Manipulation simulation device for supine hyperextension traction

Abstract

The application belongs to the technical field of bionic operation device, and aims at the problem that the existing simulation device cannot be applied to supine forward bending and stretching traction manipulation, and proposes an operation simulation device for supine forward bending and stretching traction manipulation, which comprises a head bionic module and a neck bionic module; not only stiffness is used as the starting point for reproducing human neck information and simulating the change process of neck traction, but also a two-stage coupled stiffness dynamic adjustment unit is arranged in the neck bionic module, so that the neck nonlinear non-smooth stiffness change trend jointly represented by the cervical vertebra and the neck soft tissue is fitted during the operation process of supine forward bending and stretching traction manipulation; the device can realistically provide the mechanical feedback of the human body tissue of the operation object when the operator uses the supine forward bending and stretching traction manipulation on the operation object, collect operation data for evaluation, so as to help improve the consistency of the quality of supine forward bending and stretching traction manipulation.

Description

Technical Field

[0001] This application relates to the field of bionic manipulation equipment technology; more specifically, it relates to a manipulation simulation device for a supine forward flexion and extension traction maneuver. Background Technology

[0002] With changes in people's lifestyles and work habits, and the increasing prevalence of electronic products, cervical spondylosis has become a common disease, especially cervical spondylotic radiculopathy (CSR), which has the highest incidence rate and is more common in middle-aged and elderly people, seriously affecting the physical and mental health of many patients. CSR is a degenerative disease, and factors such as excessive fatigue and degeneration of cervical joint function are contributing factors. Clinically, patients mainly present with limited cervical spine mobility and pain.

[0003] The supine forward flexion-extension traction technique was developed by Professor Lin Dingkun of Guangdong Provincial Hospital of Traditional Chinese Medicine. Based on the principles of TCM orthopedics and spinal manipulation, and considering the characteristics of cervical spondylosis with musculoskeletal imbalance, it combines the "Eight Methods" of TCM bone setting with modern biomechanical research. It boasts advantages such as ease of operation, definite efficacy, and good patient compliance, making it an effective treatment for cervical radiculopathy. This technique requires the patient to be supine and demands relatively high skill from the practitioner. The specific manipulation method involves using the hands to apply traction to find the effective angle and force. The patient lies supine with their arms flexed forward, and the practitioner uses both hands to apply traction, adjusting the angles of flexion and lateral flexion through hand coordination, while continuously inquiring about the patient's pain at different angles. The angle at which symptoms lessen or disappear is the operating angle. In other words, the quality of the supine forward flexion-extension traction technique is greatly affected by human factors, making it difficult to master and widely promote. Furthermore, the transmission of experience in this technique still relies on oral and hands-on instruction, making objective quantitative evaluation difficult. Therefore, in order to ensure the consistency of the quality of the supine forward flexion and extension traction technique, it is necessary to use a simulation device to help physicians or operators simulate the operation of the supine forward flexion and extension traction technique.

[0004] However, the results of clinical practice and research by researchers have shown that, whether applied directly or after targeted adjustments, existing simulation devices cannot meet the needs of simulating the supine forward flexion and extension traction maneuver. Summary of the Invention

[0005] To address the limitations of existing technologies, this invention proposes an operational simulation device for supine forward flexion-extension traction manipulation, employing the following technical solution:

[0006] A simulation device for a supine forward flexion and extension traction maneuver includes a head bionic module and a neck bionic module.

[0007] The head bionic module is connected to the neck bionic module; the neck bionic module is provided with a coupled first-level stiffness dynamic adjustment unit and a second-level stiffness dynamic adjustment unit.

[0008] When the operator operates the simulation device for the supine forward flexion and extension traction maneuver:

[0009] The head bionic module is used to simulate the force fed back from the head of the object to the operator, and to measure the rotation angle applied by the operator to the head bionic module.

[0010] The neck bionic module is used to simulate the traction change process of the neck of the operating object, and to monitor the traction extension amount that occurs during the traction change process and the traction force applied by the operator to the head bionic module.

[0011] The first-level stiffness dynamic adjustment unit and the second-level stiffness dynamic adjustment unit are used to fit the nonlinear and non-smooth stiffness change trend of the neck, which is jointly characterized by the cervical spine and neck soft tissue of the operating object.

[0012] Compared to existing technologies, the simulation device for the supine flexion-extension traction technique provided by this invention not only uses stiffness as the starting point for reproducing human neck information and simulating the traction process of the neck, but also sets up a two-level coupled stiffness dynamic adjustment unit in the neck bionic module to fit the nonlinear and non-smooth stiffness change trend of the neck, which is jointly characterized by the cervical spine and neck soft tissues, during the operation of the supine flexion-extension traction technique. This device can realistically provide the mechanical feedback of the human body tissue of the operator when using the supine flexion-extension traction technique on the operator, and collect operation data for evaluation, thereby helping to improve the consistency of the quality of the supine flexion-extension traction technique.

[0013] As a preferred embodiment, the neck bionic module further includes a head-neck connection structure, a force sensor, and a traction displacement component connected in sequence.

