High-precision body surface soft tissue multi-dimensional material property in-vivo detection equipment

Abstract

The invention provides high-precision body surface soft tissue multi-dimensional material property in-vivo detection equipment, which is characterized in that a rotating unit is arranged on a base, and a tension and compression stress-strain detection unit, a shear stress-strain detection unit and a torsion stress-strain detection unit are respectively arranged on the rotating unit; the tension and compression stress-strain detection unit is used for loading and measuring vertical tension and compression stress on the body surface soft tissue; the shear stress-strain detection unit is used for loading tangential stress to the body surface soft tissue and measuring the tangential stress; the torsion stress-strain detection unit is used for loading torsion stress on the body surface soft tissue and measuring the torsion stress, and the control unit is used for controlling the rotating unit to rotate and stop, and switching the tension-compression stress-strain detection unit, the shear stress-strain detection unit and the torsion stress-strain detection unit to measure the body surface soft tissue. In a word, the method can realize detection of multi-dimensional mechanical properties, and the size of the device is reduced.

Description

Technical Field

[0001] The invention relates to a detection device, in particular to a high-precision in-body detection device for multi-dimensional material properties of body surface soft tissue. Background Art

[0002] Human soft tissue has a very complex geometric structure and viscoelastic dynamic behavior, reflecting the characteristics of energy absorption, slow rebound and creep. In daily exercise and weight-bearing activities, it has the functions of buffering external force impact, shock absorption and preventing excessive local stress. Changes in the mechanical properties of soft tissue are related to many diseases, such as diabetic foot and heel pain in the elderly. Therefore, the characterization of its mechanical properties is a key content in the fields of clinical medicine, biomedical engineering and bionic materials.

[0003] In classical material mechanics, dynamic mechanical analysis (DMA) is often used to obtain the dynamic periodic stress-strain response of materials to analyze the viscoelasticity of materials. However, current DMA detection equipment can only be performed on ex vivo tissues, and ex vivo tissue samples are difficult to reflect the mechanical properties under physiological conditions.

[0004] In addition, existing testing equipment has the problems of complex design and manufacturing, high failure rate, poor stability and accuracy, which will have a certain impact on the accuracy of the test results. At the same time, the existing equipment is relatively large and has poor mobility, which limits the convenience and efficiency of testing in various clinical environments.

[0005] Therefore, there is an urgent need for a device with higher precision, greater stability and higher degree of automation to more accurately and stably detect in vivo soft tissues, so as to better meet the diverse and personalized requirements of clinical needs. Summary of the invention

[0006] The present invention is made to solve the above-mentioned problems, and aims to provide a high-precision in-body detection device for multi-dimensional material properties of body surface soft tissue.

[0007] The present invention provides a high-precision in-body detection device for multi-dimensional material properties of body surface soft tissue, which is used for mechanical property detection of body surface soft tissue to be detected, and has the following characteristics, including: a base, a rotating unit, a tensile and compressive stress-strain detection unit, a shear stress-strain detection unit, a torsional stress-strain detection unit and a control unit, wherein the rotating unit is arranged on the base, the tensile and compressive stress-strain detection unit, the shear stress-strain detection unit and the torsional stress-strain detection unit are respectively arranged on the rotating unit, the tensile and compressive stress-strain detection unit is used for loading vertical tensile and compressive stress on the body surface soft tissue and measuring it, the shear stress-strain detection unit is used for loading tangential stress on the body surface soft tissue and measuring it, the torsional stress-strain detection unit is used for loading torsional stress on the body surface soft tissue and measuring it, and the control unit is used for controlling the rotation and stop of the rotating unit, switching the tensile and compressive stress-strain detection unit, the shear stress-strain detection unit and the torsional stress-strain detection unit to measure the body surface soft tissue.

[0008] The high-precision in-body detection device for multi-dimensional material properties of surface soft tissue provided by the present invention may also have the following features: wherein the rotating unit includes: a fixed bracket, which is arranged on a base; a rotating bracket, which is connected to the fixed bracket; a driving motor, which is connected to the rotating bracket and is used to drive the rotating bracket to rotate, and the tensile and compressive stress-strain detection unit, the shear stress-strain detection unit and the torsional stress-strain detection unit are respectively arranged on the rotating bracket.

