vertebral sagittal rotation center on the spinal sample 1a. After receiving the control instruction, the bionic mechanical loading device 200 generates a preload force on the spinal sample 1a, and restores the in vivo mechanical environment of the spinal sample 1a through the generated preload force.

[0066] Furthermore, the bionic mechanical loading device 200 includes a plurality of driving devices and traction lines 220; the driving devices and traction lines 220 are arranged in pairs, and in this embodiment, each driving device drives a traction line 220. The two ends of the traction line 220 are respectively connected to the driving device and the spinal sample 1a, so that after receiving the control instruction, the driving device adjusts each driving device to drive the traction line 220 to generate a pre-tightening force on the spinal sample 1a, thereby restoring the in vivo mechanical environment of the spinal sample 1a.

[0067] The traction wires 220 in this embodiment include 8 wires; one end of two of the traction wires 220 passes through each vertebra of the spinal sample 1a after being passed through the corresponding artificial tendons 2b, and is connected to the sagittal rotation center, and the other end is connected to the driving device; further, two traction wires 220 pass through the left and right sides of the spinal sample 1a, connecting the sagittal rotation center of each vertebra. One end of the other six traction wires 220 connects the tendon attachment point on the spinal sample 1a after being passed through the corresponding artificial tendons 2b, and the other end is connected to the driving device. In this embodiment, the artificial tendon 2b uses tendon materials with the same mechanical properties as each biological tendon, including bionic rectus abdominis and bionic erector spinae. Further, the artificial tendon 2b includes 1 bionic rectus abdominis and 5 bionic erector spinae.

[0068] The driving device in this embodiment includes a stepper motor 211 and a motor driver 212 . The motor driver 212 is signal-connected to the stepper motor 211 and the industrial computer control device 100 . The stepper motor 211 is connected to the traction line 220 .

[0069] refer to Figure 6 As shown, the robot driving device 300 in this embodiment is connected to the top of the spine sample 1a to drive the spine sample 1a to perform a variety of bionic flexion postures. Further, the robot driving device 300 includes a robot body 310, a force gauge 320 and a robot clamp 330, and the force gauge 320 is rigidly connected to the robot body 310 and the robot clamp 330 by bolts. The robot body 310 in this embodiment adopts a KUKA robot.

[0070] refer to Figure 7As shown, the mechanical measuring device 400 in this embodiment measures the feedback force on the tendon under functional movements or balanced postures. That is, the preload value generated by the traction line on the tendon attachment point on the spinal sample. In this embodiment, since the bionic mechanical loading device 200 drives the spinal sample 1a to perform six-degree-of-freedom bionic functional movements to form a variety of bionic flexion postures, the preload value generated on the spinal sample 1a. The mechanical measuring device 400 measures the preload value generated by the traction line 220 on the tendon attachment point on the spinal sample 1a to obtain the feedback force value on the tendon. Furthermore, the force value on the tendon attachment point of the spinal sample 1a in each bionic flexion posture can also be referred to as the magnitude of muscle force. Among them, when the robot driving device 300 drives the spine sample 1a to be in a neutral balance state, the measured preload value is defined as the initial preload value; when the robot driving device 300 drives the spine sample 1a to be in the expected bionic flexion posture, the measured preload value is defined as the dynamic preload value; and then the bionic mechanical data of the artificial tendon 2b on the spine sample 1a is obtained according to the initial preload value and the dynamic preload value. Further, the mechanical measurement device 400 in this embodiment includes a force sensor 410, a signal conditioner 420 and a signal acquisition card 430; the signal conditioner 420 is connected to the force sensor 410 and the signal acquisition card 430; the number of force sensors 410 matches the traction line 220 and is arranged on the traction line 220; the force sensor 410 collects the preload value generated on the traction line 220, and after being processed by the signal conditioner 420, it is transmitted to the industrial computer control device 100 using the signal acquisition card 430.

[0071] The industrial computer control device 100 in this embodiment is signal-connected to the bionic mechanics loading device 200 , the robot arm driving device 300 , the mechanics measuring device 400 and the motion capturing device 700 , respectively.

