Arthrolysis simulation teaching device and teaching method

Abstract

The application discloses a joint mobilization simulation teaching device and a teaching method. The simulation teaching device comprises a first simulation arm and a second simulation arm which are connected with each other. The first simulation arm comprises a first arm body, a first movable support and a spherical joint head. The lower end of the first movable support is connected with the upper end of the first arm body through a first rotating disc, and the upper end of the first movable support is connected with the spherical joint head. The second simulation arm comprises a second arm body, a second movable support and a joint clamping piece. The lower end of the second movable support is connected with the upper end of the second arm body through a second rotating disc, and the upper end of the second movable support is connected with the joint clamping piece. The joint clamping piece comprises a moving table and a clamping seat, and the two ends of the moving table are connected with the upper end of the second movable support and the clamping seat respectively. Through the simulation teaching device and the teaching method, the teaching strategy can be optimized, the students can intuitively compare the differences between their own operation and the operation of the teacher in the aspects of force, direction and operation method classification, and continuously imitate to approach the learning goal.

Description

Technical Field

[0001] This invention relates to the field of simulation teaching technology, and in particular to a simulation teaching device and method for joint mobilization techniques. Background Technology

[0002] Joint mobilization is a fundamental rehabilitation technique. It involves therapists performing targeted manual manipulations within the patient's permissible range of joint movement. It is primarily used to treat joint dysfunctions such as pain, limited mobility, or stiffness. A key characteristic of joint mobilization is the application of a grading system during the procedure. This grading offers a degree of objectivity, serving not only for recording treatment outcomes but also for clinical research. However, current grading methods are often based on subjective experience.

[0003] Currently, joint mobilization techniques are primarily taught using skeletal models and demonstrations by models. Skeletal models are generally static and fixed, offering a maximum of three degrees of freedom for joints. While skeletal models provide a basic understanding of the structure, student demonstrations allow the model to directly experience the force, direction, and gradation of the manipulation. However, other observing students cannot intuitively grasp the force and direction. Furthermore, students find it difficult to understand the operational details of joint mobilization techniques, requiring repeated guidance from the teacher to master the skills, resulting in low teaching efficiency. Summary of the Invention

[0004] This invention addresses the shortcomings of existing technologies by providing a joint mobilization simulation teaching device, comprising a first simulated arm and a second simulated arm connected to each other. The first simulated arm includes a first arm body, a first movable support, and a ball joint head. The lower end of the first movable support is connected to the upper end of the first arm body via a first rotating disk, and the upper end of the first movable support is connected to the ball joint head. The first movable support is rotatable along the axis of the first arm body. The first rotating disk is equipped with a first torque sensor for sensing the rotation of the first movable support relative to the first arm body. The second simulated arm includes a second arm body, a second movable support, and a joint clamping component. The lower end of the second movable support is connected to the ball joint head. The second rotating disk is connected to the upper end of the second arm body, and the upper end of the second movable bracket is connected to the joint connector. The second movable bracket can rotate along the axis of the second arm body. The second rotating disk is provided with a second torque sensor for sensing the rotation of the second movable bracket relative to the second arm body. The second movable bracket is provided with a second tension sensor for sensing the tension of the joint clamping member. The joint clamping member is connected to the ball joint head and can move along the surface of the ball joint head. The joint clamping member includes a moving platform and a clamping seat. The two ends of the moving platform are respectively connected to the upper end of the second movable bracket and the clamping seat. The moving platform is provided with a second pressure sensor for sensing the pressure of the moving platform.

[0005] Preferably, a first pressure sensor is provided inside the ball joint head, and the first pressure sensor is configured to collect the pressure applied by the clamp on the inner wall of the ball; the upper end of the first movable bracket is connected to the ball joint head through a first tension sensor, and the first tension sensor is configured to collect the tension of the ball joint head in the first arm axis.

[0006] Preferably, the clamp includes two clamping arms for clamping the ball joint head.

