Knee biomechanics and kinematics simulator

Abstract

Knee joint biomechanics and kinematics simulation machine, including frame, ankle joint simulation device, tibia fixing device, patellar tendon fixing device, hip joint simulation device, quadriceps femoris fixing device and femur fixing device; the ankle joint simulation device is arranged at the bottom of the frame, the ankle joint simulation device is connected with the tibia fixing device, the tibia fixing device is connected with the femur fixing device, the femur fixing device is connected with the hip joint simulation device, and the hip joint simulation device is arranged on the frame; the tibia fixing device and the femur fixing device are provided with the patellar tendon fixing device at the connecting position; the hip joint simulation device and the femur fixing device are provided with the quadriceps femoris fixing device at the connecting position. The invention provides a knee joint biomechanics and kinematics simulation machine to simulate the working condition of the lower limbs of human body under physiological activity conditions such as walking and squatting, and test and research the biomechanics and kinematics of natural knee joints and artificial knee joints.

Description

Technical Field

[0001] This invention belongs to the field of knee joint experimental testing equipment, and specifically relates to a knee joint biomechanics and kinematics simulator. Background Technology

[0002] The natural knee joint is the largest and most complex load-bearing joint in the human body. However, conditions such as knee osteoarthritis, fractures, ligament injuries, and meniscus tears severely impact patients' daily physiological activities. Therefore, studying the injury mechanisms of the natural knee joint is crucial. For patients with knee osteoarthritis, artificial knee replacement effectively helps restore knee joint function. However, wear, loosening, and fracture after artificial knee replacement severely restrict its development. Therefore, researching the failure mechanisms of artificial knee replacement is also very important.

[0003] Currently, existing biomechanical testing machines and wear testing simulators on the market cannot meet all the needs for studying the function and performance of natural and artificial knee joints. Biomechanical testing machines mainly realize joint force under static or fatigue loading conditions.

[0004] In biomechanical testing and wear testing simulators, joint motion simulation and wear testing can only be performed under specified standard conditions. Biomechanical testing machines and wear testing simulators cannot simulate the biomechanical and joint motion changes under different physiological activities such as walking and squatting. Summary of the Invention

[0005] The purpose of this invention is to provide a knee joint biomechanics and kinematics simulator to solve the problem that biomechanical testing machines and wear testing simulators cannot simulate the biomechanical and joint movement changes under different physiological activities such as walking and squatting.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] A knee joint biomechanics and kinematics simulator includes a frame, an ankle joint simulator, a tibial fixation device, a patellar tendon fixation device, a hip joint simulator, a quadriceps fixation device, and a femoral fixation device. The ankle joint simulator is located at the bottom of the frame and is connected to the tibial fixation device. The tibial fixation device is connected to the femoral fixation device, and the femoral fixation device is connected to the hip joint simulator. The hip joint simulator is located on the frame. A patellar tendon fixation device is located at the connection between the tibial fixation device and the femoral fixation device. A quadriceps fixation device is located at the connection between the hip joint simulator and the femoral fixation device.

[0008] Furthermore, the ankle joint simulation device includes a fixed frame, a lead screw, a slider, a rotary table, a lead screw motor, and an ankle joint rotation motor. The fixed frame is welded to the frame, and the fixed frame has side plates on the left and right sides. The side plates have fixing holes, through which the lead screw passes and connects to the slider. The lead screw motor is mounted on an external extension rod on one side of the lead screw. The rotary table is installed in the middle of the slider, and the ankle joint rotation motor is located below the rotary table.

[0009] Furthermore, the tibial fixation device includes an ankle joint flexion-extension hinge block, a tibial fixation cylinder, a hydraulic push-pull device, an annular sleeve, a cylindrical connecting rod, and a hinge shaft. The ankle joint flexion-extension hinge block and the tibial fixation cylinder are welded together by a support column. The lower part of the ankle joint flexion-extension hinge block is connected to the rotary table of the ankle joint simulation device through the hinge shaft. A cylindrical connecting rod is installed on the front side of the ankle joint flexion-extension hinge block. The middle part of the cylindrical connecting rod is connected to the annular sleeve. A hydraulic push-pull device is connected below the annular sleeve to provide power to realize the flexion and extension of the lower leg. Screw holes are opened around the tibial fixation cylinder to fix the natural tibia or artificial tibia with bone cement.