[0014] The other end of the head-neck connection structure is connected to the head bionic module; the force sensor is used to measure the traction force applied by the operator to the head bionic module; the displacement of the traction displacement component is limited by the first-stage stiffness dynamic adjustment unit and the second-stage stiffness dynamic adjustment unit.

[0015] Furthermore, the neck bionic module also includes an installation limiting structure; the installation limiting structure includes an installation frame, a first limiting slide bar, and a second limiting slide bar;

[0016] The first limiting slide rod connects the upper and lower sides of the mounting frame; the second limiting slide rod is disposed between the first limiting slide rods, perpendicular to the first limiting slide rods, and connects the left and right sides of the mounting frame;

[0017] The head and neck connection structure is installed on the second limiting slide bar and is movably inserted through the right side of the mounting frame;

[0018] The traction displacement component is installed on the second limiting slide bar;

[0019] The first-stage stiffness dynamic adjustment unit is installed on the upper and lower sides of the mounting frame and the first limiting slide bar;

[0020] The second-stage stiffness dynamic adjustment unit is installed on the left side of the mounting frame and the second limiting slide bar.

[0021] Furthermore, the first-stage stiffness dynamic adjustment unit includes a first-stage spring assembly and rollers symmetrically arranged on the upper and lower sides of the mounting limiting structure;

[0022] The first-stage spring assembly is installed on the first limiting slide bar; the roller is installed on the inner end of the first-stage spring assembly, respectively abutting against the upper and lower sides of the traction displacement component.

[0023] Furthermore, the upper and lower sides of the traction displacement component are symmetrical continuous curved surfaces; the width of the traction displacement component gradually increases from right to left.

[0024] Furthermore, the second-stage stiffness dynamic adjustment unit includes an electric push rod and a second-stage spring assembly; the second-stage spring assembly includes a pressure plate, a traction transmission plate, and a connecting rod; a spring connects the pressure plate and the traction transmission plate.

[0025] The electric push rod is installed on the left side of the mounting frame; the pressure plate and the traction transmission plate are installed on the second limiting slide rod; the telescopic end of the electric push rod is connected to the pressure plate; the connecting rod is movably inserted through the pressure plate, one end of the connecting rod is connected to the traction transmission plate, and the other end is connected to the traction displacement component.

[0026] Furthermore, the neck bionic module also includes a first linear displacement sensor; the first linear displacement sensor is connected to the traction transmission plate and is used to measure the displacement of the traction displacement component, with the measurement result of the first linear displacement sensor serving as the traction extension amount.

[0027] Furthermore, the second-stage stiffness dynamic adjustment unit also includes a second linear displacement sensor; the second linear displacement sensor is connected to the pressure plate and is used to measure the distance between the pressure plate and the traction transmission plate.

[0028] Furthermore, the first-stage stiffness dynamic adjustment unit also includes a first-stage stiffness adjustment motor, a gear assembly, and a spring spacing adjustment assembly symmetrically arranged on the upper and lower sides of the mounting limit architecture.

[0029] The first-stage stiffness adjustment motor, gear assembly, and spring pitch adjustment assembly are mounted on the mounting frame.

[0030] The output of the first-stage stiffness adjustment motor is transmitted to the spring pitch adjustment assembly through the gear assembly, changing the degree of spring compression within the first-stage spring assembly from the outside of the first-stage spring assembly.

[0031] Furthermore, the right end of the traction displacement component is provided with a limiting structure for limiting the relative position of the traction displacement component and the roller;

[0032] Before the operator operates the simulation device for the supine forward flexion and extension traction maneuver:

[0033] The second-stage stiffness dynamic adjustment unit is used to adjust the distance between the pressure plate and the traction transmission plate through the electric push rod to simulate the initial length of the cervical spine of different operating objects;

[0034] The first-stage stiffness dynamic adjustment unit is used to compensate for stiffness by changing the degree of spring compression in the first-stage spring assembly through the first-stage stiffness adjustment motor, gear assembly and spring spacing adjustment assembly, based on the simulation results of the initial length of the cervical spine by the second-stage stiffness dynamic adjustment unit. The first-stage stiffness dynamic adjustment unit is used to fit the initial stiffness of the cervical spine and neck soft tissue of the operating object with the second-stage stiffness dynamic adjustment unit. Attached Figure Description

[0035] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0036] Figure 1 A perspective view of the operation simulation device for the supine forward flexion-extension traction maneuver provided in an embodiment of the present invention;

[0037] Figure 2This is a top view of the operation simulation device for the supine forward flexion and extension traction method provided in an embodiment of the present invention;

[0038] Figure 3 A perspective view of the installation and limiting structure of the operation simulation device for the supine forward flexion and extension traction method provided in an embodiment of the present invention;

[0039] Figure 4 A perspective view of the first-stage stiffness dynamic adjustment unit of the operation simulation device for the supine forward flexion and extension traction method provided in an embodiment of the present invention;

[0040] Figure 5 A perspective view of the second-stage stiffness dynamic adjustment unit of the operation simulation device for the supine forward flexion-extension traction maneuver provided in an embodiment of the present invention, viewed from below.

