A semi-circulatory device, method and loading system for a culture medium for a spinal column

Abstract

The present application relates to the technical field of medical equipment, in particular to a kind of semi-circulation device, method and loading system of spinal cord culture solution.The device includes: incubator, inside contains the force loading mechanism of spinal cord, the force loading mechanism is used to exert force load to the spinal cord, the force loading mechanism is provided with the culture dish with opening, the culture dish is used to contain the spinal cord, the incubator is used to provide constant temperature and constant humidity environment;Storage box, inside contains the storage container for containing culture solution, the storage box is used to provide the storage temperature environment of the culture solution;Liquid inlet pump, two ends are communicated with the storage container and the culture dish respectively by pipeline, for the culture solution in the storage container is transported into the culture dish;Liquid outlet pump, two ends are communicated with the bottom of the culture dish and the waste liquid tank outside by pipeline, for the culture solution in the culture dish is transported into the waste liquid tank.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical equipment, and in particular to a semi-circulation device, method and loading system for culture solution of a spine. BACKGROUND

[0002] Mechanical load is essential for maintaining the structure and function of bone. Bone tissue is adaptive to its mechanical environment. When the mechanical load on bone tissue decreases, bone mass loss occurs, the structure strength of bone tissue decreases, and thus the overall mechanical performance of the bone decreases.

[0003] In related technologies, the spine is usually taken as a research object to study mechanical properties, that is, the spine is contained in a culture dish filled with culture solution, and an external force is applied to the isolated cultured spine to study the influence of the external force on the intervertebral disc tissue. The above scheme requires a worker to hold a syringe to draw culture solution from a storage container, then inject the culture solution in the syringe into the culture dish through a culture solution injection port of the culture dish, and then draw the culture solution from the culture dish using the syringe after the experiment is completed. Obviously, the above scheme may cause contamination of the culture solution during the transfer of the culture solution.

[0004] Therefore, there is an urgent need for a semi-circulation device, method and loading system for culture solution of a spine to solve the above technical problems. SUMMARY

[0005] The present application provides a semi-circulation device, method and loading system for culture solution of a spine, which can avoid contamination of the culture solution during the transfer of the culture solution.

[0006] In a first aspect, the present application provides a semi-circulation device for culture solution of a spine, comprising:

[0007] a culture box containing a force loading mechanism of a spine inside, the force loading mechanism being configured to apply a force load to the spine, the force loading mechanism being provided with a culture dish having an opening, the culture dish being configured to contain the spine, and the culture box being configured to provide a constant temperature and humidity environment;

[0008] a storage box containing a storage container for containing culture solution inside, the storage box being configured to provide an environment with a storage temperature of the culture solution;

[0009] a liquid inlet pump, two ends of which are respectively connected to the storage container and the culture dish through pipelines, and the liquid inlet pump being configured to deliver the culture solution in the storage container to the culture dish;

[0010] a liquid outlet pump, two ends of which are respectively connected to the bottom of the culture dish and an external waste liquid tank through pipelines, and the liquid outlet pump being configured to deliver the culture solution in the culture dish to the waste liquid tank.

[0011] In a second aspect, the embodiment of the present application provides a semi-circulation method of culture solution of a spine, based on the semi-circulation device of culture solution of a spine in any of the above embodiments, the method comprises:

[0012] Before the force loading mechanism applies force load to the spine, the culture solution in the storage container is delivered into the culture dish by the liquid inlet pump;

[0013] After the mechanical experiment on the spine is completed, the culture solution in the culture dish is delivered into the waste liquid tank by the liquid outlet pump.

[0014] In a third aspect, the embodiment of the present application provides a loading system of a spine, comprising the semi-circulation device of culture solution of a spine in any of the above embodiments.

[0015] As can be seen from the above scheme, the semi-circulation device of culture solution of a spine provided by the present application can deliver the culture solution in the storage container in the storage tank into the culture dish in the culture tank by the liquid inlet pump before the force loading mechanism applies force load to the spine, and can deliver the culture solution in the culture dish into the external waste liquid tank by the liquid outlet pump after the mechanical experiment on the spine is completed, so that the culture solution can be prevented from being polluted during the transfer of the culture solution. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced below. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor based on these drawings.

[0017] Figure 1 A structural schematic diagram of the semi-circulation device of culture solution of a spine and the force loading mechanism provided by an embodiment of the present application;

[0018] Figure 2 A structural schematic diagram of the culture dish provided by an embodiment of the present application;

[0019] Figure 3 Another structural schematic diagram of the culture dish provided by an embodiment of the present application;

[0020] Figure 4 A structural schematic diagram of the force loading mechanism provided by an embodiment of the present application;

[0021] Figure 5 A structural schematic diagram of the force loading mechanism provided by an embodiment of the present application; Figure 4 An enlarged schematic diagram of position A in FIG. 4;

[0022] Figure 6 FIG. 4 is a front view of the force loading mechanism shown in FIG. 3; Figure 4

[0023] Figure 7 FIG. 5 is an enlarged schematic view of the middle B shown in FIG. 4; Figure 6

[0024] Figure 8 FIG. 6 is a cross-sectional schematic view of the force loading mechanism shown in FIG. 5; Figure 4

