Shoulder joint simulation and shoulder joint mobilization rehabilitation technique training model

Abstract

The present application belongs to the technical field of medical and teaching instruments, and particularly relates to a shoulder joint simulation joint and a shoulder joint mobilization rehabilitation technique training model. The shoulder joint simulation joint provided by the present application comprises a constraint block, a swing block and a connecting rod connected between the constraint block and the swing block; the constraint block has an arc-shaped recessed constraint groove on the surface, one end of the connecting rod has a support block, and an elastic pulling device applies a pulling force directed into the constraint groove to the support block to elastically constrain the support block in the constraint groove; and the end of the connecting rod away from the support block is connected with the swing block through a spherical hinge. The shoulder joint simulation joint can simulate the complex motion characteristics of the human shoulder joint, imitate the pulling effect of the muscles and ligaments in the human body, and provide a return force and damping effect similar to the real joint. On this basis, the present application further provides a shoulder joint mobilization rehabilitation technique training model to help trainees improve the training effect.

Description

Technical Field

[0001] This invention belongs to the field of medical and teaching equipment technology, specifically relating to a shoulder simulated joint and a shoulder joint mobilization rehabilitation training model. Background Technology

[0002] The shoulder joint, as one of the most flexible joints in the human body, is an important subject of study in physical therapy and rehabilitation training due to its complex anatomical structure and wide range of motion. However, its flexibility also makes it prone to injury, with common problems including frozen shoulder (adhesive capsulitis), adhesive capsulitis, and bursitis. These conditions usually require professional physical therapy, with shoulder mobilization being a key treatment method. This involves specific manual techniques to improve joint range of motion, relieve pain, reduce muscle tension, and promote synovial fluid circulation.

[0003] Traditional shoulder mobilization instruction and training primarily rely on hands-on practice, performed on student volunteers or patients. This approach presents several significant problems: inadequately trained students practicing on volunteers or patients may cause joint injuries or other complications; the teaching process heavily depends on the teacher's personal experience and intuition, lacking objective quantitative standards and making it difficult to ensure consistent and high-quality training for all students; and students struggle to receive immediate and accurate feedback, hindering skill learning and refinement. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides a simulated shoulder joint and a shoulder joint mobilization rehabilitation training model.

[0005] A first aspect of the present invention is to provide a shoulder simulated joint, including a constraint block, a swing block, and a connecting rod connecting the constraint block and the swing block; the surface of the constraint block has an arc-shaped recessed constraint groove, one end of the connecting rod has a support block, and an elastic traction device applies a traction force pointing into the constraint groove to the support block, thereby elastically constraining the support block within the constraint groove; one end of the connecting rod away from the support block is ball-jointed to the swing block.

[0006] As a further optimization of the shoulder simulated joint, the elastic traction device includes a traction wire and an elastic element that applies elastic force to the traction wire; the bottom of the constraint groove is provided with a guide hole, one end of the traction wire is connected to the support block, and the other end of the traction wire passes through the guide hole and is connected to the elastic element.

[0007] As a further optimization of the shoulder simulated joint, the support block has an abutting end face on the side facing the constraint groove, and the support block has a spherical support surface on the outer side adjacent to the abutting end face.

[0008] As a further optimization of the shoulder joint simulation, the support block has a conical interference surface on the inner side of the contact end face.

[0009] As a further optimization of the shoulder simulated joint, the support block has a first ball socket, a first ball head is inserted into the first ball socket, and the first ball head is connected to the traction wire.

[0010] As a further optimization of the shoulder simulated joint, a second ball head is provided at the end of the connecting rod away from the support block, and a second ball socket is provided on the swing block, with the second ball head placed in the second ball socket.

[0011] As a further optimization scheme for the simulated shoulder joint, the distance between the center of the first ball socket and the center of the second ball head is L, which is in the range of 14.5mm to 20.5mm; the interference plane angle is ∠A, which is in the range of 85° to 108°.

[0012] As a further optimization of the shoulder simulated joint, the elastic traction device also includes a force sensor for detecting the magnitude of the traction force, a first angle sensor for the second ball head, and a second angle sensor for the swing block.

[0013] As a further optimization of the shoulder simulation joint, it includes a simulated torso and a simulated arm, and further includes the shoulder simulation joint of any one of claims 1 to 7 connected between the simulated torso and the simulated arm.