[0009] The high-precision in-body detection device for multi-dimensional material properties of soft tissue on the body surface provided by the present invention may also have the following features: wherein the tensile and compressive stress-strain detection unit includes a first detection probe, a first tensile and pressure sensor, a first drive connection and a first voice coil motor, and a first displacement sensor connected in sequence, the first detection probe is used to be connected to the soft tissue on the body surface, the first tensile and pressure sensor is used to detect the pressure of the soft tissue on the body surface acting on the first detection probe in the vertical direction, the first drive connection is used to guide the linear reciprocating motion output by the first voice coil motor, and drive the first detection probe to perform linear reciprocating motion in the vertical direction, and the first displacement sensor is used to detect the vertical displacement of the first detection probe during the detection process.

[0010] The high-precision in-body detection device for multi-dimensional material properties of soft tissue on the body surface provided by the present invention may also have the following features: wherein, the first driving connecting member includes a first linear guide slider and a first connecting plate, the guide rail of the first linear guide slider is fixedly connected to the rotating bracket, the first connecting plate is fixedly connected to the slider of the first linear guide slider, the mover of the first voice coil motor is vertically arranged on the rotating bracket, the first displacement sensor is arranged on the rotating bracket, and the inner core of the first displacement sensor is connected to the first connecting plate.

[0011] The high-precision in-body detection device for multi-dimensional material properties of soft tissue on the body surface provided by the present invention may also have the following features: wherein the shear stress-strain detection unit includes a second detection probe, a second tension and pressure sensor, a second drive connector, a third tension and pressure sensor, and a second voice coil motor, and a second displacement sensor connected in sequence, the second detection probe is used to connect with the soft tissue on the body surface, the second tension and pressure sensor is used to detect the pressure of the soft tissue on the body surface acting on the second detection probe in the vertical direction, the third tension and pressure sensor is used to detect the pressure of the soft tissue on the body surface acting on the second detection probe in the lateral shear direction, the second drive connector is used to convert the linear reciprocating motion output by the second voice coil motor into a linear reciprocating motion in the horizontal direction to drive the second detection probe, and the second displacement sensor is used to detect the lateral displacement of the second detection probe during the detection process.

[0012] In the high-precision in-body detection device for multi-dimensional material properties of soft tissue on the body surface provided by the present invention, it can also have the following characteristics: wherein, the second driving connecting member includes a second linear guide slider and a second connecting plate, the guide rail of the second linear guide slider is fixedly connected to the rotating bracket, the second connecting plate is fixedly connected to the slider of the second linear guide slider, the third tension and pressure sensor is connected to the second connecting plate, the second voice coil motor is horizontally arranged on the rotating bracket, the second displacement sensor is arranged on the rotating bracket, and the inner core of the second displacement sensor is connected to the second connecting plate.

[0013] The high-precision in-body detection device for multi-dimensional material properties of soft tissue on the body surface provided by the present invention may also have the following features: wherein the torsional stress-strain detection unit includes a third detection probe, a fourth tension and pressure sensor, a torque sensor, a coupling and an angle sensor connected in sequence, as well as a third drive connector and a third voice coil motor, the third detection probe is used to be connected to the soft tissue on the body surface, the fourth tension and pressure sensor is used to detect the pressure of the soft tissue on the body surface acting on the third detection probe in the vertical direction, the torque sensor is used to detect the torque applied by the soft tissue on the third detection probe, the angle sensor is used to detect the rotation angle of the third detection probe during the detection process, and the third drive connector is respectively connected to the torque sensor and the third voice coil motor, and is used to convert the reciprocating swing of the third voice coil motor into a torsional reciprocating motion that drives the third detection probe in the horizontal direction.

[0014] The high-precision in-body detection device for multi-dimensional material properties of soft tissue on the body surface provided by the present invention may also have the following characteristics: wherein the torsional stress-strain detection unit also includes a first torsional fixed bracket and a second torsional fixed bracket respectively fixed on the rotating bracket, the torque sensor is connected to the first torsional fixed bracket, the angle sensor is fixedly connected to the second torsional fixed bracket, and the third voice coil motor is arranged on the rotating bracket.