[0025] Figure 9 FIG. 7 is an enlarged schematic view of the middle C shown in FIG. 6; Figure 8

[0026] Figure 10 FIG. 8 is an enlarged schematic view of the middle D shown in FIG. 7. Figure 8 Reference signs:

[0027] 11-incubator; 12-preservation box; 13-liquid inlet pump; 14-liquid outlet pump; 15-overflow prevention pump; 16-pipeline; 19-waste liquid tank; 111-liquid inlet interface; 112-liquid outlet interface; 113-overflow prevention interface; 121-storage container;

[0028] 21-frame; 22-axial loading mechanism; 23-circumferential loading mechanism; 24-culture dish; 25-first mounting seat; 26-second mounting seat; 27-mounting groove; 211-guide column; 212-first flat plate;

[0029] 213-second flat plate; 214-third flat plate; 215-fourth flat plate; 216-fifth flat plate; 221-first output shaft; 222-first connecting piece; 223-first force sensor; 231-second output shaft;

[0030] 232-rotary assembly; 233-connecting assembly; 232a-rotation shaft; 232b-fixing seat; 232c-bearing;

[0031] 233a-second connecting piece; 233b-third connecting piece; 233c-fourth connecting piece; 241-liquid inlet;

[0032] 242-liquid outlet; 243-overflow prevention opening; 244-splash-proof cover; 245-bone cement injection opening; 246-pressing plate;

[0033] 247-O-ring; 248-silica gel pad; 249-fixing table.

[0034] DETAILED DESCRIPTION

[0035] ​​​​​In order to make the purposes, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall into the protection scope of the present application.

[0036] Referring to Figure 1 The embodiments of the present application provide a semi-circulation device for a culture solution of a spine, which comprises a culture box 11, a storage box 12, an inlet pump 13 and an outlet pump 14, wherein:

[0037] The culture box 11 internally contains a force loading mechanism for the spine, the force loading mechanism is used for applying a force load to the spine, the force loading mechanism is provided with a culture dish 24 with an opening, the culture dish 24 is used for containing the spine, and the culture box 11 is used for providing a constant temperature and humidity environment;

[0038] The storage box 12 internally contains a storage container 121 for containing the culture solution, and the storage box 12 is used for providing an environment of a storage temperature of the culture solution;

[0039] The inlet pump 13 is communicated with the storage container 121 and the culture dish 24 through a pipeline 16 at both ends, and is used for conveying the culture solution in the storage container 121 to the culture dish 24;

[0040] The outlet pump 14 is communicated with the bottom of the culture dish 24 and an external waste liquid tank 19 through a pipeline 16 at both ends, and is used for conveying the culture solution in the culture dish 24 to the waste liquid tank 19.

[0041] In the embodiments, by arranging the culture box 11, the storage box 12, the inlet pump 13 and the outlet pump 14, the culture solution in the storage container 121 in the storage box 12 can be conveyed to the culture dish 24 in the culture box 11 by the inlet pump 13 before the force loading mechanism applies the force load to the spine, and the culture solution in the culture dish 24 can be conveyed to the external waste liquid tank 19 by the outlet pump 14 after the mechanical experiment on the spine is completed, so that the culture solution can be prevented from being polluted in the process of transferring the culture solution.

[0042] It can be understood that the closer the environment of the loading experiment of the ex vivo spine to the actual situation, the closer the mechanical data obtained to the real mechanical data of the in vivo spine, and therefore the force loading mechanism needs to be arranged in the incubator 11 capable of providing a constant temperature and humidity environment. Similarly, the culture solution also needs to be in a certain temperature environment (for example, 4℃), and therefore the storage container 121 needs to be arranged in the storage box 12 capable of providing a culture solution storage temperature environment. In some embodiments, the storage box 12 can be a refrigerator, which is not limited herein.

[0043] In order to establish an exchange channel of the storage container 121 and the culture dish 24, the pipeline 16 can be arranged; in order to ensure the delivery power of the culture solution, the liquid inlet pump 13 and the liquid outlet pump 14 can be arranged, that is, before the force loading mechanism applies a force load to the spine, the culture solution in the storage container 121 in the storage box 12 is delivered to the culture dish 24 in the incubator 11 by the liquid inlet pump 13, and after the mechanical experiment on the spine is completed, the culture solution in the culture dish 24 is delivered to the external waste liquid tank 19 by the liquid outlet pump 14. It can be known that the culture solution of the semi-circulation device provided by the embodiment of the present application can only be used for one mechanical experiment (for example, a mechanical experiment of 8 hours), and after the mechanical experiment, the culture solution in the culture dish 24 cannot be used any more, otherwise the mechanical data of the ex vivo spine will be affected.

[0044] In an embodiment of the present application, carbon dioxide gas is passed through the incubator 11, so that the environment of the incubator 11 is more consistent with the real survival environment of the in vivo spine.

[0045] In an embodiment of the present application, the opening of the culture dish 24 is provided with a splash-proof cover 244 (see Figure 4 ), and the splash-proof cover 244 adopts a half design.

[0046] In the embodiment, since bubbles can be generated in the culture solution during entering the culture dish 24, the bubbles burst at the liquid surface of the culture solution, and a part of the culture solution can splash out of the culture dish 24 from the opening of the culture dish 24, which can cause pollution to the external environment of the culture dish 24. Therefore, the splash-proof cover 244 can be considered to be arranged at the opening, and the splash-proof cover 244 further adopts the half design for easy installation.