[0007] This invention also discloses a joint mobilization simulation teaching method, using any of the joint mobilization simulation teaching devices described above, comprising the following steps:

[0008] S1, based on the set simulated object scenario, query the database to obtain the corresponding joint rotation limitation angle, set the working angle of the first torque sensor and the second torque sensor according to the joint rotation limitation angle, and set the data recording start and end points of the first tension sensor, the second tension sensor, the first pressure sensor and the second pressure sensor according to the set operation method level; the operation method level includes the joint's allowable range of motion and activity frequency;

[0009] S2, record the movement trajectory of the second simulated arm under external force in the demonstration state and the data from each sensor to form a demonstration action data set corresponding to the first operation level;

[0010] S3, In the practice state, record the movement trajectory of the second simulated arm under the action of external force and the data of each sensor to form a practice motion data set, and determine the operation level according to the practice motion data set;

[0011] S4. Compare the practice action data set with the demonstration action data set. Determine whether the range of motion and correction force of the practice action are qualified based on the data difference curve of the tension sensor and pressure sensor in the two sets of data. Determine whether the angle of motion of the practice action is qualified based on the data difference curve of the torque sensor.

[0012] Preferably, step S1 further includes: recording multiple demonstration action data sets in the demonstration state, comparing the corresponding sensor data in each of the multiple demonstration action data sets, and if the data difference is less than a preset value, obtaining the average value of the sensor data and recording it as the demonstration action reference value.

[0013] Preferably, step S4 further includes: if the data difference curves of the tension sensor and the pressure sensor in the two sets of data have a data difference exceeding a preset value at some time points, then issue a non-compliance information and output the error information at the corresponding time point, including the location of the faulty sensor and the corresponding exercise action error component identified according to the data difference, and the exercise action error attributes shown include, but are not limited to, traction force, traction angle, traction time, and compression force.

[0014] Preferably, step S3 further includes: acquiring data from each tension sensor and each pressure sensor in the exercise action data group, querying the corresponding operation level in the database based on the displacement distance and movement frequency of each tension sensor during the action, and sending the matching operation level to the corresponding display terminal.

[0015] The joint mobilization technique simulation teaching device and the teaching method using this device disclosed in this invention can optimize teachers' teaching strategies. Students can intuitively compare their own operations with the teacher's operations in terms of force, direction, and grading of techniques, repeatedly imitating to approach the learning objectives. For teaching techniques like shoulder joint manipulation, this embodiment can quantify the force, direction, and grading of joint mobilization techniques. Finally, in the teaching feedback stage, this joint mobilization technique simulation teaching device can be used for simultaneous operation assessments of multiple students, facilitating online and offline teaching and significantly broadening the scope of teaching.

[0016] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0017] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings:

[0018] Figure 1 This is a schematic diagram of the joint mobilization simulation teaching device disclosed in this embodiment.

[0019] Figure 2 This is another structural schematic diagram of the joint mobilization simulation teaching device disclosed in this embodiment.

[0020] Figure 3 This is a flowchart illustrating the joint mobilization simulation teaching method disclosed in this embodiment. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the described embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0022] Unless otherwise defined, the technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention pertains. The terms “first,” “second,” and similar terms used in the specification and claims of this patent application do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Similarly, the terms “an” or “a” and similar terms do not indicate a limitation of quantity, but rather indicate the presence of at least one.

[0023] Traditional teaching primarily uses skeletal models and mannequin demonstrations. Skeletal models are generally static and fixed, offering a maximum of three degrees of freedom for joints. They only provide a basic structural understanding. While mannequin demonstrations allow students to directly experience the force, direction, and grading of manipulation, other observing students cannot intuitively grasp these concepts. Furthermore, understanding the operational details of joint mobilization techniques is challenging for students, requiring repeated teacher guidance to master the skills. This invention optimizes teaching strategies, allowing students to visually compare their own manipulations with the teacher's in terms of force, direction, and grading, enabling repeated imitation and closer attainment of learning objectives.

[0024] In this embodiment, as shown in the appendix Figure 1 and 2As shown, a joint mobilization technique simulation teaching device is disclosed, including a first simulated arm 1 and a second simulated arm 2 connected to each other. The first simulated arm 1 includes a first arm body 11, a first movable support 12 and a ball joint head 13. The lower end of the first movable support 12 is connected to the upper end of the first arm body 11 through a first rotating disk 14. The upper end of the first movable support 12 is connected to the ball joint head 13. The first movable support 12 can rotate along the axis of the first arm body 11. The first rotating disk 14 is provided with a first torque sensor for sensing the rotation of the first movable support 12 relative to the first arm body 11. The second simulated arm 2 includes a second arm body 21, a second movable support 22, and a joint clamping member 23. The lower end of the second movable support 22 is connected to the upper end of the second arm body 21 via a second rotating disk 24, and the upper end of the second movable support 22 is connected to the joint connector 23. The second movable support 22 can rotate along the axis of the second arm body 21. The second rotating disk 24 is provided with a second torque sensor for sensing the rotation of the second movable support 22 relative to the second arm body 21. The second movable support 22 is provided with a second tension sensor 26 for sensing the tension of the joint clamping member 23. The joint clamping member 23 is connected to a ball joint head 13 and can move along the surface of the ball joint head. The joint clamping member 23 includes a moving platform 231 and a clamping seat 232. The two ends of the moving platform 231 are respectively connected to the upper end of the second movable support and the clamping seat. The moving platform 231 is provided with a first pressure sensor 233 for sensing the pressure of the moving platform.