[0014] A second aspect of the present invention is to provide a training model for shoulder joint mobilization rehabilitation techniques, including a simulated torso and a simulated arm, and a simulated shoulder joint connected between the simulated torso and the simulated arm; a constraint block is fixed to the shoulder of the simulated torso, and a swing block is connected to the root of the upper arm of the simulated arm; the accuracy of the shoulder joint mobilization rehabilitation techniques is evaluated based on the deviation between the force parameters measured by the force sensor, the angle parameters measured by the first angle sensor, the angle parameters measured by the second angle sensor, and the parameter group corresponding to at least one preset shoulder joint mobilization rehabilitation technique.

[0015] Beneficial effects The shoulder simulation joint provided by this invention can simulate the complex movement characteristics of the human shoulder joint, including a wide range of rotational degrees of freedom and lateral floating. Moreover, the elastic traction device, combined with structures such as constraint blocks and support blocks, imitates the traction effect of muscles and ligaments in the human body, providing a restoring force and damping effect similar to that of a real joint.

[0016] The shoulder joint mobilization rehabilitation training model provided by this invention can highly simulate the biomechanical behavior of a real human shoulder joint, including various ranges of motion and damping effects. Sensors integrated into the training model can monitor force parameters and angle changes in real time, providing the operator with immediate quantitative feedback, which helps in the fine-tuning of skills. By comparing the trainee's operation with data from a standard technique database, the accuracy of the operation can be objectively evaluated, reducing the bias of subjective judgment. Trainees can repeatedly practice shoulder joint mobilization techniques without worrying about harming real people, eliminating potential risks to patients or volunteers. Attached Figure Description

[0017] Figure 1 and Figure 2 This is a schematic diagram of the structure of a simulated shoulder joint.

[0018] Figure 3 This is a schematic diagram showing the fit between the constraint block and the connecting rod.

[0019] Figure 4 This is a schematic diagram showing the connection between the wire and the support block.

[0020] Figure 5 This is a cross-sectional view of the support block.

[0021] Figure 6 This is a schematic diagram showing the fit between the constraint block, connecting rod, and swing block.

[0022] Figure 7 This is a schematic diagram of the structure of a shoulder joint mobilization rehabilitation manual therapy training model.

[0023] In the diagram: 1. Constraint block; 2. Connecting rod; 3. Swing block; 8. Simulated torso; 9. Simulated arm; 11. Constraint groove; 21. Support block; 22. Second ball head; 31. Second ball socket; 41. Pulling wire; 42. Elastic element; 43. Force sensor; 111. Guide hole; 211. Contact end face; 212. Spherical support surface; 213. Interference surface; 214. First ball socket; 215. First ball head. Detailed Implementation

[0024] The present invention is further illustrated below with specific embodiments. These embodiments are exemplary and intended to illustrate the problem and explain the present invention, and are not intended to be limiting.

[0025] The shoulder joint, one of the most flexible joints in the human body, boasts a wide range of motion but is also relatively fragile and susceptible to injury or disease. Shoulder mobilization is a physical therapy technique primarily used to improve the range of motion of the shoulder joint, relieve pain, reduce muscle tension, and promote synovial fluid circulation. Based on the principles of joint physiology, shoulder mobilization uses specific manual techniques to influence the internal biomechanical environment of the joint, thereby achieving therapeutic goals. Numerous techniques are employed in shoulder mobilization, including separation, gliding, rotation, and traction movements. These techniques must be performed by professionally trained therapists to ensure safety and effectiveness. However, accurately teaching and evaluating these techniques during instruction and training presents a challenge.

[0026] This invention provides a simulated shoulder joint and a training model for shoulder joint mobilization and rehabilitation techniques. This simulated shoulder joint can mimic the movement characteristics of the human shoulder joint, especially the various movement characteristics of the real human shoulder joint under shoulder joint mobilization and rehabilitation techniques. Based on this, a training model for shoulder joint mobilization and rehabilitation techniques can be further manufactured to help trainees become familiar with and master the operation techniques and / or correction techniques.

[0027] This shoulder joint simulation and rehabilitation training model allows students to learn and practice shoulder joint mobilization techniques in a safer and more precise environment. This not only reduces potential risks to student volunteers but also provides objective data feedback, helping students better understand and master the correct techniques.

[0028] Example 1 like Figure 1 , Figure 2 The illustrated shoulder joint simulation includes a constraint block 1, a swing block 3, and a connecting rod 2 connecting the constraint block 1 and the swing block 3. The constraint block 1 simulates the human scapula, the swing block 3 simulates the human humeral head, and the allowed motion relationship after the constraint block 1, connecting rod 2, and swing block 3 are connected simulates the motion relationship between the human scapula and the humeral head.