[0041] Explanation of reference numerals in the attached figures:

[0042] 1. Head bionic module; 2. Neck bionic module;

[0043] 21. Head-neck connection structure; 22. Force sensor; 23. Traction displacement component;

[0044] 24. First-stage stiffness dynamic adjustment unit; 241. First-stage stiffness adjustment motor; 242. Gear assembly; 243. Spring spacing adjustment assembly; 244. First-stage spring assembly; 245. Roller;

[0045] 25. Second-stage stiffness dynamic adjustment unit; 251. Electric push rod; 252. Pressure plate; 253. Traction transmission plate; 254. Connecting rod;

[0046] 26. First linear displacement sensor; 27. Mounting limit structure; 271. Mounting frame; 272. First limit slide bar; 273. Second limit slide bar. Detailed Implementation

[0047] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0048] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0049] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0050] In the description of this application, it should be understood that relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element. Those skilled in the art will understand the specific meaning of the above terms in this application based on the specific circumstances.

[0051] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0052] Example 1

[0053] Prior to the initiation of this invention, some argued that existing simulation devices may have a certain degree of universality in different traditional Chinese medicine orthopedic techniques. To simulate different techniques, it would only be necessary to make some minor adjustments to the existing simulation devices and provide a database that matches the techniques to be simulated as a basis for controlling these devices and evaluating the quality of the operator's techniques.

[0054] Based on the above viewpoints, the researchers of this invention attempted to make some adaptive modifications to existing simulation devices and constructed a database related to the supine forward flexion-extension traction technique for physicians to use. Unexpectedly, when experienced physicians practiced the supine forward flexion-extension traction technique based on this method, they reported that this approach always had some problems such as "it doesn't feel quite right," "it doesn't fit the actual situation," or "it's not realistic enough," but they couldn't pinpoint exactly where the problems lay. However, it can still be determined that existing simulation devices are basically not suitable for simulating the operation of the supine forward flexion-extension traction technique.

[0055] After extensive software and hardware simulations, prototype testing, and analysis, the developers of this invention identified the reason why existing simulation devices are unsuitable for simulating the supine forward flexion-extension traction maneuver:

[0056] Stiffness represents an object's ability to resist deformation and is generally used to describe the relationship between force and displacement or deformation. Generally speaking, for the same displacement or deformation, the greater the force required, the greater the stiffness. However, as the accumulated traction extension in the cervical spine increases, to continue traction, for the same short traction distance, the traction force required will be greater than at the beginning of the manipulation. In other words, the stiffness of the cervical spine increases with traction. When operators perform physiotherapy on a patient's cervical spine, the existing simulation devices are relatively quick in implementing other techniques (sensually similar to the reduction techniques after a dislocated limb joint). In this process, the overall stiffness of the human neck is mainly affected by the cervical spine itself (including the bones, atlantoaxial joint, and intervertebral discs). The stiffness of the neck not only changes but also exhibits a smooth, non-linear trend (in a graph showing the relationship between stiffness and displacement, you will see a smoothly increasing curve, not a straight line).

[0057] However, if the operator performs a supine forward flexion-extension traction technique, the amount of traction extension of the cervical spine during the process is very small. More importantly, the entire process of applying traction to the body using this technique is very slow and gentle. The developers of this invention discovered that under such conditions, the overall stiffness of the human neck does not change smoothly as it does when other techniques are performed. Specifically, due to the slow speed, in addition to the cervical spine itself, the surrounding muscles, ligaments, blood vessels, lymph nodes, nerves, and other soft tissues of the neck also affect the representation of overall stiffness. These soft tissues each have their own different stiffness change trends. When the stiffness change trends of the cervical spine and these neck soft tissues are superimposed, the overall stiffness will exhibit a non-linear and non-smooth change trend. On the one hand, existing simulation devices, due to their structural limitations, cannot fit the nonlinear, non-smooth stiffness change trend of the neck, which is jointly characterized by the cervical spine and neck soft tissues. On the other hand, if the existence of this change trend is not recognized, in order to ensure the smoothness of the reference data during the construction and acquisition of relevant databases, the mechanical data fluctuations caused by the stiffness changes of neck soft tissues such as skin and muscles are generally attributed to the problem of the acquisition equipment and directly filtered out as noise, ultimately leading to distortion of the operation simulation process in terms of both data and structure.

[0058] Therefore, to address the above technical problems, this embodiment provides an operation simulation device for the supine forward flexion-extension traction maneuver. Please refer to [link to relevant documentation]. Figure 1It includes a head bionic module 1 and a neck bionic module 2;

[0059] The head bionic module 1 is connected to the neck bionic module 2; the neck bionic module 2 is provided with a coupled first-level stiffness dynamic adjustment unit 24 and a second-level stiffness dynamic adjustment unit 25.