[0025] In this embodiment, a second pressure sensor is disposed inside the ball joint head 13, and the second pressure sensor is configured to collect the pressure applied by the clamp on the inner wall of the ball. The upper end of the first movable bracket is connected to the ball joint head through a first tension sensor, and the first tension sensor is configured to collect the tension of the ball joint head in the axial direction of the first arm. The clamp 232 includes two clamping arms for clamping the ball joint head.

[0026] The first and second simulated arms can be used to simulate a three-degree-of-freedom shoulder joint. The shoulder joint is the most flexible joint in the human body, a typical ball-and-socket joint with three degrees of freedom. It can perform physiological movements such as flexion, extension, adduction, abduction, internal rotation, and external rotation. Simultaneously, the shoulder joint also has auxiliary movements such as rolling, sliding, rotation, compression, traction, and separation. (Attached) Figure 1 and 2 A three-degree-of-freedom shoulder joint is simulated using two relatively movable first and second analog arms.

[0027] The simulation teaching device is mainly equipped with six sensors. The first torque sensor 15 corresponds to shoulder flexion and extension, used to detect the force required to simulate shoulder flexion and extension movements. It can also be used in conjunction with the first angle sensor to record the range of motion. The second torque sensor 25 corresponds to forearm internal and external rotation, used to detect the force required to simulate forearm pronation and supination movements. It can also be used in conjunction with the second angle sensor to record the range of motion. The first tension sensor detects the X-axis force for joint mobilization. It can also be used in conjunction with a length recording sensor to record minute movement distances. It can also be set with start and end points, generating corresponding resistance through motors, air resistance, and magnetism. The second tension sensor detects the Y-axis force for joint mobilization. It can also be used in conjunction with a length recording sensor to record minute movement distances. It can also be set with start and end points, generating corresponding resistance through motors, air resistance, and magnetism. The first pressure sensor detects the Z-axis force for joint mobilization. It can also be used in conjunction with a length recording sensor to record minute movement distances. It can also be set with start and end points, generating corresponding resistance through motors, air resistance, and magnetism. The second pressure sensor corresponds to the adduction and abduction of the shoulder joint and can be used to detect the force required to simulate shoulder flexion and extension movements. It can also be used in conjunction with a third angle sensor to record the range of motion and can generate corresponding power through a motor, air resistance, or magnetism.

[0028] In another embodiment, a method for conducting joint mobilization simulation teaching using the aforementioned joint mobilization simulation teaching device is disclosed, as shown in the attached document. Figure 3 As shown, it specifically includes the following steps.

[0029] Step S1: Query the database to obtain the corresponding joint rotation limitation angle according to the set simulated object scenario; set the working angle of the first torque sensor and the second torque sensor according to the joint rotation limitation angle; set the data recording start and end points of the first tension sensor, the second tension sensor, the first pressure sensor and the second pressure sensor according to the set operation method level; the operation method level includes the joint's allowable range of motion and activity frequency.

[0030] In this embodiment, the techniques used in joint mobilization are graded and quantified to facilitate the recording of treatment results. The specific meanings of each grade are as follows:

[0031] Level 1 manipulation: The therapist moves the joint back and forth rhythmically in a small range at the starting point within the joint's permissible range of motion.

[0032] Level 2 manipulation: The therapist moves the joint back and forth rhythmically and extensively within the range of motion allowed by the joint, but does not touch the beginning or end of the joint movement.

[0033] Level 3: Within the range of joint movement, the therapist moves the joint back and forth rhythmically and extensively, reaching the end of the joint movement each time, and can feel the tension in the soft tissues around the joint.

[0034] Fourth level of manipulation: The therapist moves the joint back and forth rhythmically in a small range at the end of the joint movement, touching the end of the joint movement each time, and can feel the tension in the soft tissues around the joint.