[0047] In an embodiment of the present application, the sidewall of the culture dish 24 is provided with a bone cement injection port 245, and the bone cement injection port 245 is used for injecting bone cement into the position of the fixed spine in the culture dish 24 to fix the spine.

[0048] In the embodiment, the bone cement is injected through the bone cement injection port 245 arranged on the upper portion of the culture dish 24, so that the spine can be effectively fixed. The embodiment of the application does not use the threaded fastener in the prior art, but uses the fixing mode of the bone cement, so that the threaded fastener does not pollute the culture solution.

[0049] Referring to Figure 8 , the first mounting seat 25 and the second mounting seat 26 are both provided with a mounting groove 27 for accommodating the spine, the mounting groove 27 is filled with the bone cement, and the upper end and the lower end of the spine are fixed to the first mounting seat 25 and the second mounting seat 26 by embedding the bone cement (that is, the bone cement is injected through the bone cement injection port 245 arranged on the upper portion of the culture dish 24). It can be understood that the first mounting seat 25 and the second mounting seat 26 can both be made of PP material, so that the culture solution is not polluted. Further, the fastener for fixing the second mounting seat 26 can be made of titanium alloy, so that the culture solution is not polluted.

[0050] Referring to Figure 10 , in an embodiment of the application, in order to facilitate replacement of the second mounting seat 26, a pressing plate 246 can be arranged at the bottom of the culture dish 24, the pressing plate 246 can be fixed to the fixing table 249 by the fastener passing through the through hole (see Figure 3 ) formed in the bottom of the culture dish 24; in order to further ensure that the culture solution does not leak out of the through hole formed in the bottom of the culture dish 24, the O-ring 247 can be arranged at the bottom of the pressing plate 246.

[0051] In an embodiment of the application, the semi-cyclic device further comprises:

[0052] The anti-overflow pump 15 is communicated with the top of the culture dish 24 and the waste liquid tank 19 through the pipelines 16 at both ends, and is used to transport the culture solution reaching the preset height of the culture dish 24 to the waste liquid tank 19;

[0053] In response to the anti-overflow pump 15 transporting the culture solution to the waste liquid tank 19, the control liquid inlet pump 13 and the anti-overflow pump 15 are stopped.

[0054] In the embodiment, by arranging the anti-overflow pump 15, it can be ensured that the culture solution does not overflow from the culture dish 24, so that the culture box 11 is not polluted, and the liquid level of the culture solution in the culture dish 24 is at the preset height, so as to facilitate the culture of the ex vivo spine.

[0055] In one embodiment of the present application, the top of the incubator 11 is provided with a liquid inlet interface 111, a liquid outlet interface 112 and an anti-overflow interface 113, the liquid inlet pump 13 communicates with the petri dish 24 through the liquid inlet interface 111, the liquid outlet pump 14 communicates with the petri dish 24 through the liquid outlet interface 112, and the anti-overflow pump 15 communicates with the petri dish 24 through the anti-overflow interface 113.

[0056] In the present embodiment, by providing the liquid inlet interface 111, the liquid outlet interface 112 and the anti-overflow interface 113 on the top of the incubator 11, it is convenient to disassemble and assemble the pipeline 16.

[0057] Of course, the liquid inlet interface 111, the liquid outlet interface 112 and the anti-overflow interface 113 can not be provided, which is not limited herein.

[0058] In another embodiment of the present application, the semi-circulation device further comprises:

[0059] A liquid level sensor (not shown in the figure) is arranged on the top of the petri dish 24.

[0060] A control mechanism (not shown in the figure) is electrically connected with the liquid inlet pump 13 and the liquid level sensor respectively, and is used to control the liquid inlet pump 13 to stop working when the liquid level in the petri dish 24 reaches a preset height.

[0061] In the present embodiment, in addition to the anti-overflow pump 15, the liquid level in the petri dish 24 can also be monitored by arranging a liquid level sensor in the petri dish 24.

[0062] It should be noted that if the size of the petri dish 24 is small, it is difficult to arrange the liquid level sensor on the top of the petri dish 24, and therefore, it is more effective and reasonable to indirectly measure the liquid level in the petri dish 24 by using the anti-overflow pump 15.

[0063] Please refer to Figure 2 and 3The half-cycle device for the culture solution of the spine is used to circulate the culture solution of the culture dish 24 arranged in the force loading mechanism, so as to avoid the problem that the culture solution may be contaminated by the syringe in the prior art. When the half-cycle device for the culture solution of the spine is used to circulate the culture solution of the culture dish 24, the culture solution in the storage container 121 can be delivered into the liquid inlet 241 of the culture dish 24 by using the liquid inlet pump 13, the culture solution in the culture dish 24 can be delivered to the waste liquid tank 19 outside through the liquid outlet 242 by using the liquid outlet pump 14, and the culture solution reaching the preset height of the culture dish 24 can be delivered to the waste liquid tank 19 outside through the overflow port 243 by using the overflow pump 15. In some embodiments, the liquid inlet 241 and the liquid outlet 242 are arranged at the bottom of the culture dish 24, and the overflow port 243 is arranged at the top of the culture dish 24.