[0015] The high-precision in-body detection device for multi-dimensional material properties of soft tissue on the body surface provided by the present invention may also have the following characteristics: the vertical displacement amplitude range of the detection probe of the tensile and compressive stress-strain detection unit during the detection process is ±2mm, the tangential displacement amplitude range of the detection probe of the shear stress-strain detection unit during the detection process is ±2mm, the torsion angle range of the detection probe of the torsion stress-strain detection unit during the detection process is ±15°, and the periodic frequency of the movement of the detection probe during the detection process does not exceed 10Hz.

[0016] The high-precision in-body detection device for multi-dimensional material properties of soft tissue on the body surface provided by the present invention may also have the following features, including: a lifting unit and a detection plate, wherein the lifting unit includes four lifting components respectively arranged around the base, the lifting component includes a driving member and a Z-axis lead screw slider module, the vertically arranged driving member is connected to the lead screw of the Z-axis lead screw slider module, the sliders of the four Z-axis lead screw slider modules are respectively connected and drive the detection plate to lift and lower in the vertical direction, the detection plate is used for placing soft tissue on the body surface, the detection plate is provided with through holes, and the detection probes of the tensile and compressive stress-strain detection unit, the shear stress-strain detection unit and the torsional stress-strain detection unit are connected to the soft tissue on the body surface through the through holes, and the mechanical properties of the soft tissue on the body surface are detected.

[0017] Functions and Effects of the Invention

[0018] According to the high-precision in-body detection device for multi-dimensional material properties of soft tissue on the body surface involved in the present invention, the tensile and compressive stress-strain detection unit, the shear stress-strain detection unit and the torsional stress-strain detection unit are respectively arranged on the rotating unit, and the rotation of the rotating unit is controlled by the control unit, so as to perform tensile and compressive stress-strain detection or shear stress-strain detection or torsional stress-strain detection on the soft tissue on the body surface, thereby respectively measuring the displacement excitation and force response in the tensile, compressive, shear and torsional directions for the same detection part, and further reducing the size of the device. Therefore, the high-precision in-body detection device for multi-dimensional material properties of soft tissue on the body surface of the present invention can realize the detection of multi-dimensional mechanical properties and reduce the size of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 3D schematic diagram of the structure of a high-precision in-body detection device for multi-dimensional material properties of body surface soft tissues according to an embodiment of the present invention;

[0020] Figure 2 is a schematic structural diagram of a rotating unit in an embodiment of the present invention;

[0021] Figure 3 is a schematic structural diagram of a tensile and compressive stress-strain detection unit in an embodiment of the present invention;

[0022] Figure 4is a schematic structural diagram of a shear stress-strain detection unit in an embodiment of the present invention;

[0023] Figure 5 is a schematic structural diagram of a torsional stress-strain detection unit in an embodiment of the present invention;

[0024] Figure 6 is a schematic structural diagram of a lifting assembly in an embodiment of the present invention;

[0025] Figure 7 Schematic diagram of the structure of the detection board in the embodiment of the present invention.

[0026] Description of reference numerals:

[0027] 10 base; 20 rotating unit; 201 fixed bracket; 2011 first fixed bracket; 2012 second fixed bracket; 202 rotating bracket; 2021 first rotating plate; 2022 second rotating plate; 2023 third rotating plate; 2024 fourth rotating plate; 203 driving motor; 30 tensile and compressive stress-strain detection unit; 301 first detection probe; 302 first tensile and pressure sensor; 303 first driving connecting piece; 3031 first linear guide slider; 3032 first connecting plate; 304 first voice coil motor; 305 first displacement sensor; 306 first trachea connecting pipe; 40 shear stress-strain detection unit; 401 second detection probe; 402 second tensile and pressure sensor; 403 second driving connecting piece; 4031 second linear guide slider; 4032 second connecting plate; 40321 first sub-connecting block; 40322 second sub-connecting plate; 404 third tension and pressure sensor; 405 second voice coil motor; 406 second displacement sensor; 407 second air pipe connecting tube; 50 torsional stress-strain detection unit; 501 third detection probe; 502 fourth tension and pressure sensor; 503 torque sensor; 504 coupling; 505 angle sensor 506 third drive connector; 507 third voice coil motor; 508 first torsion fixing bracket; 509 second torsion fixing bracket; 510 third air pipe connecting tube; 60 lifting unit; 61 lifting assembly; 6011 lifting fixing member; 6012 lower mounting fixing member; 6013 upper mounting fixing member; 6014 positioning member; 6015 driving member; 6016 Z-axis lead screw slider module; 6017 detection plate fixing member; 70 detection plate; 701 detection hole; 702 slot; 80 enclosure. DETAILED DESCRIPTION