[0035] During treatment, the level of manipulation is selected based on whether the joint is primarily characterized by pain or stiffness during accessory or physiological movements. Generally, Level 1 and Level 2 manipulations are suitable for treating joint mobility limitations caused by pain; Level 3 manipulations are suitable for treating joint pain accompanied by stiffness; and Level 4 manipulations are suitable for treating joint mobility limitations caused by adhesions or contractures of surrounding tissues. The grading range of manipulation techniques varies with the range of motion of the joint; when the range of motion decreases, the grading range decreases accordingly, and when the range of motion improves after treatment, the grading range increases accordingly.

[0036] In this embodiment, step S1 may further include: recording multiple demonstration action data sets in the demonstration state, comparing the corresponding sensor data in each of the multiple demonstration action data sets, and if the data difference is less than a preset value, obtaining the average value of the sensor data and recording it as the demonstration action reference value.

[0037] Step S2: Record the movement trajectory of the second simulated arm under external force in the demonstration state and the data from each sensor to form a demonstration action data set corresponding to the first operation level.

[0038] Step S3: In the practice state, record the movement trajectory of the second simulated arm under the action of external force and the data of each sensor to form a practice action data set, and determine the operation level according to the practice action data set.

[0039] Step S3 further includes: acquiring data from each tension sensor and each pressure sensor in the exercise action data group, querying the corresponding operation level in the database based on the displacement distance and movement frequency of each tension sensor during the action, and sending the matching operation level to the corresponding display terminal.

[0040] Step S4: Compare the practice action data set with the demonstration action data set. Determine whether the range of motion and correction force of the practice action are qualified based on the data difference curves of the tension sensor and pressure sensor in the two sets of data. Determine whether the angle of motion of the practice action is qualified based on the data difference curve of the torque sensor.

[0041] In this embodiment, step S4 further includes: if the data difference curves of the tension sensor and the pressure sensor in the two sets of data have a data difference exceeding a preset value at some time points, then an unqualified information is issued and the error information at the corresponding time point is output, including the location of the faulty sensor and the corresponding exercise action error component identified according to the data difference. The exercise action error attributes shown include, but are not limited to, the pulling force, pulling angle, pulling time, and squeezing force.

[0042] Specifically, before using the joint mobilization technique simulation teaching device, relevant parameters are set according to the classroom teaching content. First, the teacher operates the device so that students can intuitively see the changes in angle and force in real time. Then, students imitate the teacher's movements according to the key points of the technique. At this time, the simulation teaching device can compare the numerical differences between the teacher and students and display them on the monitor in real time. Finally, the device can prompt students whether their completion is within the required range and suggest ways to improve.

[0043] For example, to simulate limited shoulder flexion, students are taught a Level 4 manipulation technique. This technique requires the therapist to use a small-amplitude, rapid thrusting motion at the limit of the joint's range of motion to break adhesions. The shoulder joint angle is set to simulate limited and stiff shoulder flexion. The instructor first demonstrates the Level 4 manipulation technique, which can be performed multiple times. The system optimizes the data and stabilizes the numerical range, while simultaneously displaying changes in angle and force applied by the instructor. Finally, students simulate the manipulation and provide feedback on the results.

[0044] For cases of limited shoulder flexion, in addition to basic separation and long-axis traction, the focus is on joint mobilization at the point of limitation. Based on the law of joint concavity and convexity, the operation must proceed from front to back. First, the first angle sensor paired with the first pressure sensor is set. For example, if the shoulder joint is limited at 60° flexion, the system provides resistance simulating human joint stiffness when the device rotates to approximately 60°, simultaneously feeding back the angle and resistance values ​​from the first torque sensor. Next, the activity spaces corresponding to the first to fourth operation levels of the first tension sensor, second tension sensor, and first pressure sensor are set, representing the starting and ending points within the activity space. Then, during the mobilization technique, the system combines the key data recorded by the first tension sensor, second tension sensor, and first pressure sensor to provide feedback on the time, force, and amplitude of the mobilization technique, displaying this feedback in real time on the display. Finally, after the anterior-posterior joint mobilization operation is completed, the system can evaluate the techniques applied at each operation level.