[0064] Please refer to Figure 10 In an embodiment of the present application, the culture dish 24 is arranged on the fixing table 249, and the fixing table 249 is fixed on the fourth plate 215, so that the fixing table 249 is convenient to clean. Since the culture dish 24 is usually made of glass, in order to prevent the bottom of the culture dish 24 from being broken when the axial loading device axially loads the spine, in some embodiments, the silica gel pad 248 can be arranged at the bottom of the culture dish 24 and the fixing table 249.

[0065] In addition, an embodiment of the present application further provides a half-cycle method for the culture solution of the spine, based on the half-cycle device for the culture solution of the spine mentioned in any of the above embodiments, the method comprises the following steps:

[0066] Before the force loading mechanism applies the force load to the spine, the culture solution in the storage container 121 is delivered into the culture dish 24 by using the liquid inlet pump 13;

[0067] After the mechanical experiment on the spine is completed, the culture solution in the culture dish 24 is delivered into the waste liquid tank 19 by using the liquid outlet pump 14.

[0068] It should be noted that the method and the half-cycle device for the culture solution of the spine in the above embodiments are realized based on the same inventive concept, so they have the same beneficial effects, and the beneficial effects of the method will not be described here.

[0069] In an embodiment of the present application, the step of “delivering the culture solution in the storage container 121 into the culture dish 24 by using the liquid inlet pump 13” can specifically comprise the following steps:

[0070] Controlling the overflow pump 15 to start working;

[0071] Controlling the liquid inlet pump 13 to start working to deliver the culture solution in the storage container 121 into the culture dish 24;

[0072] In response to the overflow prevention pump 15 delivering the culture solution into the waste tank 19, the liquid inlet pump 13 and the overflow prevention pump 15 are controlled to stop working.

[0073] In the present embodiment, the overflow prevention pump 15 is in working state before the liquid inlet pump 13 is opened or is in working state simultaneously with the liquid inlet pump 13, so that when the liquid inlet pump 13 delivers the culture solution in the storage container 121 into the culture dish 24 and the liquid level of the culture solution in the culture dish 24 reaches the preset height, the overflow prevention pump 15 can deliver the culture solution into the waste tank 19, and at this time, the liquid inlet pump 13 and the overflow prevention pump 15 are controlled to stop working, i.e., the supply of the culture solution from the storage container 121 to the culture dish 24 is completed.

[0074] In addition, one embodiment of the present application further provides a loading system for a spine, which comprises the semi-circulation device for the culture solution of the spine according to any one of the above embodiments.

[0075] It should be noted that the system and the semi-circulation device for the culture solution of the spine in the above embodiments are realized based on the same inventive concept, and thus have the same beneficial effects, and the beneficial effects of the use method will not be described in detail here.

[0076] In one embodiment of the present application, the loading system for the spine comprises the semi-circulation device for the culture solution of the spine and a force loading mechanism (i.e., a bidirectional loading device, wherein the two directions are axial and circumferential directions, respectively).

[0077] The force loading mechanism will be described below in combination with the drawings.

[0078] Please refer to Figure 4 , 6 and 8, the force loading mechanism for the spine comprises an axial loading device and a circumferential loading device, wherein the axial loading device and the circumferential loading device share the frame body 21 part of the force loading mechanism.

[0079] In one embodiment of the present application, the force loading mechanism for the spine comprises a frame body 21, an axial loading mechanism 22 and a circumferential loading mechanism 23, wherein:

[0080] The frame body 21 comprises two guide columns 211 extending along the axial direction of the spine and a first flat plate 212, a second flat plate 213, a third flat plate 214 and a fourth flat plate 215 arranged in sequence from top to bottom along the axial direction of the spine, the first flat plate 212 and the fourth flat plate 215 are fixed with the guide columns 211, the second flat plate 213 and the third flat plate 214 are fixedly connected, and the second flat plate 213 and the third flat plate 214 can be moved upward or downward along the guide columns 211 together;

[0081] The axial loading mechanism 22 is fixed on the first flat plate 212;

[0082] The circumferential loading mechanism 23 is arranged between the second flat plate 213 and the third flat plate 214;

[0083] The frame 21 is provided with a culture dish 24 having an opening, the culture dish 24 is used to accommodate a spine, the upper end and the lower end of the spine are fixed to a first mounting seat 25 and a second mounting seat 26 respectively, the first mounting seat 25 is rotationally connected with the third flat plate 214, the first mounting seat 25 can produce rotation along the circumference of the spine, and the second mounting seat 26 is fixed with the fourth flat plate 215;

[0084] The axial loading mechanism 22 is used to apply an axial force along the spine to the first mounting seat 25 to axially load the spine;

[0085] The circumferential loading mechanism 23 is used to apply a circumferential force along the spine to the first mounting seat 25 to circumferentially load the spine.

[0086] In the embodiment, by arranging the axial loading mechanism 22 on the first flat plate 212, an axial force along the spine can be applied to the first mounting seat 25 to axially load the spine; by arranging the circumferential loading mechanism 23 between the second flat plate 213 and the third flat plate 214, a circumferential force along the spine can be applied to the first mounting seat 25 to circumferentially load the spine. Therefore, the above scheme can realize the research on the overall mechanical properties of the spine.