[0028] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the following embodiments and drawings specifically illustrate the high-precision in-body detection device for multi-dimensional material properties of body surface soft tissue of the present invention.

[0029] This embodiment provides a high-precision in-body detection device for multi-dimensional material properties of body surface soft tissue, which is used to detect the mechanical properties of the body surface soft tissue to be detected. In this embodiment, the body surface soft tissue is the body surface soft tissue of the sole of the human foot.

[0030] Figure 1 It is a schematic diagram of the three-dimensional structure of a high-precision in-body detection device for multi-dimensional material properties of body surface soft tissue in an embodiment of the present invention.

[0031] like Figure 1 As shown, the high-precision in-body detection device 100 for multi-dimensional material properties of surface soft tissue includes a base 10, a rotating unit 20, a tensile and compressive stress-strain detection unit 30, a shear stress-strain detection unit 40, a torsional stress-strain detection unit 50, a control unit (not shown in the figure), a lifting unit 60, a detection plate 70 and four panels 80 (one panel is hidden in the figure). The rotating unit 20 is arranged on the base 10. The tensile and compressive stress-strain detection unit 30, the shear stress-strain detection unit 40 and the torsional stress-strain detection unit 50 are respectively arranged on the rotating unit 20.

[0032] In this embodiment, the base 10 is a rectangular plate, and four enclosures 80 are respectively arranged along the four edges of the base 10 to form an enclosed space for setting the rotating unit 20, the tensile and compressive stress-strain detection unit 30, the shear stress-strain detection unit 40, the torsional stress-strain detection unit 50, the control unit, the lifting unit 60 and the detection plate 70.

[0033] Figure 2 Schematic diagram of the structure of the rotating unit in the embodiment of the present invention.

[0034] like Figure 2 As shown, the rotating unit 20 includes a fixed bracket 201 , a rotating bracket 202 and a driving motor 203 .

[0035] The fixing bracket 201 is disposed on the base 10 . The fixing bracket 201 includes a first fixing bracket 2011 and a second fixing bracket 2012 .

[0036] The rotating bracket 202 is connected to the fixed bracket 201. The rotating bracket 202 includes a first rotating plate 2021, a second rotating plate 2022, a third rotating plate 2023 and a fourth rotating plate 2024.

[0037] The first rotating plate 2021 and the second rotating plate 2022 are fixedly connected in a T-shape. The first rotating plate 2021 and the second rotating plate 2022 are fixedly connected to the third rotating plate 2023 and the fourth rotating plate 2024 on both sides. In this embodiment, the first rotating plate 2021, the second rotating plate 2022, the third rotating plate 2023 and the fourth rotating plate 2024 are integrally formed to form the rotating bracket 202. The third rotating plate 2023 has a columnar protrusion, which is engaged with the through hole of the first fixed bracket 2011.

[0038] The driving motor 203 is connected to the fourth rotating plate 2024, and is used to drive the fourth rotating plate 2024 to rotate, thereby driving the rotating bracket 202 to rotate along a rotating axis parallel to the base 10. In this embodiment, the driving motor 203 is arranged on the second fixed bracket 2012, and in other embodiments, the driving motor 203 can be directly arranged on the base 10 or on other fixing parts according to actual needs.

[0039] The tensile and compressive stress-strain detection unit 30 is used to load vertical tensile and compressive stresses on the body surface soft tissue and perform measurements.

[0040] Figure 3 Schematic diagram of the structure of the tensile and compressive stress-strain detection unit in an embodiment of the present invention.