[0072] The industrial computer control device 100 has a built-in motion control card, which drives the bionic mechanical loading device 200 based on LabVIEW to generate a preload force on the spinal sample 1a, controls the robotic arm driving device 300 based on MATLAB to drive the spinal sample 1a to perform various bionic functional movements, receives the feedback force value measured by the mechanical measuring device 400, and uses the motion capture device 700 to obtain the kinematic data of the spinal sample 1a when performing bionic functional movements.

[0073] The industrial computer control device 100 in this embodiment has a built-in motion control card, which sends control instructions to the bionic mechanics loading device 200 through LabVIEW, and controls the bionic mechanics loading device 200 to generate a preload force on the spinal sample 1a, so that the spinal sample 1a is in a neutral position.

[0074] The industrial computer control device 100 uses the motion control program in the MATLAB software to control the mechanical arm drive device to drive the spinal sample to perform various bionic functional actions, so that the preload force generated by the bionic mechanical loading device changes dynamically, and then receives the preload force value measured by the mechanical measuring device. Further, the industrial computer control device 100 controls the mechanical arm drive device 300 to drive the spinal sample 1a to perform various bionic functional actions, so that it forms a variety of flexion postures, so that the preload force generated by the bionic mechanical loading device 200 changes dynamically, and then receives the preload force value measured by the mechanical measuring device 400. Based on the data processing program in the MATLAB software, the bionic mechanical data of each artificial tendon 2b is obtained according to the changed preload force value. Or when the robot driving device 300 is controlled to drive the spinal sample 1a to perform a certain bionic functional action, a control instruction is sent to the bionic mechanical loading device 200 to adjust the preload force generated by the bionic mechanical loading device 200, until the force gauge 320 on the robot driving device 300 returns a pure torque, and then the next bionic functional action is performed; or, when the robot driving device is controlled to drive the spinal sample to perform a certain bionic functional action, a control instruction is sent to the bionic mechanical loading device to adjust the preload force generated by the bionic mechanical loading device, until the force gauge on the robot driving device returns a pure torque, and then the next bionic flexion posture is performed; the motion capture device is used to record the position parameters of the movement of each vertebra in the spinal sample, and the bionic kinematic data of the spinal sample is obtained through the position parameters of each vertebra.

[0075] In this embodiment, a motion capture device is used to obtain bionic kinematic data. Figure 8 As shown, a number of reflective balls, such as infrared reflective balls, are arranged on the spine sample. The reflective balls are rigidly connected to each vertebra. As shown in the figure, each vertebra is rigidly connected to 3 infrared reflective balls so that the infrared capture device can capture the motion. Furthermore, before the motion capture experiment, the anatomical feature points of the spine sample are extracted by a pointer to establish a three-dimensional spatial coordinate system of the spine sample, so that the motion capture device can continuously track the reflective marker cluster rigidly connected to the femur, tibia and patella of the knee joint to obtain the kinematic data of the knee joint during the spinal motion experiment.

[0076] Embodiment 2

[0077] refer to Fig. 9 As shown, this embodiment provides an in vitro bionic mechanical testing method for spinal skeletal muscles, using the in vitro bionic mechanical testing system for spinal skeletal muscles of embodiment 1, and the method includes the following steps.

[0078] S11: Fix the spine sample 1a to the test bench 500;

[0079] S12: After the artificial tendon 2b is inserted into the bionic mechanical loading device 200, it is fixed to the tendon attachment point of the spinal column sample 1a and the sagittal rotation center of each vertebra;

[0080] S13: Fixing the end of the robot arm driving device 300 to the top of the spine sample 1a;

[0081] S14: sending a control instruction to the bionic mechanics loading device 200 based on LabVIEW to control the bionic mechanics loading device 200 to generate a preload force on the spinal sample 1a, so that the spinal sample 1a is in a neutral balance state;

[0082] S15: Sending control instructions to the robot drive device 300 based on MATLAB to control the robot drive device 300 to drive the spine sample 1a to perform various bionic functional actions;

[0083] S16: receiving the feedback force value measured by the mechanical measuring device 400;

[0084] S17: According to the changed feedback force value, the bionic mechanical data of the attachment points of each tendon are obtained.