[0010] Furthermore, the femoral fixation device includes an internal fixation plate, a femoral fixation tube, and a connecting rod; the internal fixation plate and the femoral fixation tube are welded together by the connecting rod, and the femoral fixation tube has screw holes around its perimeter to seal and fix the natural or artificial femur with bone cement.

[0011] Furthermore, the patellar tendon fixation device includes a fixation device, a first tendon force adjustment device, a fixation frame, the patellar tendon, and a tendon clamp. The fixation device is fixed to the support column between the ankle joint flexion-extension hinge block and the tibial fixation cylinder by bolts and nuts through the fixation frame. The first tendon force adjustment device is a screw, one end of which passes through the fixation device and is connected and limited by a hexagonal nut. Rotating the nut adjusts the length of the connecting rod to adjust the tension of the tendon. The other end of the first tendon force adjustment device is connected to the tendon clamp. The tendon clamp consists of two upper and lower clamps with toothed grooves, and the clamps are designed with an array of multiple screw holes. The patellar tendon is clamped by the upper and lower clamps and then fixed by screws, and the patellar tendon is connected to the patella.

[0012] Furthermore, the quadriceps fixation device includes a tendon clamp, a second muscle force adjustment device, the quadriceps muscle, a central restraint block, a Q-angle support plate, a pin, and fixing bolts. The Q-angle support plate is fixed to the hip joint simulation device by fixing bolts, and the left and right supports of the Q-angle support plate are connected to the central restraint block by pins. The second muscle force adjustment device is a screw that passes through the central hole of the restraint block. One end of the screw is connected to a limiter by a hexagonal nut. Rotating the nut can adjust the length of the connecting rod to adjust the tension of the muscle. The other end of the screw is connected to the tendon clamp. The tendon clamp consists of two upper and lower clamps with toothed grooves, and the clamps are designed with multiple screw hole arrays. The quadriceps muscle is clamped by the upper and lower clamps and then fixed by screws.

[0013] Furthermore, the hip joint simulation device includes a square frame, a flexion-extension axis, a guide rod slider, a hydraulic push-pull device, and a back plate; two holes extend from the upper part of the back plate and are coaxially connected to the flexion-extension axis and the guide rod slider, and the horizontal extension platform under the back plate is welded to the push rod of the hydraulic push-pull device; the back plate is arranged on the frame through the guide rod slider, the cross-section of the square frame is a hollow structure in the shape of a Chinese character 'hui', with through grooves on the upper and lower surfaces, and the square frame is connected to the back plate through the flexion-extension axis.

[0014] Furthermore, the frame includes a vertical frame, a base, a triangular frame, a cross beam, a horizontal plate, and guide rods; the vertical frame and the base are connected by welding, and the triangular frame is used for strengthening and fixing at the connection parts on the left and right sides of the vertical frame and the base; a horizontal plate is welded at the middle part under the vertical frame, a cross beam is welded at the uppermost end of the vertical frame, fixing holes are designed at the parts of the cross beam close to both sides and are connected to the vertical guide rods; fixing holes are also designed in the area of the base close to the vertical frame and are connected to the vertical guide rods.

[0015] Compared with the prior art, the present invention has the following technical effects:

[0016] (1) The invention provides a knee joint biomechanics and kinematics simulator to simulate the working conditions of the human lower limbs under physiological activities such as walking and squatting, and to test and study the biomechanics and kinematics of natural knee joints and artificial knee joints.

[0017] (2) The Q-angle support plate is fixed on the square frame of the hip joint simulation device through fixing bolts. By adjusting the left and right positions of the bolts in the grooves, the left and right positions of the Q-angle support plate are adjusted, and at the same time, the support plate is rotated to adjust the Q-angle size of the muscle pulling force direction. Considering the previous deficiencies in this regard, the biomechanics and kinematics of the knee joint are simulated more accurately.