[0029] like Figures 1 to 3As shown, the surface of the constraint block 1 has an arc-shaped concave constraint groove 11. This arc-shaped concave can be a strictly spherical concave or an approximately spherical concave, such as a bowl-shaped concave, a paraboloid of revolution concave, or an ellipsoidal concave. One end of the connecting rod 2 has a support block 21, and an elastic traction device applies a traction force to the support block 21 pointing into the constraint groove 11, elastically constraining the support block 21 within the constraint groove 11. The end of the connecting rod 2 away from the support block 21 is ball-jointed to the swing block 3, giving the connecting rod 2 and the swing block 3 a large degree of freedom. Combined with the movement of the support block 21 relative to the constraint groove 11, the swing block 3 has a large degree of rotational freedom relative to the constraint block 1. The swing block 3 exhibits a movement trajectory covering or exceeding a hemispherical range relative to the constraint block 1, covering the rotational freedom of the human shoulder joint, including abduction and elevation, extension, flexion and elevation, internal rotation, external rotation, horizontal flexion, and horizontal extension. The inner wall of the constraint groove 11 is a smooth curved surface, and the surface of the support block 21 that contacts the constraint groove 11 is also as smooth as possible to reduce mechanical friction between the two. Due to the tension of the elastic traction device, the connecting rod 2 will tend to a stable position with the lowest energy when it is not subjected to other external forces, which is denoted as the reference position. Correspondingly, the direction pointed to by the connecting rod 2 at the reference position is denoted as the reference direction. When the swing block 3 is subjected to external forces that cause the angle of the connecting rod 2 to change, this angle change causes the swing block 3 to float within a certain range in the direction perpendicular to the reference direction, thereby simulating the normal loosening distance of the human shoulder joint. At the same time, this angle change also causes the swing block 3 to float within a certain range in the direction parallel to the reference direction, thereby simulating the lateral floating between the human scapula and the humeral head. During this process, the elastic force applied by the elastic traction device makes the connecting rod 2 tend to return to center. This tendency dampens the swing of the connecting rod 2, simulating the damping of the normal loosening between the human scapula and the humeral head.

[0030] like Figure 1 and Figure 2As shown, the elastic traction device includes a traction wire 41 and an elastic element 42 that applies elastic force to the traction wire 41. The traction wire 41 can be a long strip-shaped component that can withstand a certain amount of tension and can be bent, such as steel wire, nylon rope, or carbon fiber thread. The elastic element 42 can be a coil spring, magnetic spring, gas spring, rubber or silicone elastomer, etc., that can withstand and respond to external forces by changing its own shape to store energy and release energy after the external force is removed. The bottom of the constraint groove 11 is provided with a guide hole 111. One end of the traction wire 41 is connected to the support block 21, and the other end of the traction wire 41 passes through the guide hole 111 and is connected to the elastic element 42. The elastic traction device, through the cooperation of the traction wire 41 and the elastic element 42, simulates the traction effect of ligaments and muscles on the humeral head in the human shoulder joint. In the real human body, these soft tissue structures provide stability to the shoulder joint and also allow a certain degree of movement. When the simulated joint is subjected to external force, the swing block 3 is generally the main component directly bearing the force. That is, when the ball joint end of the swing block 3 deviates from its original position, the elastic force of the elastic element 42 provides a source of restoring force similar to that of a real shoulder joint resisting external force. The tension wire 41 generates tension under the action of the elastic element 42, providing the force to correct the connecting rod 2 to the reference position and direction, making the simulated joint tend towards stability, similar to the natural equilibrium state of a human shoulder joint when relaxed. By adjusting the elastic force of the elastic element 42, different intensities of tension effects can be simulated, which helps the training model more realistically reflect the shoulder joint characteristics of different individuals.