[0060] When the operator operates the simulation device for the supine forward flexion and extension traction maneuver:

[0061] The head bionic module 1 is used to simulate the force fed back from the head of the object to the operator, and to measure the rotation angle applied by the operator to the head bionic module 1.

[0062] The neck bionic module 2 is used to simulate the traction change process of the neck of the operating object, and to monitor the traction extension amount that occurs during the traction change process and the traction force applied by the operator to the head bionic module 1.

[0063] The first-level stiffness dynamic adjustment unit 24 and the second-level stiffness dynamic adjustment unit 25 are used to fit the nonlinear and non-smooth stiffness change trend of the neck, which is jointly characterized by the cervical spine and neck soft tissue of the operating object.

[0064] Compared to existing technologies, the simulation device for the supine flexion-extension traction technique provided by this invention not only uses stiffness as the starting point for reproducing human neck information and simulating the traction process of the neck, but also sets up a two-level coupled stiffness dynamic adjustment unit in the neck bionic module to fit the nonlinear and non-smooth stiffness change trend of the neck, which is jointly characterized by the cervical spine and neck soft tissues, during the operation of the supine flexion-extension traction technique. This device can realistically provide the mechanical feedback of the human body tissue of the operator when using the supine flexion-extension traction technique on the operator, and collect operation data for evaluation, thereby helping to improve the consistency of the quality of the supine flexion-extension traction technique.

[0065] Specifically, in this embodiment, the operator can refer to the person who performs the supine forward flexion and extension traction maneuver on the device; the subject of the operation can refer to the patient or volunteer who has undergone the supine forward flexion and extension traction maneuver by a senior physician during the database construction and collection process in this embodiment.

[0066] This device allows operators to reproduce the biomechanical characteristics of the cervical spine under different traction extension amounts when a supine forward flexion and extension traction technique is applied to a subject. Operators can feel the resistance generated in the neck during traction and the pressure of the head on their hands through the head-bionic module 1, i.e., the force transmitted from the subject's head to the operator. Simultaneously, the device can collect operator data, including traction force at different traction extension amounts, which can be compared with data from experienced physicians in a database to assess the quality of the operator's technique.

[0067] Considering the diverse changes in soft tissue stiffness encountered in the supine flexion-extension traction technique, simulating each soft tissue around the cervical spine, such as muscles, blood vessels, and skin, individually would result in an extremely complex device structure. Therefore, the developers of this invention designed a coupled first-level stiffness dynamic adjustment unit 24 and a second-level stiffness dynamic adjustment unit 25. One of these units can fit the general, smooth stiffness change trend of the cervical spine or provide a basis for stiffness fitting, while the other unit directly couples the stiffness based on the database, thereby achieving the fitting of the nonlinear, non-smooth stiffness change trend of the cervical spine and neck soft tissues, which are jointly characterized by the cervical spine and neck soft tissues.

[0068] More specifically, the operation simulation device for the supine forward flexion and extension traction technique provided in this embodiment can replace the real operation object for operators to practice or evaluate; in the stage of practical application, a suitable human skin sleeve component can be put on the operation simulation device for the supine forward flexion and extension traction technique provided in this embodiment to further enhance the biomimetic effect.

[0069] Example 2

[0070] This embodiment can be considered as a further improvement and expansion based on Embodiment 1, specifically as follows: an operational simulation device for a supine forward flexion-extension traction maneuver, please refer to... Figure 1 It includes a head bionic module 1 and a neck bionic module 2;

[0071] The head bionic module 1 is connected to the neck bionic module 2; the neck bionic module 2 is provided with a coupled first-level stiffness dynamic adjustment unit 24 and a second-level stiffness dynamic adjustment unit 25.

[0072] When the operator operates the simulation device for the supine forward flexion and extension traction maneuver:

[0073] The head bionic module 1 is used to simulate the force fed back from the head of the object to the operator, and to measure the rotation angle applied by the operator to the head bionic module 1.

[0074] The neck bionic module 2 is used to simulate the traction change process of the neck of the operating object, and to monitor the traction extension amount that occurs during the traction change process and the traction force applied by the operator to the head bionic module 1.

[0075] The first-level stiffness dynamic adjustment unit 24 and the second-level stiffness dynamic adjustment unit 25 are used to fit the nonlinear non-smooth stiffness change trend of the neck, which is jointly characterized by the cervical spine and neck soft tissue of the operation object.

[0076] Please see Figure 2 The neck bionic module 2 also includes a head and neck connection structure 21, a force sensor 22, and a traction displacement component 23 connected in sequence.

[0077] The other end of the head-neck connection structure 21 is connected to the head bionic module 1; the force sensor 22 is used to measure the traction force applied by the operator to the head bionic module 1; the displacement of the traction displacement component 23 is limited by the first-stage stiffness dynamic adjustment unit 24 and the second-stage stiffness dynamic adjustment unit 25.