[0018] (3) Various precision sensors are added at the places where precise measurement is required in the device to improve the overall device accuracy, conduct more accurate biomechanical simulation, and at the same time, artificial muscles are added to simulate the movement of human joints, and muscle clamps are used to adjust the required force size in real time.

[0019] (4) Fixing holes are opened on the vertical plates on the left and right sides of the fixing frame and are matched with the lead screw. An external extension rod on one side of the lead screw is equipped with a motor, and the guide rod is rotated by the motor to provide the left and right movement of the slider. The rotating table is installed in the middle of the slider and is connected to the motor below, and the internal and external rotation simulation of the ankle joint is realized under the drive of the motor. Description of the Drawings

[0020] Figure 1 It is a knee joint biomechanics and kinematics simulator of the present invention.

[0021] Figure 2 It is the frame of the simulator.

[0022] Figure 3 It is the ankle joint simulation device of the simulator.

[0023] Figure 4 It is the tibia fixation device of the simulator.

[0024] Figure 5 It is the patellar tendon fixation device of the simulator.

[0025] Figure 6 It is the hip joint simulation device of the simulator.

[0026] Figure 7 It is the quadriceps fixation device of the simulator.

[0027] Figure 8 It is the femoral fixation device of the simulator.

[0028] The components include: 1. Fixation frame; 2. Slider; 3. Ring sleeve; 4. Ankle joint flexion-extension hinge block; 5. First tendon force adjustment device; 6. Patella; 7. Total knee joint prosthesis; 8. Set screw; 9. Tibial fixation tube; 10. Quadriceps femoris muscle; 11. Tendon clamp; 12. Second muscle force adjustment device; 13. Q-angle support plate; 14. Central restraint block; 15. Crossbeam; 16. Guide rod; 17. Guide rod slider; 18. Square frame; 19. Back plate; 20. Stand; 21. Hydraulic push-pull device; 22. Triangular frame; 23. Rotary table; 24. Lead screw; 25. Lead screw motor; 26. Base; 27. Ring sleeve hydraulic push-pull device; 28. Horizontal plate; 29. ​​Ankle joint motor; 30. Cylindrical connecting rod; 31. Hinge shaft; 33. Patellar tendon; 34. Fixation frame; 35. Flexion-extension shaft; 36. Fixing bolt; 37. Pin shaft; 38. Inner frame fixation plate. Detailed Implementation

[0029] The present invention will be further described below with reference to the accompanying drawings:

[0030] The knee joint biomechanics and kinematics simulator ( Figure 1 It consists of eight parts: frame, power unit, femoral fixation device, tibial fixation device, quadriceps fixation device, patellar tendon fixation device, hip joint simulation device, and ankle joint simulation device.

[0031] The frame of the simulator ( Figure 2 The machine consists of three parts: a vertical frame 20, a base 26, and guide rods 16. The vertical frame and base are welded together. Triangular brackets are used to reinforce the connection between the vertical frame and base on both sides to ensure the stability of the overall structure. A horizontal plate is welded to the lower middle quarter of the vertical frame to enhance its stability. A crossbeam is welded to the top of the vertical frame, and fixing holes are designed near the two sides of the crossbeam to connect with the vertical guide rods. The base also has fixing holes near the vertical frame to connect with the vertical guide rods.

[0032] The simulator's power unit consists of two parts: a hydraulic push-pull mechanism and a motor. One hydraulic push-pull mechanism is connected to the backplate, and the other is connected to the ankle joint flexion-extension hinge block. The simulator is equipped with two motors, which provide power for simulating ankle joint twisting and lateral movement.

[0033] The ankle joint simulation device of the simulator ( Figure 3 The device consists of six parts: a fixed frame 1, a lead screw 24, a slider 2, a rotary table 23, a lead screw motor 25, and an ankle joint rotation motor 29. The fixed frame is welded to the base, and fixing holes are provided on the left and right side uprights of the fixed frame. The lead screw passes through the fixing holes and connects to the slider. A motor is mounted on an external extension rod on one side of the lead screw, which drives the guide rod to rotate, thus providing left and right movement of the slider. The rotary table is installed in the middle of the slider and is connected to the motor below, simulating the internal and external rotation of the ankle joint under the motor's drive.