[0085] Embodiment 3

[0086] refer to Fig.10 As shown, this embodiment provides an in vitro bionic kinematics measurement method for spinal skeletal muscles, using the in vitro bionic mechanics testing system for spinal skeletal muscles of embodiment 1, and the method includes the following steps.

[0087] S21: Fixing the spine sample 1a to the test bench 500;

[0088] S22: After the artificial tendon 2b is inserted into the bionic mechanical loading device 200, it is fixed to the tendon attachment point of the spinal column sample 1a and the sagittal rotation center of each vertebra;

[0089] S23: Fixing the end of the robot arm driving device 300 to the top of the spine sample 1a;

[0090] S24: Sending a control instruction to the bionic mechanical loading device 200 based on LabVIEW to control the bionic mechanical loading device 200 to generate a preload force on the spinal sample 1a, so that the spinal sample 1a is in a neutral balance state; and fixing three infrared reflective balls 710 on the vertebral body of each segment to capture the motion of the vertebral body;

[0091] S25: Sending a control instruction to the robot drive device 300 based on MATLAB to control the robot drive device 300 to drive the spine sample 1a to perform a certain bionic functional action;

[0092] S26: Send a control instruction to the bionic mechanics loading device 200 based on LabVIEW, adjust the preload force generated by the bionic mechanics loading device 200, until the force gauge 320 on the robot drive device 300 returns a pure torque along the known axis, and perform the next bionic function action with a fixed angle as the step angle, and repeat the operation;

[0093] S27: Using a motion capture device to record the position parameters of the motion of each vertebra in the spinal sample 1a, and obtaining kinematic data of the spinal sample when performing bionic functional motions based on the position parameters of each vertebra.

[0094] Although the preferred embodiments of the present invention have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0095] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. An in vitro bionic mechanical testing system for spinal skeletal muscles, characterized in that: It includes a test bench, a bionic mechanical loading device, a mechanical arm driving device, a mechanical measuring device, an industrial computer control device, a motion capture device, a spinal sample and several artificial tendons; The test bench is used to fix the spinal specimen for the experiment; the spinal specimen includes a plurality of vertebrae, and a plurality of artificial tendons are arranged on the surface of the spinal specimen; The bionic mechanical loading device is installed in each artificial tendon and fixedly connected to the tendon attachment point or the vertebral sagittal rotation center on the spinal sample. After receiving the control instruction, it generates a preload force on the spinal sample, and restores the in vivo mechanical environment of the spinal sample through the generated preload force. The mechanical arm driving device is connected to the top of the spinal sample to drive the spinal sample to perform six-degree-of-freedom bionic functional movements; The mechanical measurement device measures the feedback force value on the tendon when the spinal sample performs functional movements or balance postures; The industrial computer control device is respectively connected to the bionic mechanical loading device, the mechanical arm driving device, the mechanical measuring device and the motion capture device by signals; the industrial computer control device has a built-in motion control card, which drives the bionic mechanical loading device to generate a preload force on the spinal sample based on LabVIEW, controls the mechanical arm driving device to drive the spinal sample to perform various bionic functional actions based on MATLAB, uses the mechanical measuring device to obtain the bionic mechanical data of each tendon attachment point, and uses the motion capture device to obtain the kinematic data of the spinal sample when performing bionic functional actions; The bionic mechanical loading device includes a plurality of driving devices and traction lines; the two ends of the traction lines are respectively connected to the driving devices and the spinal sample; after receiving the control instruction, the driving devices drive the traction lines to generate a pre-tightening force on the spinal sample by adjusting each of the driving devices to restore the in vivo mechanical environment of the spinal sample; The mechanical measurement device is used to measure the preload force value generated by the traction line on the tendon attachment point on the spinal sample; when the mechanical arm driving device drives the spinal sample to a neutral equilibrium state, the measured preload force value is defined as an initial preload force value; when the mechanical arm driving device drives the spinal sample to an expected bionic functional action, the measured preload force value is defined as a dynamic preload force value; and then, based on the initial preload force value and the dynamic preload force value, the bionic mechanical data of the artificial tendon on the spinal sample is obtained; The mechanical measurement device includes a force sensor, a signal conditioner and a signal acquisition card; The test bench at least comprises a base and a supporting device installed on the base.