[0078] Specifically, when the operator applies traction to the head bionic module 1, the traction displacement component 23 can be driven by the head-neck connection structure 21 and the force sensor 22, and the force applied by the operator is recorded by the force sensor 22 during this process; the first-level stiffness dynamic adjustment unit 24 and the second-level stiffness dynamic adjustment unit 25 can fit the nonlinear non-smooth stiffness change trend of the neck jointly characterized by the cervical spine and neck soft tissue of the operating object by applying resistance to the traction displacement component 23 respectively.

[0079] As an optional embodiment, please refer to Figure 3 The neck bionic module 2 further includes an installation limiting structure 27; the installation limiting structure 27 includes an installation frame 271, a first limiting slide bar 272 and a second limiting slide bar 273;

[0080] The first limiting slide bar 272 connects the upper and lower sides of the mounting frame 271; the second limiting slide bar 273 is disposed between the first limiting slide bars 272, perpendicular to the first limiting slide bars 272, and connects the left and right sides of the mounting frame 271.

[0081] The head and neck connection structure 21 is installed on the second limiting slide bar 273 and is movably inserted through the right side of the mounting frame 271;

[0082] The traction displacement component 23 is installed on the second limiting slide bar 273;

[0083] The first-stage stiffness dynamic adjustment unit 24 is installed on the upper and lower sides of the mounting frame 271 and the first limiting slide bar 272;

[0084] The second-stage stiffness dynamic adjustment unit 25 is installed on the left side of the mounting frame 271 and the second limiting slide bar 273.

[0085] Specifically, since the supine forward flexion and extension traction technique needs to be performed with the patient lying supine on the bed, and the use of this device also follows this characteristic; therefore, in the description of this device in this embodiment, the directional terms used are as follows: "up and down" of the device corresponds to the patient's left and right; "inside" of the device corresponds to the end or side away from the patient's body surface, and "outside" is the opposite; while "left and right" of the device can be understood as the position of the patient's head and torso, which is only related to the perspective of description and is not an absolute limitation. The number of the first limiting slide bar 272 and the second limiting slide bar 273 can each be two.

[0086] For further details, please refer to Figure 4 The first-stage stiffness dynamic adjustment unit 24 includes a first-stage spring assembly 244 and a roller 245 symmetrically arranged on the upper and lower sides of the mounting limit frame 27.

[0087] The first-stage spring assembly 244 is installed on the first limiting slide bar 272; the roller 245 is installed on the inner end of the first-stage spring assembly 244, and respectively abuts against the upper and lower sides of the traction displacement component 23.

[0088] Specifically, the first-stage stiffness dynamic adjustment unit 24 can convert the clamping force applied by the first-stage stiffness dynamic adjustment unit 24 to the traction displacement component 23 into a resistance that restricts the displacement of the traction displacement component 23 in the traction direction.

[0089] Furthermore, the upper and lower sides of the traction displacement component 23 are symmetrical continuous curved surfaces; the width of the traction displacement component 23 gradually increases from right to left.

[0090] Specifically, when the traction displacement component 23 is displaced due to the operator's traction action, as the traction displacement component 23 gradually moves towards the direction of the head bionic module 1, its width gradually increases from right to left. This causes the traction displacement component 23 to gradually compress the first-stage spring assembly 244 from the inside out, changing the degree of compression of the first-stage spring assembly 244. This, in turn, increases the clamping force of the first-stage stiffness dynamic adjustment unit 24 on the traction displacement component 23, thus increasing the resistance used to limit the displacement of the traction displacement component 23 in the traction direction. The upper and lower sides of the traction displacement component 23 are symmetrical continuous curved surfaces rather than simple inclined surfaces, which means that the process of increasing resistance will be nonlinear. In other words, the first-level stiffness dynamic adjustment unit 24 can use the shape of the traction displacement component 23 itself to fit the general and smooth stiffness change trend of the cervical spine or provide a basis for stiffness fitting. The second-level stiffness dynamic adjustment unit 25 then couples and superimposes the database on the basis of the first-level stiffness dynamic adjustment unit 24 to achieve fitting of the nonlinear and non-smooth stiffness change trend of the neck, which is jointly characterized by the cervical spine and neck soft tissue of the operating object.

[0091] For further details, please refer to Figure 5 The second-stage stiffness dynamic adjustment unit 25 includes an electric push rod 251 and a second-stage spring assembly; the second-stage spring assembly includes a pressure plate 252, a traction transmission plate 253 and a connecting rod 254; a spring is connected between the pressure plate 252 and the traction transmission plate 253.

[0092] The electric push rod 251 is installed on the left side of the mounting frame 271; the pressure plate 252 and the traction transmission plate 253 are installed on the second limiting slide rod 273; the telescopic end of the electric push rod 251 is connected to the pressure plate 252; the connecting rod 254 is movably inserted through the pressure plate 252, one end of the connecting rod 254 is connected to the traction transmission plate 253, and the other end is connected to the traction displacement component 23.