[0034] The tibial fixation device of the simulator ( Figure 4 The device consists of four parts: an ankle joint flexion-extension hinge block 4, a tibial fixation tube 9, an annular sleeve 3, and a hinge shaft 31. The ankle joint flexion-extension hinge block and the tibial fixation tube are welded together via a support column. The lower part is connected to the rotating platform of the ankle joint simulation device via the hinge shaft. A cylindrical connecting rod is installed at the front, and the middle of the connecting rod is connected to the annular sleeve. A hydraulic push-pull device is connected below the annular sleeve to provide power for lower leg flexion and extension. Screw holes are opened around the tibial tube to fix the natural or artificial tibia with bone cement.

[0035] The patellar tendon fixation device of the simulator ( Figure 5 The device consists of three parts: a fixation device, a first tendon force adjustment device 5, and a tendon clamp 11. The fixation device is secured to the support column using bolts and nuts via clamps. One end of the tendon force adjustment device, a connecting rod, passes through a hole in the fixation frame and is connected and limited by a hexagonal nut. The connecting rod is threaded; rotating the nut adjusts the length of the connecting rod, thus adjusting the tendon tension. The other end of the tendon force adjustment device, the fixation frame, is connected to the tendon clamp. The tendon clamp consists of two upper and lower clamping plates with toothed grooves, and multiple screw holes are designed on the clamping plates. The patellar tendon is clamped by the two clamping plates and then secured with screws.

[0036] The hip joint simulation device of the simulator ( Figure 6The device consists of four parts: a frame 18, a bending-extension shaft 35, a guide rod slider 17, and a back plate 19. Two openings extend from the upper part of the back plate and are coaxially connected to the bending-extension shaft and the guide rod slider. A horizontal connecting rod at the bottom of the back plate is welded to the push-pull rod of a hydraulic push-pull device, which applies simulated gravity to the body. The back plate is fixed to two vertical guide rods via the guide rod slider, with one end of the guide rod slider bolted to the frame guide rod. The frame has a hollow, U-shaped cross-section with through grooves on its upper and lower surfaces. The frame is connected to the back plate via the bending-extension shaft.

[0037] The quadriceps fixation device of the simulator ( Figure 7 The device consists of six parts: a tendon clamp 11, a second muscle force adjustment device 12, a central constraint block 14, a Q-angle support plate 13, a pin 37, and a fixing bolt 36. The Q-angle support plate is fixed to the frame of the hip joint simulation device by the fixing bolt. The left and right positions of the Q-angle support plate are adjusted by adjusting the bolt's position within the groove, while simultaneously rotating the support plate to adjust the Q-angle of the muscle tension direction. The left and right supports of the Q-angle support plate are connected to the central constraint block by pins. The connecting rod of the muscle force adjustment device passes through the central hole of the constraint block. The connecting rod is threaded, and one end is connected and limited by a hexagonal nut. Rotating the nut adjusts the length of the connecting rod to adjust the tightness of the muscle tension. The other end of the connecting rod is connected to the muscle clamp. The muscle clamp consists of two upper and lower clamps with toothed grooves and multiple screw holes. The quadriceps muscle is clamped by the two clamps and then fixed with screws.

[0038] The femoral fixation device of the simulator ( Figure 8 The device consists of three parts: an internal fixation plate 38, a femoral fixation tube 9, and a connecting rod. The internal fixation plate and the femoral fixation tube are welded together by the intermediate connecting rod. Screw holes are opened around the femoral tube to seal and fix the natural or artificial femur with bone cement. The internal fixation plate is fixed to the frame of the hip joint simulation device by bolts.