[0087] In the related art, the spine is usually taken as the research object to study the mechanical properties. For example, the patent with publication number CN113057595A discloses a spinal motion segment in vivo loading device, which axially loads the spine by a compression spring. For another example, the patent with publication number CN214572028U discloses an adjustable-angle in vitro culture loading device for a spinal motion segment, which simulates the natural flexion and extension angle of a cervical spine motion unit and studies the influence of different flexion and extension angles and different forces (i.e., lateral loading) on the cervical intervertebral disc.

[0088] For patients with lumbar disease, the sitting lumbar spinous process reduction method (see the patent with publication number CN204033550U) is one of the commonly used traditional Chinese medicine treatment methods. The sitting lumbar spinous process reduction method requires the patient to sit on a seat, the doctor to sit on another seat behind the patient, and an assistant to fix the lower limbs of the patient, and the doctor and the assistant to cooperatively complete the operation of the method. For this scenario, the above-mentioned related art cannot obviously study the change of the spine under different rotational forces (i.e., circumferential loading).

[0089] However, the technical scheme provided by the present application can realize the application of the force along the circumference of the spine to the first mounting base 25 to load the spine in the circumferential direction, so that the change of the spine under different rotating force loads can be studied.

[0090] In an embodiment of the present application, two fifth plates 216 are fixed between the second plate 213 and the third plate 214, the fifth plates 216 are perpendicular to the second plate 213 or the third plate 214, and the circumferential loading mechanism 23 is fixed to one of the fifth plates 216.

[0091] In the embodiment, the fixing connection of the second plate 213 and the third plate 214 can be realized, and the stability of the up and down movement of the second plate 213 and the third plate 214 along the guide column 211 can be ensured by fixing two fifth plates 216 between the second plate 213 and the third plate 214. Of course, the fixing connection of the second plate 213 and the third plate 214 can also be realized by other ways, which is not limited herein.

[0092] It should be noted that the second plate 213 and the third plate 214 are arranged to install the circumferential loading mechanism 23. If only the axial loading of the spine is considered, the second plate 213 can be omitted, that is, the first output shaft 221 of the axial loading mechanism 22 can be directly connected with the third plate 214 to realize the compression and stretching of the third plate 214.

[0093] In addition, in the height direction, the axial loading mechanism 22 is located above the circumferential loading mechanism 23, which is also considered from the compactness of the overall structure of the force loading mechanism, and is not simply arranged.

[0094] On the basis of the arrangement of the two fifth plates 216 between the second plate 213 and the third plate 214, in order to further consider the compactness of the overall structure, the circumferential loading mechanism 23 is fixed to one of the fifth plates 216, instead of being fixed to the second plate 213 or the third plate 214.

[0095] In an embodiment of the present application, the axial loading mechanism 22 includes a first output shaft 221, the first output shaft 221 is located on the axial center line of the spine, and the first output shaft 221 can be stretched and contracted up and down along the axial direction of the spine to drive the up and down movement of the first mounting base 25 through the stretching and contraction of the first output shaft 221.

[0096] The circumferential loading mechanism 23 includes a second output shaft 231, the second output shaft 231 can be stretched and contracted forward and backward along a direction perpendicular to the axial direction of the spine to drive the rotation of the first mounting base 25 through the stretching and contraction of the second output shaft 231.

[0097] In the embodiment, by arranging the first output shaft 221 and the second output shaft 231, axial loading mechanism 22 can conveniently load the first mounting seat 25 along the axial direction of the spine and circumferential loading mechanism 23 can conveniently load the first mounting seat 25 along the circumferential direction of the spine.

[0098] Of course, the axial loading mechanism 22 can not include the first output shaft 221, and the circumferential loading mechanism 23 can not include the second output shaft 231, which is not limited herein. For example, by artificially controlling the axial loading and circumferential rotation of the first mounting seat 25, and then fixing it at a certain position.

[0099] In addition, the first output shaft 221 is located on the axial center line of the spine, so as to ensure the axial loading effect on the spine.

[0100] Of course, the first output shaft 221 can also not be located on the axial center line of the spine, which is not specifically limited herein.

[0101] In an embodiment of the present application, the axial loading mechanism 22 and the circumferential loading mechanism 23 are both linear servo motors, so as to conveniently realize the axial loading control and circumferential loading control on the spine.

[0102] Of course, the axial loading mechanism 22 and the circumferential loading mechanism 23 can also be hydraulic mechanisms or pneumatic mechanisms, and the specific types of the axial loading mechanism 22 and the circumferential loading mechanism 23 are not limited herein.

[0103] In an embodiment of the present application, the axial loading device further comprises a first connecting piece 222, which is fixed with the first output shaft 221 and the first force sensor 223 through screwing.

[0104] Since the axial loading mechanism 22 and the first force sensor 223 are both standard parts, they cannot be directly fixed and connected in general. In order to facilitate the fixed connection of the two, the first connecting piece 222 can be used to be screwed with the first output shaft 221 and the first force sensor 223 respectively.

[0105] Of course, the first connecting piece 222 can not be arranged, that is, the first output shaft 221 can be directly fixed with the first force sensor 223 through secondary processing (for example, the end of the first output shaft 221 and the first force sensor 223 are processed to have a screw structure that can cooperate with each other), which is not limited herein.