[0093] Specifically, during the operation of the supine forward flexion and extension traction technique performed by the operator on this device, the second-stage stiffness dynamic adjustment unit 25 can directly apply resistance to the traction displacement component 23 using the second-stage spring assembly. The distance between the pressure plate 252 and the traction transmission plate 253 is adjusted by the electric push rod 251, thereby changing the compression degree of the second-stage spring assembly. It is coupled and superimposed with the first-stage stiffness dynamic adjustment unit 24 in real time to achieve fitting of the nonlinear and non-smooth stiffness change trend of the neck, which is jointly characterized by the cervical spine and neck soft tissue of the operator.

[0094] Furthermore, the neck bionic module 2 also includes a first linear displacement sensor 26; the first linear displacement sensor 26 is connected to the traction transmission plate 253 and is used to measure the displacement of the traction displacement component 23, and the measurement result of the first linear displacement sensor 26 is used as the traction extension amount.

[0095] Specifically, the first linear displacement sensor 26 can be installed on the left side of the mounting frame 271; the traction transmission plate 253 can be provided with a protrusion for transmission connection with the first linear displacement sensor 26.

[0096] Example 3

[0097] This embodiment can be considered as a further improvement and expansion based on Embodiment 1, with the specific differences as follows:

[0098] The second-stage stiffness dynamic adjustment unit 25 also includes a second linear displacement sensor 255; the second linear displacement sensor 255 is connected to the pressure plate 252 and is used to measure the distance between the pressure plate 252 and the traction transmission plate 253.

[0099] Specifically, the second linear displacement sensor 255 can be installed on the left side of the mounting frame 271; the pressure plate 252 can be provided with a protrusion for transmission connection with the second linear displacement sensor 255. By adding the second linear displacement sensor 255, during use, the distance between the pressure plate 252 and the traction transmission plate 253, i.e. the degree of compression of the second-stage spring assembly, can be monitored in real time, allowing for more precise control of the stiffness coupling process of the second-stage stiffness dynamic adjustment unit 25 based on the first-stage stiffness dynamic adjustment unit 24.

[0100] As a preferred embodiment, the first-stage stiffness dynamic adjustment unit 24 further includes a first-stage stiffness adjustment motor 241, a gear assembly 242, and a spring spacing adjustment assembly 243 symmetrically arranged on the upper and lower sides of the mounting limit structure 27.

[0101] The first-stage stiffness adjustment motor 241, gear assembly 242 and spring pitch adjustment assembly 243 are mounted on the mounting frame 271;

[0102] The output of the first-stage stiffness adjustment motor 241 is transmitted to the spring pitch adjustment assembly 243 through the gear assembly 242, changing the degree of spring compression inside the first-stage spring assembly 244 from the outside of the first-stage spring assembly 244.

[0103] Specifically, by changing the spring compression degree inside the first-stage spring assembly 244 from the outside of the first-stage spring assembly 244 through the first-stage stiffness adjustment motor 241, gear assembly 242, and spring spacing adjustment assembly 243, the stiffness fitting basis provided by the first-stage stiffness dynamic adjustment unit 24 can be adjusted before the operator operates the simulation device for the supine forward flexion and extension traction method, thereby improving the adaptability of the first-stage stiffness dynamic adjustment unit 24 to stiffness data of various cervical spine disease types and disease development stages.

[0104] Furthermore, the right end of the traction displacement component 23 is provided with a limiting structure for limiting the relative position of the traction displacement component 23 and the roller 245.

[0105] Before the operator operates the simulation device for the supine forward flexion and extension traction maneuver:

[0106] The second-stage stiffness dynamic adjustment unit 25 is used to adjust the distance between the pressure plate 252 and the traction transmission plate 253 through the electric push rod 251, to simulate the initial length of the cervical spine of different operating objects;

[0107] The first-stage stiffness dynamic adjustment unit 24 is used to perform stiffness compensation by changing the degree of spring compression in the first-stage spring assembly 244 through the first-stage stiffness adjustment motor 241, gear assembly 242 and spring spacing adjustment assembly 243, based on the simulation results of the initial length of the cervical spine by the second-stage stiffness dynamic adjustment unit 25, and fitting the initial stiffness of the cervical spine and neck soft tissue of the operating object with the second-stage stiffness dynamic adjustment unit 25.

[0108] Specifically, during the construction of the relevant database, the researchers of this invention discovered that patients with the same type of cervical spondylosis and at the same stage of disease development, but with different neck lengths, exhibited different mechanical characteristics or stiffness trends when the manipulation was applied. Furthermore, statistical analysis revealed a correlation between these differences and neck length. Therefore, this device uses the initial distance between the pressure plate 252 and the traction transmission plate 253 before performing the supine forward flexion and extension traction manipulation as a simulation of the neck length of the subject. However, since adjusting the distance between the pressure plate 252 and the traction transmission plate 253 will cause a change in overall stiffness—for example, for a simulated subject with a shorter neck, the initial distance between the pressure plate 252 and the traction transmission plate 253 will be smaller, and the initial stiffness fitted by the second-level stiffness dynamic adjustment unit 25 will be larger—the compression degree of the spring in the first-level spring assembly 244 can be loosened by adjusting the corresponding first-level stiffness adjustment motor 241, allowing the first-level stiffness dynamic adjustment unit 24 to provide stiffness compensation for the second-level stiffness dynamic adjustment unit 25. In addition, a limiting structure is added to the right end of the traction displacement component 23 to limit the relative position of the traction displacement component 23 and the roller 245. This can also prevent the traction displacement component 23 from disengaging from the roller 245 from the right end due to excessive compression of the second-stage spring assembly (i.e., short neck length) during the initialization of the neck length of the operating object.