[0041] like Figure 3 As shown, the tensile and compressive stress-strain detection unit 30 includes a first detection probe 301, a first tensile and compressive pressure sensor 302, a first driving connection member 303 and a first voice coil motor 304, which are sequentially connected, as well as a first displacement sensor 305 and a first air pipe connecting tube 306. In this embodiment, the air pipe connecting tube 306 is connected to the first detection probe 301 and the first tensile and compressive pressure sensor 302 through connecting members.

[0042] The first detection probe 301 is used to connect with the body surface soft tissue. In this embodiment, the first detection probe 301 is a rigid-flexibly coupled vacuum composite suction cup probe. The vacuum generator is connected to the tracheal connecting tube 306, and the air between the first detection probe 301 and the contacted body surface soft tissue is evacuated by the vacuum generator to form a vacuum, thereby fixing the first detection probe 301 to the body surface soft tissue. In other embodiments, the first detection probe 301 can be a rigid plane probe, and a non-biotoxic and easy-to-clean adhesive is used to bond and fix the rigid plane to the body surface soft tissue. In this case, the first detection probe 301 does not need to be equipped with a tracheal connecting tube 306.

[0043] The first tension and pressure sensor 302 is used to detect the tension and pressure exerted by the body surface soft tissue on the first detection probe 301 in the vertical direction.

[0044] The first driving connector 303 is used to guide the linear reciprocating motion output by the first voice coil motor 304, driving the first detection probe 301 to perform linear reciprocating motion in the vertical direction. The vertical displacement amplitude range of the detection probe of the tensile and compressive stress-strain detection unit 30, i.e., the first detection probe 301, during the detection process is ±2 mm.

[0045] The first driving connection member 303 includes a first linear guide slider 3031 and a first connection plate 3032 .

[0046] The guide rail of the first linear guide slider 3031 is fixedly connected to the first rotating plate 2021. The first connecting plate 3032 is L-shaped, and one side of the first connecting plate 3032 is fixedly connected to the slider of the first linear guide slider 3031.

[0047] The mover of the first voice coil motor 304 is vertically arranged on the other side of the first connecting plate 3032, and the stator of the first voice coil motor 304 is vertically arranged on the first rotating plate 2021. In this embodiment, the first voice coil motor 304 is connected to the first connecting plate 3032 by screws, and the stator of the first voice coil motor 304 is fixedly connected to the first rotating plate 2021 by screws.

[0048] The first tension and pressure sensor 302 is connected to the other side of the first connecting plate 3032 . In this embodiment, the first tension and pressure sensor 302 has threads and is connected to the other side of the first connecting plate 3032 through the threads.

[0049] The first displacement sensor 305 is arranged on the second rotating plate 2022 through a fixing member, and the inner side of the inner core of the first displacement sensor 305 has a thread, and is connected to the other side of the first connecting plate 3032 through a screw. The first displacement sensor 305 is used to detect the vertical displacement of the first detection probe 301 during the detection process.

[0050] The shear stress-strain detection unit 40 is used to load tangential stress on the body surface soft tissue and perform measurement.

[0051] Figure 4 Schematic diagram of the structure of a shear stress-strain detection unit in an embodiment of the present invention.

[0052] like Figure 4 As shown, the shear stress-strain detection unit 40 includes a second detection probe 401, a second tension and pressure sensor 402, a second driving connector 403, a third tension and pressure sensor 404, and a second voice coil motor 405, as well as a second displacement sensor 406 and a second air pipe connecting tube 407, which are connected in sequence. The specific function and setting method of the second air pipe connecting tube 407 in this embodiment are the same as those of the first air pipe connecting tube 306, and will not be repeated here.

[0053] The second detection probe 401 is used to connect with the body surface soft tissue. The specific function and configuration of the second detection probe 401 in this embodiment are the same as those of the first detection probe 301, and will not be repeated here.

[0054] The second tension and pressure sensor 402 is used to detect the pressure exerted by the body surface soft tissue on the second detection probe 401 in the vertical direction.

[0055] The second driving connector 403 is used to convert the linear reciprocating motion output by the second voice coil motor 405 into a linear reciprocating motion in the horizontal direction to drive the second detection probe 401. The tangential displacement amplitude range of the detection probe of the shear stress-strain detection unit 40, i.e., the second detection probe 401, during the detection process is ±2 mm.