[0106] Please refer to Figure 5 , 7And 9, in an embodiment of the present application, the force loading mechanism further comprises a rotating assembly 232, the rotating assembly 232 comprises a rotating shaft 232a, a fixed seat 232b and a bearing 232c, the rotating shaft 232a is arranged through the fixed seat 232b and the bearing 232c, the fixed seat 232b fixes the bearing 232c on the third plate 214, the upper end of the rotating shaft 232a is movably connected with the second output shaft 231, and the lower end is fixed with the first mounting seat 25.

[0107] In the embodiment, the rotating assembly 232 is arranged, so that the first mounting seat 25 is rotatably connected with the third plate 214.

[0108] Of course, the rotatable connection between the first mounting seat 25 and the third plate 214 can also be other modes, which are not limited herein.

[0109] Please continue to refer to Figure 5 、 7 And 9, in an embodiment of the present application, the force loading mechanism further comprises a connecting assembly 233, the connecting assembly 233 comprises a second connecting piece 233a, a third connecting piece 233b and a fourth connecting piece 233c connected in sequence, one end of the second connecting piece 233a is fixed with the second output shaft 231, the other end is rotatably connected with the third connecting piece 233b, the third connecting piece 233b is slidably connected with the fourth connecting piece 233c, the fourth connecting piece 233c is fixedly connected with the rotating shaft 232a, and the axial direction of the fourth connecting piece 233c is perpendicular to the axial direction of the rotating shaft 232a.

[0110] In the embodiment, the connecting assembly 233 is arranged, so that the connecting assembly 233 has a rotational degree of freedom and a sliding degree of freedom, so that the rotating shaft 232a can swing back and forth along the circumferential direction.

[0111] Of course, the sliding degree of freedom can also be omitted, that is, the connecting assembly 233 only comprises the second connecting piece 233a and the fourth connecting piece 233c connected in sequence, one end of the second connecting piece 233a is fixed with the second output shaft 231, the other end is rotatably connected with the fourth connecting piece 233c, the fourth connecting piece 233c is fixedly connected with the rotating shaft 232a, and the axial direction of the fourth connecting piece 233c is perpendicular to the axial direction of the rotating shaft 232a. Compared with the above-mentioned scheme, the scheme omitting the sliding degree of freedom has a small swing range, which is not conducive to realizing the circumferential loading effect on the spine, that is, the above-mentioned scheme with the rotational degree of freedom and the sliding degree of freedom can realize a better circumferential loading effect on the spine.

[0112] In the related art, the spine is usually taken as the research object to study the mechanical correlation, and some prior patents of the inventors disclose technical schemes for applying axial stress (i.e., axial loading) to the spine.

[0113] For example, the patent with publication number CN113057595A discloses a spinal motion segment in-body loading device, which loads the spine in the axial direction by a compression spring. However, when the spine creeps, it is difficult to achieve continuous constant force loading of the spine in the axial direction.

[0114] For another example, the patent with publication number CN109468360A discloses a spinal motion segment tension-compression integrated loading device, which loads the spine in the axial direction by installing a weight. Although this scheme can achieve continuous constant force loading of the spine in the axial direction, this loading method is discrete loading (i.e., through replacing weights of different masses to achieve phased constant force loading), and cannot achieve continuous variable force loading, i.e., cannot effectively eliminate the influence of creep.

[0115] Further, since the human foot continuously applies axial and continuous variable force to the spine during walking, it is necessary to improve the axial loading device of the spine in order to study more overall mechanical properties of the spine.

[0116] To solve the technical problem, the inventors found in the research and development process that the axial continuous constant force loading and the axial continuous variable force loading of the spine can be achieved by the cooperation of the axial loading mechanism 22, the first force sensor 223 and the control mechanism, thereby effectively eliminating the influence of creep. That is, the axial control algorithm is added, instead of simply manually adjusting the axial pressure (such as replacing weights of different masses).

[0117] Please refer to Figure 3 In an embodiment of the present application, the force loading mechanism further comprises:

[0118] The first force sensor 223 is fixed at one end to the first output shaft 221 and at the other end to the second flat plate 213;

[0119] The second force sensor (not shown in the figure) is fixed at one end to the second output shaft 231 and at the other end to the second connecting piece 233a;

[0120] The control mechanism (not shown in the figure) is electrically connected to the axial loading mechanism 22, the circumferential loading mechanism 23, the first force sensor 223 and the second force sensor, respectively;

[0121] The axial loading mechanism 22 is controlled by the control mechanism to load the spine in the axial direction with continuous constant force and continuous variable force;

[0122] The circumferential loading mechanism 23 is controlled by the control mechanism to load the spine in the circumferential direction with continuous constant force and continuous variable force.

[0123] In the embodiment, the axial continuous constant force loading and the axial continuous variable force loading of the spine are realized by the cooperation of the axial loading mechanism 22, the first force sensor 223 and the control mechanism, so that the influence of creep can be effectively eliminated; the circumferential continuous constant force loading and the circumferential continuous variable force loading of the spine are realized by the cooperation of the circumferential loading mechanism 23, the second force sensor and the control mechanism, so that the change of the spine under different rotating force loads can be studied.