[0031] like Figure 4 As shown, the support block 21 has an abutting end face 211 on the side facing the constraint groove 11. This abutting end face 211 is preferably annular, approximately annular, or partially missing annular. The support block 21 has a spherical support surface 212 immediately adjacent to the outer side of the abutting end face 211. This spherical support surface 212 is preferably a part of a sphere, for example, forming a spherical band immediately adjacent to the abutting end face 211. Under the action of the elastic tension device, the abutting end face 211 tends to abut against the arc-shaped concave constraint groove 11. When they are in complete contact, it corresponds to the connecting rod 2 being in the reference direction. When the connecting rod 2 is subjected to an external force and swings, as the swing angle increases, the abutting end face 211 partially or completely separates from the inner wall of the constraint groove 11, and the spherical support surface 212 contacts the inner wall of the constraint groove 11. The contact point may change with the swing angle. During this process, the traction wire 41 in the elastic traction device is gradually pulled, and the elastic force generated by the elastic element 42 gradually increases, thereby more realistically simulating the dynamic response of muscles and ligaments when the shoulder joint is subjected to external force. This response not only provides the corrective force to resist external force, but also forms an effect similar to the damping of human joints, that is, as the external force increases, the resistance of the joint will also increase accordingly.

[0032] like Figure 4 As shown, the inner side of the support block 21 adjacent to the contact end face 211 also has a conical interference surface 213. Because the interference surface 213 is conical, it forms a funnel-shaped opening on the support block 21, allowing the tension wire 41 to swing freely within this opening. When the swing angle of the tension wire 41 exceeds the opening angle, it will interfere with the interference surface 213, further accelerating the increase in resistance force as the swing angle of the connecting rod 2 increases. That is, when the swing angle of the connecting rod 2 increases to a certain threshold, the tension wire 41 begins to contact the interference surface 213. After the tension wire 41 is interfered with, the continued swing of the connecting rod 2 will cause the tension wire 41 to be pulled faster, thus generating a greater increase in resistance. This simulates the stronger physical constraints that a real shoulder joint encounters with soft tissues (such as muscles and ligaments) after a certain stage of movement, making the force simulation more realistic.

[0033] like Figure 4 and Figure 5 As shown, the support block 21 has a first ball socket 214, and a first ball head 215 is inserted into the first ball socket 214. The first ball head 215 is connected to the traction wire 41. In this way, the traction wire 41 can swing more freely relative to the support block 21 and will not be interfered with by other components within the range of the funnel-shaped opening formed by the interference surface 213.

[0034] As described above, the end of the connecting rod 2 furthest from the support block 21 is connected to the swing block 3 by a ball joint, i.e., one end uses a ball head and the other end uses a matching ball socket, preferably as follows: Figure 6 As shown, a second ball head 22 can be provided at one end of the connecting rod 2 away from the support block 21, and a second ball socket 31 can be provided on the swing block 3. The second ball head 22 is placed in the second ball socket 31, and relative sliding motion is achieved between the inner surface of the second ball socket 31 and the outer surface of the second ball head 22.

[0035] Example 2 like Figure 7 The illustrated shoulder joint mobilization rehabilitation training model includes a simulated torso 8 and a simulated arm 9, and also includes a simulated shoulder joint from Embodiment 1 connected between the simulated torso 8 and the simulated arm 9. A fixing plate is used to fix the constraint block 1 to the shoulder of the simulated torso 8, and the root of the upper arm of the simulated arm 9 is fixed together with the swing block 3. The end of the elastic traction device that needs to be fixed is fixed inside the simulated torso 8. A force sensor 43 is also connected to the elastic traction device to detect the magnitude of the traction force. The force sensor 43 can be located at the end or connected in series in the middle. When the force sensor 43 can be located at the end, it can be directly fixed inside the simulated torso 8; when the force sensor 43 is connected in series in the middle, the elastic element 42 at the end can be fixed inside the simulated torso 8, or a pull wire can be led out from the elastic element 42 and fixed inside the simulated torso 8.

[0036] In the simulated shoulder joint, the distance between the center of the first ball socket 214 and the center of the second ball head 22 is L, and the angle of the interference surface 213 is ∠A, i.e. Figure 5 The angle between midline segments L1 and L2. Preferably, L is in the range of 14.5mm to 20.5mm, and ∠A is in the range of 85° to 108°. The simulated joint is installed in the training model. Due to physical interference, the simulated torso 8 and simulated arm 9 cannot approach each other indefinitely; they can only approach each other within certain limits. This limit restricts the swing angle of the connecting rod 2, thus relating to the floating range of the swing block 3 in the direction perpendicular to the reference, which is the degree of shoulder joint loosening. When L is in the range of 14.5mm to 20.5mm, the movable distance of the shoulder joint in the direction perpendicular to the reference is usually within the normal range of 1cm to 2cm. The size of ∠A is related to the starting angle of interference between the traction wire 41 and the interference surface 213 when the wire swings. After interference, the rate of increase of the resistance force with the increase of the swing angle of the connecting rod 2 will be significantly accelerated, which corresponds to the node where the first derivative of the joint resistance force relative to the degree of loosening changes abruptly during the joint loosening process. Human models for training are manufactured with L ranging from 14.5mm to 20.5mm and ∠A ranging from 85° to 108°. These models, after being tested by experiments and verified by medical experts, can very realistically simulate the range of motion, force changes, and degree of stress experienced by an adult with a normal physique during joint mobilization surgery, thus obtaining a more realistic feel.