[0056] The second driving connection member 403 includes a second linear guide slider 4031 and a second connection plate 4032 .

[0057] The guide rail of the second linear guide slider 4031 is fixedly connected to the first rotating plate 2021 .

[0058] The second connection plate 4032 includes a first sub-connection block 40321 and a second sub-connection plate 40322. In this embodiment, the second connection plate 4032 is manufactured by an integral forming process, that is, the first sub-connection block 40321 and the second sub-connection plate 40322 together form a whole.

[0059] The first sub-connecting block 40321 is fixedly connected to the slider of the second linear guide slider 4031 and is connected to the second tension and pressure sensor 402 .

[0060] The second sub-connecting plate 40322 is fixedly connected to the first sub-connecting block 40321 , and is connected to the third tension and pressure sensor 404 .

[0061] The third tension and pressure sensor 404 is used to detect the pressure of the body surface soft tissue acting on the second detection probe 401 in the transverse shear direction. In this embodiment, a connecting piece is provided between the third tension and pressure sensor 404 and the second voice coil motor 405, and the connecting piece is used to connect the third tension and pressure sensor 404 and the second voice coil motor 405. The third tension and pressure sensor 404 has a thread and is threadedly connected to the connecting piece.

[0062] The second voice coil motor 405 is horizontally disposed on the first rotating plate 2021 through a fixing member.

[0063] The second displacement sensor 406 is arranged on the first rotating plate 2021 through a fixing member, and the inner side of the inner core of the second displacement sensor 406 has a thread, and is connected to the second sub-connection plate 40322 by screws (not shown in the figure). The second displacement sensor 406 is used to detect the lateral displacement of the second detection probe 401 during the detection process.

[0064] The torsional stress-strain detection unit 50 is used to load torsional stress on the body surface soft tissue and perform measurement.

[0065] Figure 5 Schematic diagram of the structure of a torsional stress-strain detection unit in an embodiment of the present invention.

[0066] like Figure 1 and Figure 5 As shown, the torsional stress-strain detection unit 50 includes a third detection probe 501, a fourth tension and pressure sensor 502, a torque sensor 503, a coupling 504 and an angle sensor 505 connected in sequence, as well as a third driving connector 506, a third voice coil motor 507, a first torsion fixing bracket 508, a second torsion fixing bracket 509 and a third air pipe connecting tube 510. The specific function and setting method of the third air pipe connecting tube 510 in this embodiment are the same as those of the first air pipe connecting tube 306, which will not be repeated here.

[0067] The third detection probe 501 is used to connect with the body surface soft tissue. The specific function and configuration of the third detection probe 501 in this embodiment are the same as those of the first detection probe 301, and will not be repeated here.

[0068] The fourth tension and pressure sensor 502 is used to detect the pressure exerted on the third detection probe 501 by the soft tissue on the body surface in the vertical direction.

[0069] The torque sensor 503 is used to detect the torque exerted by the body surface soft tissue on the third detection probe 501. In this embodiment, the input end of the torque sensor 503 is connected to the torsion shaft, and the output end is connected to the fourth tension and pressure sensor 502.

[0070] The coupling 504 is used to connect the torque sensor 503 and the angle sensor 505 .

[0071] The angle sensor 505 is used to detect the rotation angle of the third detection probe 501 during the detection process.

[0072] The third driving connector 506 is connected to the torque sensor 503 and the third voice coil motor 507 respectively, and is used to convert the reciprocating swing of the third voice coil motor 507 into a torsional reciprocating motion in the horizontal direction of the third detection probe 501. The torsional angle range of the detection probe of the torsional stress-strain detection unit 40, i.e., the third detection probe 501, during the detection process is ±15°.

[0073] In this embodiment, the periodic frequency of the movement of the first detection probe 301 , the second detection probe 401 , and the third detection probe 501 during the detection process does not exceed 10 Hz.

[0074] The third voice coil motor 507 is disposed on the second rotating plate 2022 via a fixing member.

[0075] The first torsion fixing bracket 508 is fixed on the second rotating plate 2022 and connected to the torque sensor 503. In this embodiment, the torque sensor 503 has a thread, and is fixedly connected to the first torsion fixing bracket 508 through the thread.