[0039] Work process:

[0040] The artificial femur and tibia, replaced by a total knee arthroplasty, are fixed to the tibia and femoral fixation tubes respectively using bone cement and screws. A patellar tendon fixation device at the lower lateral end clamps and fixes the patellar tendon, while a quadriceps fixation device at the upper end clamps and fixes the quadriceps muscle. The force on the patella is adjusted using nuts from tendon and muscle force adjustment devices to achieve biomechanical testing targets under different conditions. The Q-angle of the quadriceps muscle is adjusted in real time by adjusting the left and right installation position and rotation of the Q-angle support plate of the quadriceps fixation device. A hydraulic push-pull device controls the backplate of the hip joint simulation device to slide up and down along the guide rod. The backplate moves the frame up and down; simultaneously, the angle between the frame and the vertical direction increases as the backplate moves down and decreases as the backplate moves up. The rotation of the frame simulates hip flexion and extension movements, and the downward pull generated by the frame as the guide rod slider moves down simulates the vertical axial force of the hip joint, driving the femoral and tibial devices to simulate knee flexion and extension movements.

[0041] The hydraulic push-pull device at the ankle joint simulator controls the rotation of the ankle joint flexion-extension hinge block around the hinge axis, simulating the flexion and extension movements of the ankle joint. The lead screw at the ankle joint simulator, driven by a motor, moves the slider inward and outward, simulating the inversion and eversion movements of the knee joint. The motor under the turntable at the ankle joint simulator drives the tibial fixation device to rotate inward and outward, simulating the inversion and eversion of the tibia relative to the femur in the knee joint.

[0042] As described above, the flexion and extension movements of the knee joint are achieved through the coordinated flexion and extension movements of the hip joint simulator and the ankle joint simulator. The internal and external rotation movements of the knee joint are achieved through the internal and external rotation movements of the ankle joint simulator, and the internal and external rotation movements of the knee joint are achieved through the medial and lateral translational movements of the ankle joint simulator. The anterior and posterior translational movements of the knee joint are constrained by the patella, patellar tendon, and quadriceps femoris muscle. The forces acting on the knee joint are simulated by the vertical movement of the hip joint simulator in conjunction with the patella, patellar tendon, and quadriceps femoris muscle.

[0043] In addition to the specific details in the above embodiments, various simple modifications can be made to the technical solution of the present invention within the scope of the present invention's technical concept, and all such simple modifications fall within the protection scope of the present invention.

[0044] It should also be noted that the specific technical features described in the above embodiments can be implemented in any suitable manner, provided there is no contradiction, in order to avoid unnecessary repetition.

[0045] Furthermore, any changes in appearance or style based on the present invention, as long as they do not violate the spirit of the present invention, should also be considered as part of the content disclosed in the present invention.

Claims

1. A knee joint biomechanics and kinematics simulator, characterized in that, The device includes a frame, an ankle joint simulation device, a tibial fixation device, a patellar tendon fixation device, a hip joint simulation device, a quadriceps fixation device, and a femoral fixation device. The ankle joint simulation device is located at the bottom of the frame and is connected to the tibial fixation device. The tibial fixation device is connected to the femoral fixation device, and the femoral fixation device is connected to the hip joint simulation device. The hip joint simulation device is located on the frame. A patellar tendon fixation device is located at the connection between the tibial fixation device and the femoral fixation device. A quadriceps fixation device is located at the connection between the hip joint simulation device and the femoral fixation device. The ankle joint simulation device includes a fixed frame (1), a lead screw (24), a slider (2), a rotary table (23), a lead screw motor (25), and an ankle joint rotary motor (29). The fixed frame (1) is welded to the frame. Side plates are provided on the left and right sides of the fixed frame (1). The side plates have fixing holes. The lead screw (24) passes through the fixing holes and is connected to the slider (2). The lead screw motor (25) is mounted on the external extension rod on one side of the lead screw (24). The rotary table (23) is installed in the middle of the slider. The ankle joint rotary motor (29) is provided below the rotary table (23). The patellar tendon fixation device includes a fixation device, a first tendon force adjustment device (5), a fixation frame (34), a patellar tendon (33), and a tendon clamp (11). The fixation device is fixed to the support column between the ankle joint flexion-extension hinge block (4) and the tibial fixation cylinder (9) by bolts and nuts through the fixation frame (34). The first tendon force adjustment device (5) is a screw. One end of the screw passes through the fixation device and is connected to the limit by a hexagonal nut. Rotating the nut adjusts the length of the connecting rod to achieve the tension adjustment of the tendon. The other end of the first tendon force adjustment device (5) is connected to the tendon clamp (11). The tendon clamp consists of two upper and lower clamps with toothed grooves. Multiple screw holes are designed on the clamps. The patellar tendon (33) is clamped by the upper and lower clamps and then fixed by screws. The patellar tendon (33) is connected to the patella (6). The quadriceps fixation device includes a tendon clamp (11), a second muscle force adjustment device (12), a quadriceps (10), a central constraint block (14), a Q-angle support plate (13), a pin (37), and a fixing bolt (36). The Q-angle support plate (13) is fixed to the hip joint simulation device by the fixing bolt (36). The left and right supports of the Q-angle support plate (13) are connected to the central constraint block (14) by the pin (37). The second muscle force adjustment device (12) is a screw. The screw passes through the central hole of the constraint block (14). One end of the screw is connected to the limit by a hexagonal nut. Rotating the nut can adjust the length of the connecting rod to achieve the adjustment of the muscle tension. The other end of the screw is connected to the tendon clamp (11). The tendon clamp (11) consists of two upper and lower clamps with toothed grooves. The clamps are designed with multiple screw hole arrays. The quadriceps (10) is clamped by the upper and lower clamps and then fixed by screws.