[0037] Preferably, a shape is formed below the swing block 3 as shown in the image. Figure 6 The extension shown facilitates connection with the simulated arm 9. With the extension direction of the extension as a reference, i.e., with the extension direction of the upper arm of the simulated arm 9 as a reference, the opening of the second socket 31 is angled upwards, meaning the direction of the opening of the second socket 31 forms an obtuse angle with the extension direction of the upper arm. This structure helps to place the center of the second ball head 22 on the extension line of the center of the upper arm, thereby simplifying the calculation of the upper arm angle and improving the convenience and accuracy of the calculation. Furthermore, the obtuse angle formed by the direction of the opening of the second socket 31 and the extension direction of the upper arm is preferably between 90° and 135°, thus achieving a better motion relationship and ensuring that the step after interference better reflects the real arm movement.

[0038] In addition, the second ball head 22 is equipped with a first angle sensor, and the swing block 3 is equipped with a second angle sensor. The first angle sensor and the second angle sensor detect the angle of the corresponding component in three-dimensional space, such as by using a miniature gyroscope.

[0039] Based on the force parameter F(t) measured by the force sensor 43, the angle parameters A1(t), B1(t), and C1(t) measured by the first angle sensor, and the angle parameters A2(t), B2(t), and C2(t) measured by the second angle sensor, the accuracy of the shoulder joint mobilization rehabilitation technique can be objectively and accurately evaluated, as follows.

[0040] There are various shoulder joint mobilization and rehabilitation techniques, numbered X1, X2, ..., Xn. For each technique, data on the changes of various parameters over time during the performance of the technique by medical experts are collected to form a standard technique database. When performing any technique Xm, the training model needs to be positioned in the initial posture corresponding to technique Xm.

[0041] When trainees practice shoulder joint mobilization rehabilitation manipulation on the training model, for any manipulation Xm, the training model is first placed in the initial posture corresponding to manipulation Xm, and then the manipulation is performed. During the trainee's operation, force sensor 43 collects the force parameter F(t) in real time, the first angle sensor collects the angle parameters A1(t), B1(t), and C1(t) in real time, and the second angle sensor collects the angle parameters A2(t), B2(t), and C2(t) in real time. The collected data is compared with the data of manipulation Xm in the standard manipulation database. If the two are within a reasonable deviation range, it is judged as qualified; if they exceed the reasonable deviation range, it is judged as unqualified. In addition, a score can also be given based on the magnitude of the data deviation. The use of objective data ensures the standardization of the evaluation method and reduces inconsistencies and biases caused by subjective judgments from different individuals. This evaluation method provides precise quantitative indicators, such as force parameters and angle parameters, which are more accurate than relying solely on visual observation or sensory feedback. It can capture subtle differences in movement, thereby helping trainees to more accurately correct their manipulation techniques.

[0042] Besides being in contact (i.e., the surface of the constraint groove 11 is in contact with the surface of the support block 21), the constraint block 1 and the connecting rod 2 can also disengage to a certain extent. When the connecting rod 2 is subjected to a force moving away from the constraint block 1 exceeding a certain limit, the surface of the support block 21 will detach from the surface of the constraint groove 11. At this point, the tension wire 41 is pulled out a greater distance, and the elastic element is subjected to a correspondingly greater force. Different degrees of disengagement can simulate different levels of joint loosening in medicine.

[0043] In medical practice, shoulder joint mobilization is classified into four grades, a system designed to reflect different degrees of joint laxity or movement. Grade 1 mobilization involves minimal joint movement, confined within the joint capsule, without affecting the contact between joint surfaces. It primarily occurs within the joint's natural physiological gliding range and is typically used to relieve mild muscle tension or joint stiffness. Grade 2 mobilization exceeds the joint's physiological range but remains within the joint capsule, without causing separation of the joint surfaces. Grade 2 mobilization is often used to increase the joint's range of motion or improve mild joint adhesions. Grade 3 mobilization involves slight separation of the joint surfaces, but remains within the control of the joint capsule and does not lead to dislocation. This level of mobilization is suitable for treating moderate joint dysfunction. Grade 4 mobilization is the highest level, with complete separation of the joint surfaces, but still maintained within the limitations of the joint capsule. Grade 4 mobilization is typically used for severely restricted joints, such as those that have been disused for a long time or those with severe adhesions.