[0109] Through the above improvements, this device can not only simulate the patient's condition based on the type and stage of cervical spondylosis, but also add the patient's initial cervical spine length (i.e., the length of the neck before the manipulation is applied) as a simulation dimension. This further enhances the precision and coverage of the relevant database and the realism of the device's simulation, enabling the device to better assist interns in dealing with different patient conditions.

[0110] As an optional embodiment, the left end of the traction displacement component 23 may also be provided with a limiting structure for limiting the relative position of the traction displacement component 23 and the roller 245, which can prevent the traction displacement component 23 from disengaging from the roller 245 at the left end when the operator performs supine flexion and extension traction on the device.

[0111] Example 4

[0112] This embodiment can be considered as a further improvement and expansion based on the aforementioned embodiments, with the specific differences as follows:

[0113] The head-bionic module 1 includes a pitch base, a pitch motor, a pitch driven frame, a first angular displacement sensor, and a rotating base; wherein, the pitch base is connected to the head-neck connection structure; the pitch motor and the pitch driven frame are mounted on the base; the output shaft of the pitch motor is drivenly connected to the mounting end of the pitch driven frame; the first angular displacement sensor and the rotating base are coaxially connected, and the first angular displacement sensor and the rotating base are respectively located on the left and right sides of the driven end of the pitch driven frame;

[0114] When the operator operates the simulation device for the supine forward flexion and extension traction maneuver: the first angular displacement sensor is used to measure the rotation angle of the rotating base, which is the rotation angle applied by the operator to the head bionic module 1.

[0115] Specifically, since the supine forward flexion and extension traction method requires the operator to raise the subject's head to a certain angle before traction can begin, the output of the pitch motor can be used to simulate the pressure of the subject's head on the operator's hands, further enhancing the realism of the biomimetic.

[0116] Generally speaking, the supine forward flexion and extension traction technique does not require twisting the patient's head during the operation. If the first angular displacement sensor detects that the operator applied a rotation angle during the supine forward flexion and extension traction technique, it proves that the operator may need to pay attention to the way the patient's head is controlled during the operation, and the quality of the technique needs to be further improved.

[0117] In a preferred embodiment, the head bionic module 1 further includes a rotational damping component located on the left side of the driven end of the pitch follower frame;

[0118] The rotational damping component is coaxially connected to the first angular displacement sensor and the rotating base, and is connected to the upper and lower sides of the pitch follower frame respectively by a pair of centrally symmetrical springs.

[0119] Specifically, when a person is lying on their back, their head and neck will have a certain resistance during rotation when an external force is applied; through the above improvements, the realism of the biomimetic can be further enhanced.

[0120] Furthermore, the head bionic module 1 also includes a small-amplitude pitch component disposed on the rotating base;

[0121] The small-amplitude pitch component is used to simulate a small-amplitude passive pitch operation after the object's head reaches the limit position of autonomous pitch movement.

[0122] Specifically, the operator lifts the subject's head, which can be divided into two stages. The first stage is equivalent to the subject autonomously performing a tilting motion, similar to a person tilting their head down to a limit position while standing upright, after which they can no longer tilt their head down voluntarily. The second stage, based on the first stage, involves passively pushing the head down a little further using external force. This device simulates the second stage of the operation through these improvements, further enhancing the realism of the biomimetic.

[0123] The above descriptions are merely various embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A device for simulating the operation of a supine forward flexion-extension traction maneuver, characterized in that, It includes a head bionic module (1) and a neck bionic module (2); The head bionic module (1) is connected to the neck bionic module (2); the neck bionic module (2) is provided with a coupled first-level stiffness dynamic adjustment unit (24) and a second-level stiffness dynamic adjustment unit (25). When the operator operates the simulation device for the supine forward flexion and extension traction maneuver: The head bionic module (1) is used to simulate the force fed back from the head of the object to the operator and to measure the rotation angle applied by the operator to the head bionic module (1). The neck bionic module (2) is used to simulate the traction change process of the neck of the operating object, and to monitor the traction extension amount that occurs during the traction change process and the traction force applied by the operator to the head bionic module (1). The first-level stiffness dynamic adjustment unit (24) and the second-level stiffness dynamic adjustment unit (25) are used to fit the nonlinear non-smooth stiffness change trend of the neck, which is jointly characterized by the cervical spine and neck soft tissue of the operation object. The second-stage stiffness dynamic adjustment unit (25) includes an electric push rod (251) and a second-stage spring assembly; the second-stage spring assembly includes a pressure plate (252), a traction transmission plate (253) and a connecting rod (254); a spring is connected between the pressure plate (252) and the traction transmission plate (253); The neck bionic module (2) includes an installation limiting structure (27) and a traction displacement component (23); the installation limiting structure (27) includes an installation frame (271) and a second limiting slide bar (273), the electric push rod (251) is installed on the left side of the installation frame (271); the pressure plate (252) and the traction transmission plate (253) are installed on the second limiting slide bar (273); the telescopic end of the electric push rod (251) is connected to the pressure plate (252); the connecting rod (254) is movably inserted through the pressure plate (252), one end of the connecting rod (254) is connected to the traction transmission plate (253), and the other end is connected to the traction displacement component (23).