2. The knee joint biomechanics and kinematics simulator according to claim 1, characterized in that, The tibial fixation device includes an ankle joint flexion-extension hinge block (4), a tibial fixation tube (9), a hydraulic push-pull device (27), an annular sleeve (3), a cylindrical connecting rod (30), and a hinge shaft (31). The ankle joint flexion-extension hinge block (4) and the tibial fixation tube (9) are welded together by a support column. The ankle joint flexion-extension hinge block (4) is connected to the rotating platform (23) of the ankle joint simulation device through the hinge shaft (31). A cylindrical connecting rod (30) is installed on the front side of the ankle joint flexion-extension hinge block (4). The middle part of the cylindrical connecting rod (30) is connected to the annular sleeve (3). A hydraulic push-pull device (27) is connected below the annular sleeve to provide power to achieve flexion and extension of the lower leg. The tibial fixation tube (9) has screw holes around its perimeter to fix the natural tibia or artificial tibia with bone cement.

3. The knee joint biomechanics and kinematics simulator according to claim 1, characterized in that, The femoral fixation device includes an internal fixation plate (38), a femoral fixation tube, and a connecting rod; the internal fixation plate (38) and the femoral fixation tube are welded together by the connecting rod, and the femoral fixation tube has screw holes around its perimeter to seal and fix the natural or artificial femur with bone cement.

4. The knee joint biomechanics and kinematics simulator according to claim 1, characterized in that, The hip joint simulation device includes a frame (18), a flexion-extension axis (35), a guide rod slider (17), a hydraulic push-pull device (21), and a back plate (19). The back plate (19) has two holes extending from the upper part and is coaxially connected to the flexion-extension axis (35) and the guide rod slider (17). The lower part of the back plate (19) has a transverse extension platform that is welded to the push-pull rod of the hydraulic push-pull device (21). The back plate (19) is set on the frame through the guide rod slider (19). The frame (18) has a hollow cross-section in the shape of a U-shape and through grooves on the upper and lower surfaces. The frame (18) is connected to the back plate (19) through the flexion-extension axis (35).

5. The knee joint biomechanics and kinematics simulator according to claim 1, characterized in that, The frame includes an upright (20), a base (26), a tripod (22), a crossbeam (15), a horizontal plate (28), and a guide rod (16). The upright (20) and the base (26) are connected by welding. Tripods (22) are used to reinforce the connection between the upright and the base on the left and right sides. A horizontal plate (28) is welded to the middle 1 / 4 of the lower part of the upright (20). A crossbeam (15) is welded to the top of the upright. The crossbeam has fixing holes near the two sides and is connected to the guide rod (16) in the vertical direction. The base also has fixing holes near the upright and is connected to the guide rod in the vertical direction.

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