[0076] The second torsion fixing bracket 509 is fixed on the second rotating plate 2022. The stator of the angle sensor 505 is fixedly connected to the second torsion fixing bracket 509 by threads, and the rotating inner core of the angle sensor 505 is connected to the inner core of the torque sensor 503 by the coupling 504.

[0077] The control unit is used to control the rotation unit 20 to rotate and stop, and switch the tensile and compressive stress-strain detection unit 30, the shear stress-strain detection unit 40 and the torsional stress-strain detection unit 50 to measure the body surface soft tissue.

[0078] In this embodiment, the vertical lines between the rotation axis of the rotating bracket 202 and the detection probes of the tensile and compressive stress-strain detection unit 30, the torsional stress-strain detection unit 50 and the shear stress-strain detection unit 40 are all located in the same horizontal plane, and the interval angles are 90° in sequence, that is, after the tensile and compressive stress-strain detection unit 30 completes the detection, the control unit controls the rotating bracket 202 to rotate 90°, and can continue to control the torsional stress-strain detection unit 50 to measure the body surface soft tissue, or continue to rotate 180° to control the shear stress-strain detection unit 40 to measure the body surface tissue.

[0079] The lifting unit 60 includes four lifting components 601 respectively arranged around the base. In this embodiment, the four lifting components 601 are respectively arranged at the four corners of the base 10.

[0080] Figure 6 Schematic diagram of the structure of the lifting assembly in the embodiment of the present invention.

[0081] like Figure 6 As shown, the lifting assembly 601 includes a lifting fixture 6011, a lower mounting fixture 6012, an upper mounting fixture 6013, a positioning member 6014, a driving member 6015, a Z-axis lead screw slider module 6016 and a detection plate fixture 6017.

[0082] The lifting fixture 6011 is fixedly connected to the base 10 .

[0083] The lower mounting fixture 6012 and the upper mounting fixture 6013 are fixedly connected to the lifting fixture 6011 respectively.

[0084] The two ends of the slide rail of the Z-axis lead screw slider module 6016 are fixedly connected to the lower mounting fixture 6012 and the upper mounting fixture 6013 respectively.

[0085] The positioning member 6014 is arranged on the slide rail of the Z-axis screw slider module 6016 and is used to limit the downward movement distance of the slider of the Z-axis screw slider module 6016.

[0086] The driving member 6015 is a driving motor fixedly connected to the lower mounting fixing member 6012. The output shaft of the driving member 6015 is connected to the lead screw of the Z-axis lead screw slider module 6016, driving the lead screw to rotate, thereby driving the slider sleeved on the lead screw to move up and down.

[0087] The detection plate fixing part 6017 is fixedly connected to the slider of the Z-axis lead screw slider module 6016.

[0088] Figure 7 Schematic diagram of the structure of the detection board in the embodiment of the present invention.

[0089] like Figure 7 As shown, the detection plate 70 includes a detection hole 701 and four slots 702 corresponding to the four lifting components 601, which are used to place body surface soft tissue.

[0090] The detection hole 701, i.e., a through hole, is used for the first detection probe 301, the second detection probe 401, and the third detection probe 501 to pass through and contact the body surface soft tissue, thereby performing mechanical property detection on the body surface soft tissue. The tensile and compressive stress-strain detection unit 30, the shear stress-strain detection unit 40, and the torsional stress-strain detection unit 50 do not touch the edge of the detection hole 701 during the measurement process, ensuring that the measurement data is not affected by the detection hole 701. In this embodiment, the detection hole 701 is a cross-waisted through hole, and the edge of the through hole is rounded to prevent the outer edge of the through hole from scratching the body surface soft tissue.

[0091] The card slot 702 is used to card-connect with the detection plate fixing piece 6017 of the corresponding lifting assembly 601. In this embodiment, after the card-connection, the detection plate fixing piece 6017 and the detection plate 70 are further fixedly connected by screws, so that the detection plate 70 can move along with the up and down movement of the slider in the lifting assembly 601, thereby realizing the up and down lifting of the detection plate 70.

[0092] The following specifically describes the use of the high-precision body surface soft tissue multi-dimensional material property in-body detection device 100 when the body surface soft tissue is the plantar soft tissue.