2. The operation simulation device for the supine forward flexion and extension traction maneuver according to claim 1, characterized in that, The neck bionic module (2) also includes a head and neck connection structure (21) and a force sensor (22) connected in sequence. The other end of the head-neck connection structure (21) is connected to the head bionic module (1); the force sensor (22) is used to measure the traction force applied by the operator to the head bionic module (1); the displacement of the traction displacement component (23) is limited by the first-stage stiffness dynamic adjustment unit (24) and the second-stage stiffness dynamic adjustment unit (25).

3. The operation simulation device for the supine forward flexion and extension traction maneuver according to claim 2, characterized in that, The installation limiting structure (27) also includes a first limiting slide bar (272); The first limiting slide bar (272) connects the upper and lower sides of the mounting frame (271); the second limiting slide bar (273) is located between the first limiting slide bars (272), perpendicular to the first limiting slide bars (272), and connects the left and right sides of the mounting frame (271); The head and neck connection structure (21) is installed on the second limiting slide bar (273) and is movably inserted through the right side of the mounting frame (271); The traction displacement component (23) is installed on the second limiting slide bar (273); The first-stage stiffness dynamic adjustment unit (24) is installed on the upper and lower sides of the mounting frame (271) and the first limiting slide bar (272).

4. The operation simulation device for the supine forward flexion and extension traction maneuver according to claim 3, characterized in that, The first-stage stiffness dynamic adjustment unit (24) includes a first-stage spring assembly (244) and a roller (245) symmetrically arranged on the upper and lower sides of the mounting limit frame (27). The first-stage spring assembly (244) is installed on the first limiting slide bar (272); the roller (245) is installed on the inner end of the first-stage spring assembly (244) and abuts against the upper and lower sides of the traction displacement component (23).

5. The operation simulation device for the supine forward flexion and extension traction maneuver according to claim 4, characterized in that, The upper and lower sides of the traction displacement component (23) are symmetrical continuous curved surfaces; the width of the traction displacement component (23) gradually increases from right to left.

6. The operation simulation device for the supine forward flexion and extension traction maneuver according to claim 5, characterized in that, The neck bionic module (2) also includes a first linear displacement sensor (26); the first linear displacement sensor (26) is connected to the traction transmission plate (253) for measuring the displacement of the traction displacement component (23), and the measurement result of the first linear displacement sensor (26) is used as the traction extension amount.

7. The operation simulation device for the supine forward flexion and extension traction maneuver according to claim 5, characterized in that, The second-stage stiffness dynamic adjustment unit (25) further includes a second linear displacement sensor (255); the second linear displacement sensor (255) is connected to the pressure plate (252) and is used to measure the distance between the pressure plate (252) and the traction transmission plate (253).

8. The operation simulation device for the supine forward flexion and extension traction maneuver according to claim 7, characterized in that, The first-stage stiffness dynamic adjustment unit (24) also includes a first-stage stiffness adjustment motor (241), a gear assembly (242), and a spring spacing adjustment assembly (243) symmetrically arranged on the upper and lower sides of the mounting limit structure (27). The first-stage stiffness adjustment motor (241), gear assembly (242), and spring pitch adjustment assembly (243) are mounted on the mounting frame (271); The output of the first-stage stiffness adjustment motor (241) is transmitted to the spring pitch adjustment assembly (243) through the gear assembly (242), changing the degree of spring compression in the first-stage spring assembly (244) from the outside of the first-stage spring assembly (244).

9. The operation simulation device for the supine forward flexion and extension traction maneuver according to claim 8, characterized in that, The right end of the traction displacement component (23) is provided with a limiting structure for limiting the relative position of the traction displacement component (23) and the roller (245); Before the operator operates the simulation device for the supine forward flexion and extension traction maneuver: The second-stage stiffness dynamic adjustment unit (25) is used to adjust the distance between the pressure plate (252) and the traction transmission plate (253) through the electric push rod (251) to simulate the initial length of the cervical spine of different operating objects; The first-stage stiffness dynamic adjustment unit (24) is used to perform stiffness compensation by changing the degree of spring compression in the first-stage spring assembly (244) through the first-stage stiffness adjustment motor (241), gear assembly (242) and spring spacing adjustment assembly (243) based on the simulation results of the initial length of the cervical spine by the second-stage stiffness dynamic adjustment unit (25), and fitting the initial stiffness of the cervical spine and neck soft tissue of the operation object with the second-stage stiffness dynamic adjustment unit (25).

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