[0124] It can be understood that the chip of the control mechanism is pre-set with related axial control algorithm and circumferential control algorithm, and the position offset of the first output shaft 221 and the second output shaft 231 is adaptively changed by acquiring the current force detected by the first force sensor 223 and the second force sensor, so that the axial continuous constant force loading and the axial continuous variable force loading of the spine and the circumferential continuous constant force loading and the circumferential continuous variable force loading of the spine can be realized.

[0125] When the axial and circumferential loading of the spine reaches a certain time, the creep phenomenon of the spine occurs, at this time, the position offset of the first output shaft 221 and the second output shaft 231 is adaptively changed by acquiring the current force detected by the first force sensor 223 and the second force sensor, so as to ensure the axial loading and circumferential loading effect of the spine. However, it should be pointed out that due to the factors such as the loading environment and the state of the spine, the signal acquisition may be distorted, therefore, the data collected by the first force sensor 223 and the second force sensor need to be filtered online to reduce the influence of environmental noise, so that the real contact force information can be obtained.

[0126] In some embodiments, the force sensing information filtering based on Kalman filter can be used to complete the estimation of the force signal. Kalman filtering is a method of optimal estimation of system state by linear system state equation. Since the estimation process is realized by iterative calculation, only the process noise, measurement noise and current system state need to be considered in the estimation process, and the overall collected data does not need to be stored, so it is suitable for the real-time acquisition of force sensing information in the research.

[0127] The axial control algorithm and the circumferential control algorithm of the control mechanism are introduced as follows.

[0128] In an embodiment of the present application, the control mechanism is configured to perform the following operations:

[0129] S11, acquiring the current force detected by the first force sensor 223 in the current period;

[0130] S12, determining the theoretical position of the first output shaft 221 in the current period based on the theoretical force in the current period and the preset coefficient;

[0131] S13, keeping the theoretical position unchanged to realize axial continuous constant force loading;

[0132] S14, obtaining a position difference value of the current period based on the coefficient and a difference value between the current force and the theoretical force of the current period;

[0133] S15, correcting the theoretical position based on the position difference value to correct the theoretical force to the current force;

[0134] S16, taking the current force as the theoretical force of the next period, and performing steps S11, S12, S14 and S15, thereby realizing axial continuous variable force loading.

[0135] In the embodiment, the axial loading mechanism 22 (for example, a motor) can be simplified as a spring model, that is, F=kx, where F is the elastic force (that is, the force in the embodiment), k is the elastic coefficient (that is, the coefficient in the embodiment), and x is the deformation (that is, the position of the first output shaft 221 in the embodiment). Therefore, by presetting the theoretical force and the preset coefficient, the theoretical position of the first output shaft 221 can be obtained, the theoretical position is kept unchanged to realize axial continuous constant force loading; by the current force detected by the first force sensor 223, the preset theoretical force and the preset coefficient, the position difference value of the first output shaft 221 to be corrected in the current period can be obtained, so that the theoretical position of the first output shaft 221 can be corrected based on the position difference value to correct the theoretical force to the current force, thereby realizing axial continuous variable force loading.

[0136] For example, if the current force is 9.7N and the theoretical force is 10N, the current force detected by the first force sensor 223 can be corrected to 10N by the above axial control algorithm to realize axial continuous constant force loading; for another example, if the current force is 10.3N and the theoretical force is 10N, the current force detected by the first force sensor 223 can be corrected to 10N by the above axial control algorithm to realize axial continuous constant force loading.

[0137] For example, if the current force is 9.7N and the theoretical force is 10N, the current force detected by the first force sensor 223 can be corrected to 9.7N by the above axial control algorithm to realize axial continuous variable force loading; for another example, if the current force is 10.3N and the theoretical force is 10N, the current force detected by the first force sensor 223 can be corrected to 10.3N by the above axial control algorithm to realize axial continuous variable force loading.

[0138] In an embodiment of the present application, the control mechanism is configured to perform the following operations:

[0139] S21, acquiring a current acting force detected by the second force sensor in a current period;

[0140] S22, determining a theoretical position of the second output shaft 231 in the current period based on the theoretical acting force in the current period and the preset coefficient;

[0141] S23, keeping the theoretical position unchanged to realize continuous constant force loading in the circumferential direction;

[0142] S24, obtaining a position difference value in the current period based on the coefficient and a difference value between the current acting force and the theoretical acting force in the current period;

[0143] S25, correcting the theoretical position based on the position difference value to correct the theoretical acting force to the current acting force;

[0144] S26, taking the current acting force as a theoretical acting force in a next period, and performing steps S21, S22, S24 and S25 to realize continuous variable force loading in the circumferential direction.

[0145] In the embodiment, the circumferential loading mechanism 23 (for example, a motor) can be simplified as a spring model, that is, F=kx, where F is a spring force (that is, the acting force in the embodiment), k is a spring coefficient (that is, the coefficient in the embodiment), and x is a deformation variable (that is, the position of the second output shaft 231 in the embodiment). Therefore, the theoretical position of the second output shaft 231 can be obtained by the preset theoretical acting force and the preset coefficient, the theoretical position is kept unchanged to realize continuous constant force loading in the circumferential direction; the position difference value to be corrected of the second output shaft 231 in the current period can be obtained by the current acting force detected by the second force sensor, the preset theoretical acting force and the preset coefficient, so that the theoretical position of the second output shaft 231 can be corrected based on the position difference value to correct the theoretical acting force to the current acting force, thereby realizing continuous variable force loading in the circumferential direction.