2. The system according to claim 1, characterized in that The traction wires include 8 wires; one end of two of the traction wires, after being passed through the corresponding artificial tendons, passes through the various vertebrae of the spinal sample, and is connected to the sagittal plane rotation center, and the other end is connected to the driving device; one end of the other six traction wires, after being passed through the corresponding artificial tendons, is connected to the tendon attachment point on the spinal sample, and the other end is connected to the driving device; the artificial tendons use tendon materials with the same mechanical properties as various biological tendons, including bionic rectus abdominis and bionic erector spinae.

3. The system according to claim 2, characterized in that The driving device includes a stepper motor and a motor driver, the motor driver is signal-connected with the stepper motor and the industrial computer control device; the stepper motor is connected with the traction line.

4. The system according to claim 1, characterized in that The signal conditioner is connected to the force sensor and the signal acquisition card; the number of the force sensors matches the traction line and is arranged on the traction line; the force sensor collects the preload force value generated on the traction line, and after being processed by the signal conditioner, it is transmitted to the industrial computer control device using the signal acquisition card.

5. The system according to claim 1, wherein: The supporting device comprises, from bottom to top, a base plate, a support platform support column, a support platform and a supporting fixture.

6. The system according to claim 1, wherein: The robot arm driving device comprises a robot arm body, a force gauge and a robot arm clamp, and the force gauge is rigidly connected to the robot arm body and the robot arm clamp respectively through bolts.

7. An in vitro bionic mechanical measurement method for spinal skeletal muscle, characterized in that: Using the in vitro bionic mechanical testing system for spinal skeletal muscle according to any one of claims 1 to 6, the method comprises: S11, fix the spine sample to the test bench; S12, after passing the bionic mechanical loading device through the artificial tendon, fix it to the tendon attachment point of the spinal sample and the sagittal rotation center of each vertebra; S13, fix the end of the robot arm driving device to the top of the spine sample; S14, sending a control instruction to the bionic mechanical loading device based on LabVIEW, controlling the bionic mechanical loading device to generate a preload force on the spinal sample, and cooperating with the force gauge data output by the mechanical arm driving device to make the spinal sample in a neutral balance state; S15, sending a control instruction to the robot arm driving device based on MATLAB, controlling the robot arm driving device to drive the spine sample to perform various bionic functional movements; S16, receiving the feedback force value measured by the mechanical measurement device; S17, obtaining bionic mechanical data of the attachment points of the tendons according to the changed feedback force value.

8. An in vitro bionic kinematic measurement method for spinal skeletal muscles, characterized in that: Using the in vitro bionic mechanical testing system for spinal skeletal muscle according to any one of claims 1 to 6, the method comprises: S21, fix the spine sample to the test bench; S22, the bionic mechanical loading device is inserted into the artificial tendon and fixed to the tendon attachment point of the spinal sample and the sagittal rotation center of each vertebra; and three infrared reflective balls are fixed to the vertebra of each segment to capture the motion of the vertebra; S23, fix the end of the robot arm driving device to the top of the spine sample; S24, sending a control instruction to the bionic mechanical loading device based on LabVIEW to control the bionic mechanical loading device to generate a preload force on the spinal sample, so that the spinal sample is in a neutral balance state; S25, sending a control instruction to the robot arm driving device based on MATLAB, controlling the robot arm driving device to drive the spine sample to perform a certain bionic functional action; S26, sending a control instruction to the bionic mechanics loading device based on LabVIEW, adjusting the preload force generated by the bionic mechanics loading device, until the force gauge on the manipulator driving device returns a pure torque along the known axis, taking a fixed angle as the step angle, performing the next bionic function action, and looping the operation; S28, using a motion capture device to record the temporal spatial position of the infrared reflective ball on the vertebra, calculating the position parameters of the movement of each vertebra in the spinal sample, and obtaining the kinematic data of the spinal sample when performing bionic functional movements based on the position parameters of each vertebra.

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