[0045] The joint mobilization technique simulation teaching device and the teaching method using this device disclosed in the above embodiments can optimize teachers' teaching strategies. Students can intuitively compare the differences in force, direction, and grading of manipulation between their own operations and the teacher's operations, repeatedly imitating to approach the learning objectives. For teaching techniques like shoulder joint manipulation, this embodiment can quantify the force, direction, and grading of joint mobilization techniques. Finally, in the teaching feedback stage, this joint mobilization technique simulation teaching device can be used for simultaneous operation assessments of multiple students, facilitating online and offline teaching and significantly broadening the scope of teaching.

[0046] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

[0047] In summary, the above description is only a preferred embodiment of the present invention. All equivalent changes and modifications made within the scope of the claims of the present invention should be covered by the present invention.

Claims

1. A joint mobilization technique simulation teaching device, characterized in that, Includes a first analog arm and a second analog arm that are interconnected, wherein The first simulated arm includes a first arm body, a first movable bracket, and a ball joint head. The lower end of the first movable bracket is connected to the upper end of the first arm body through a first rotating disk. The upper end of the first movable bracket is connected to the ball joint head. The first movable bracket can rotate along the axis of the first arm body. The first rotating disk is provided with a first torque sensor for sensing the rotation of the first movable bracket relative to the first arm body. The second simulated arm includes a second arm body, a second movable support, and a joint clamping component. The lower end of the second movable support is connected to the upper end of the second arm body via a second rotating disk. The upper end of the second movable support is connected to the joint connector. The second movable support is rotatable along the axis of the second arm body. The second rotating disk is equipped with a second torque sensor for sensing the rotation of the second movable support relative to the second arm body. The second movable support is equipped with a second tension sensor for sensing the tension of the joint clamping component. The joint clamping component is connected to a ball joint head and is movable along the surface of the ball joint head. The joint clamping component includes a movable platform and a clamping base. The two ends of the movable platform are respectively connected to the upper end of the second movable bracket and the clamping base. The movable platform is provided with a second pressure sensor for sensing the pressure of the movable platform. The ball joint head is provided with a first pressure sensor, which is configured to collect the pressure applied by the clamp on the inner wall of the ball. The upper end of the first movable bracket is connected to the ball joint head via a first tension sensor, which is configured to collect the tension of the ball joint head in the first arm axis.

2. The joint mobilization simulation teaching device according to claim 1, characterized in that: The clamp includes two clamping arms for holding the ball joint head.

3. A joint mobilization simulation teaching method, using the joint mobilization technique simulation teaching device as described in any one of claims 1-2, characterized in that, Includes the following steps: S1, based on the set simulated object scenario, query the database to obtain the corresponding joint rotation limitation angle, set the working angle of the first torque sensor and the second torque sensor according to the joint rotation limitation angle, and set the data recording start and end points of the first tension sensor, the second tension sensor, the first pressure sensor and the second pressure sensor according to the set operation method level; the operation method level includes the joint's allowable range of motion and activity frequency; S2, record the movement trajectory of the second simulated arm under external force in the demonstration state and the data from each sensor to form a demonstration action data set corresponding to the first operation level; S3, In the practice state, record the movement trajectory of the second simulated arm under the action of external force and the data of each sensor to form a practice motion data set, and determine the operation level according to the practice motion data set; S4. Compare the practice action data set with the demonstration action data set. Determine whether the range of motion and correction force of the practice action are qualified based on the data difference curve of the tension sensor and pressure sensor in the two sets of data. Determine whether the angle of motion of the practice action is qualified based on the data difference curve of the torque sensor.

4. The joint mobilization simulation teaching method according to claim 3, characterized in that, Step S1 further includes: recording multiple demonstration action data sets in the demonstration state, comparing the corresponding sensor data in each of the multiple demonstration action data sets, and if the data difference is less than a preset value, obtaining the average value of the sensor data and recording it as the demonstration action reference value.

5. The joint mobilization simulation teaching method according to claim 4, characterized in that: Step S4 further includes: If the data difference curves of the tension sensor and the pressure sensor in the two sets of data have a data difference exceeding the preset value at some time points, an unqualified information will be issued and the error information at the corresponding time point will be output, including the location of the faulty sensor and the corresponding error component of the exercise action identified based on the data difference. The error attributes of the exercise action shown include, but are not limited to, the pulling force, pulling angle, pulling time, and squeezing force.

6. The joint mobilization simulation teaching method according to claim 5, characterized in that, Step S3 further includes: acquiring data from each tension sensor and each pressure sensor in the exercise action data group, querying the corresponding operation level in the database based on the displacement distance and movement frequency of each tension sensor during the action, and sending the matching operation level to the corresponding display terminal.

Images