[0146] Examples in the circumferential loading device can refer to or use examples in the axial loading device, which will not be described here.

[0147] It should be noted that the above fixing mode can be screw connection, and can also be other fixing modes, which are not limited here.

[0148] It is to be noted that the relationship terms, such as first and second, are used only to differentiate one entity or operation from another entity or operation, and do not necessarily require or imply any actual such relationship or order between such entities or operations. Moreover, the terms "comprising", "including", or any other variant thereof are intended to cover a non-exclusive inclusion, such that processes, methods, articles, or apparatuses that comprise a list of elements are not required to comprise only those elements, but can include other elements not expressly listed or inherent to such processes, methods, articles, or apparatuses. Without more limitations, an element defined by an "comprising" statement is not excluded from a process, method, article, or apparatus that comprises the element, even if the process, method, article, or apparatus also comprises other identical elements.

[0149] Finally, it should be noted that the above-mentioned only the preferred embodiments of the present application, only for the description of the technical solutions of the present application, and not for limiting the scope of protection of the present application. Any modification, equivalent replacement, improvement, etc. within the spirit and principles of the present application, are included in the scope of protection of the present application.

Claims

1. A spinal loading system, characterized in that, The device includes a semi-circulation device for culture medium of the spine and a force loading mechanism. The force loading mechanism includes a control mechanism, an axial loading mechanism, a circumferential loading mechanism, a first force sensor and a second force sensor, all electrically connected to the control mechanism. One end of the first force sensor is fixed to a first output shaft included in the axial loading mechanism, and one end of the second force sensor is fixed to a second output shaft included in the circumferential loading mechanism. The control mechanism is used to perform the following operations: S11. Obtain the current force detected by the first force sensor in the current cycle; S12. Based on the theoretical force and preset coefficients of the current cycle, determine the theoretical position of the first output shaft in the current cycle; S13. Keep the theoretical position unchanged to achieve continuous constant axial force loading; S14. Based on the coefficient and the difference between the current force and the theoretical force in the current cycle, obtain the position difference in the current cycle; S15. Based on the position difference, the theoretical position is corrected to adjust the theoretical force to the current force. S16. The current force is used as the theoretical force for the next cycle, and steps S11, S12, S14 and S15 are executed to achieve continuous axial variable force loading. The control mechanism is used to perform the following operations: S21. Obtain the current force detected by the second force sensor in the current cycle; S22. Based on the theoretical force and preset coefficients of the current cycle, determine the theoretical position of the second output shaft in the current cycle; S23. Keep the theoretical position unchanged to achieve continuous constant force loading in the circumferential direction; S24. Based on the coefficient and the difference between the current force and the theoretical force in the current cycle, obtain the position difference in the current cycle; S25. Based on the position difference, the theoretical position is corrected to adjust the theoretical force to the current force. S26. The current force is used as the theoretical force for the next cycle, and steps S21, S22, S24 and S25 are executed to achieve continuous variable force loading in the circumferential direction.

2. The spinal loading system according to claim 1, characterized in that, The semi-circulating device for the culture medium of the spine includes: An incubator, which houses a force loading mechanism for applying a force load to the spine, is equipped with a petri dish with an opening for housing the spine, and the incubator is used to provide a constant temperature and humidity environment. A storage box, which contains a storage container for holding culture medium, is used to provide an environment with a storage temperature for the culture medium; A liquid inlet pump, with its two ends connected to the storage container and the culture dish respectively via pipelines, is used to deliver the culture medium in the storage container to the culture dish; The discharge pump is connected at both ends to the bottom of the culture dish and the external waste tank via pipelines, respectively, and is used to transport the culture medium in the culture dish to the waste tank.

3. The spinal loading system according to claim 2, characterized in that, Carbon dioxide gas is passed through the incubator.

4. The spinal loading system according to claim 2, characterized in that, The petri dish is equipped with a splash guard at its opening, and the splash guard is designed in a split shape.

5. The spinal loading system according to claim 2, characterized in that, The culture dish has a bone cement injection port on its side wall. The bone cement injection port is used to inject bone cement into the culture dish to fix the spine.

6. The spinal loading system according to any one of claims 2-5, characterized in that, Also includes: An anti-overflow pump, with its two ends connected to the top of the culture dish and the waste liquid tank respectively via pipelines, is used to transport the culture medium that has reached the preset height of the culture dish to the waste liquid tank; In response to the overflow pump delivering culture medium to the waste tank, the inlet pump and the overflow pump are controlled to stop operating.

7. The spinal loading system according to claim 6, characterized in that, The top of the incubator is provided with a liquid inlet, a liquid outlet, and an overflow prevention port. The pipeline connecting the liquid inlet pump to the culture dish passes through the liquid inlet, the pipeline connecting the liquid outlet pump to the culture dish passes through the liquid outlet, and the pipeline connecting the overflow prevention pump to the culture dish passes through the overflow prevention port.

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