[0044] In the training model, different loosening levels correspond to different distances that the support block 2 is pulled out of the constraint groove 11, different stretches that the traction wire 41 is stretched, different degrees of deformation of the elastic element 42, and different force ranges measured by the force sensor 43. A standard database of force sensors 43 is set according to the different objects the model is simulating, such as different cases, ages, and genders. During training, the force sensors 43 detect force data in real time, and the accuracy of the trainee's operation is evaluated based on the comparison between the detected data and the standard database, such as by providing an evaluation level or score. This detailed grading and simulation helps physical therapists and students refine their skills and improve treatment outcomes in a safe environment.

[0045] The above embodiments are exemplary and are intended to illustrate the technical concept and features of the present invention, so that those skilled in the art can understand the content of the present invention and implement it accordingly. They should not be construed as limiting the scope of protection of the present invention. All equivalent changes or modifications made according to the spirit and essence of the present invention should be covered within the scope of protection of the present invention.

Claims

1. A shoulder joint simulation device, characterized in that: The device includes a constraint block (1), a swing block (3), and a connecting rod (2) connecting the constraint block (1) and the swing block (3); the constraint block (1) has an arc-shaped recessed constraint groove (11) on its surface, and one end of the connecting rod (2) has a support block (21). An elastic pulling device applies a pulling force to the support block (21) pointing into the constraint groove (11) to elastically constrain the support block (21) within the constraint groove (11); one end of the connecting rod (2) away from the support block (21) is ball-jointed to the swing block (3). The elastic pulling device includes a pulling wire (41) and an elastic element (42) that applies elastic force to the pulling wire (41); the bottom of the constraint groove (11) is provided with a guide hole (111), one end of the pulling wire (41) is connected to the support block (21), and the other end of the pulling wire (41) passes through the guide hole (111) and is connected to the elastic element (42); The support block (21) has an abutting end face (211) on one side facing the constraint groove (11), and the support block (21) has a spherical support surface (212) on the outer side adjacent to the abutting end face (211). The support block (21) has a conical interference surface (213) on the inner side of the contact end face (211) immediately adjacent to the support block (21). The support block (21) has a first ball socket (214) inside, and a first ball head (215) is inserted into the first ball socket (214). The first ball head (215) is connected to the traction wire (41). The connecting rod (2) is provided with a second ball head (22) at one end away from the support block (21), and the swing block (3) is provided with a second ball socket (31), with the second ball head (22) placed in the second ball socket (31); The distance between the center of the first ball socket (214) and the center of the second ball head (22) is L, and L is in the range of 14.5mm to 20.5mm; the angle of the interference surface (213) is ∠A, and ∠A is in the range of 85° to 108°; The contact end face (211) is in the shape of a ring. When the connecting rod (2) is subjected to external force and swings, as the swing angle increases, the contact end face (211) partially or completely separates from the inner wall of the constraint groove (11), and the spherical support surface (212) contacts the inner wall of the constraint groove (11), and the contact point changes with the swing angle.

2. The shoulder simulated joint according to claim 1, characterized in that: The elastic traction device also includes a force sensor (43) for detecting the magnitude of the traction force, the second ball head (22) is equipped with a first angle sensor, and the swing block (3) is equipped with a second angle sensor.

3. A shoulder joint mobilization rehabilitation manual therapy training model, characterized in that: It includes a simulated torso (8) and a simulated arm (9), and also includes a simulated shoulder joint as described in any one of claims 1 to 2 connected between the simulated torso (8) and the simulated arm (9).

4. A shoulder joint mobilization rehabilitation manual therapy training model, characterized in that: The device includes a simulated torso (8) and a simulated arm (9), and also includes a simulated shoulder joint as described in claim 2 connected between the simulated torso (8) and the simulated arm (9); the constraint block (1) is fixed to the shoulder of the simulated torso (8), and the swing block (3) is connected to the root of the upper arm of the simulated arm (9); the accuracy of the shoulder joint mobilization rehabilitation technique is evaluated based on the deviation between the force parameters measured by the force sensor (43), the angle parameters measured by the first angle sensor, the angle parameters measured by the second angle sensor, and the parameter group corresponding to at least one preset shoulder joint mobilization rehabilitation technique.

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