[0093] The test subject's foot is fixedly placed on the detection plate 70 through a medical inflatable ankle joint fixation brace with a hollow bottom and an electromagnet, and the plantar soft tissue area to be measured is pre-aligned through the detection hole 701 of the detection plate 70.

[0094] After the pre-alignment of the plantar soft tissue area to be measured is completed, the tester inputs instructions to the high-precision in-body detection device 100 for multi-dimensional material properties of surface soft tissue. The control unit controls the drive motor 203 according to the instructions, rotates the rotating unit 20 to a corresponding angle in a preset sequence, and moves the first detection probe 301 of the tensile and compressive stress-strain detection unit 30 or the second detection probe 401 of the shear stress-strain detection unit 40 or the third detection probe 501 of the torsional stress-strain detection unit 50 to directly below the detection hole 701.

[0095] Subsequently, the control unit controls the driving of each driving member 6015 in the lifting unit 60, so that the sliders of each Z-axis lead screw slider module 6016 move synchronously, thereby driving the detection plate 70 to descend, until the first detection probe 301 or the second detection probe 401 or the third detection probe 501 contacts the plantar soft tissue, and the corresponding first tension and pressure sensor 302 or the second tension and pressure sensor 402 or the fourth tension and pressure sensor 502 presents a certain value, that is, the detection probe is in close contact with the plantar soft tissue. When the tension and pressure sensor presents a certain value, the control unit controls the vacuum generator to continue to operate, so that the detection probe is fixed to the skin on the surface of the corresponding plantar soft tissue through vacuum adsorption.

[0096] Then enter the detection stage. When measuring tensile and compressive stress-strain, the control unit controls the tensile and compressive stress-strain detection unit 30 to load vertical tensile and compressive stress on the plantar soft tissue through the first voice coil motor 304, and respectively detects and records the force and displacement through the first tensile and pressure sensors 302 and the first displacement sensors 305; when measuring shear stress-strain, the control unit controls the shear stress-strain detection unit 40 to load tangential stress on the plantar soft tissue through the second voice coil motor 405, and respectively detects and records the force and displacement through the third tensile and pressure sensors 404 and the second displacement sensors 406; when measuring torsional stress-strain, the control unit controls the torsional stress-strain detection unit 50 to load torque on the plantar soft tissue through the third voice coil motor 507, and respectively detects and records the torque and the angle through the torque sensor 503 and the angle sensor 505. In this embodiment, the first voice coil motor 304 and the second voice coil motor 405 are both linear voice coil motors, and the third voice coil motor 507 is a swinging voice coil motor. The periodic data recorded in this embodiment are analyzed by the classical DMA method, and the wave function is decomposed by mathematical means to obtain the theoretical completely elastic part and the completely viscous part, establish the complex function constitutive equation, and further calculate the elastic and viscous data.

[0097] Among them, when the mechanical property test of the plantar soft tissue is completed, the control unit controls the vacuum generator to stop working and releases the fixation of the detection probe to the skin on the surface of the plantar soft tissue. Subsequently, the control unit controls the driving of each driving member 6015 in the lifting unit 60 to make the sliders of each Z-axis lead screw slider module 6016 move synchronously, thereby driving the detection plate 70 to rise until the preset displacement distance is reached, and the first detection probe 301 or the second detection probe 401 or the third detection probe 501 is completely located below the detection plate 70. Then, the control unit controls the driving motor 203 to drive according to the preset sequence, so that the rotating unit 20 rotates the corresponding angle, moves the detection probe corresponding to the next mechanical property to be tested to the right below the detection hole 701, and repeats the actions of the above detection stage until the control unit completes all instructions.

[0098] Functions and Effects of the Embodiments

[0099] According to the high-precision in-body detection device for multi-dimensional material properties of soft tissue on the body surface involved in this embodiment, the tensile and compressive stress-strain detection unit, the shear stress-strain detection unit and the torsional stress-strain detection unit are respectively arranged on the rotating unit, and the rotation of the rotating unit is controlled by the control unit, so as to perform tensile and compressive stress-strain detection or shear stress-strain detection or torsional stress-strain detection on the soft tissue on the body surface, thereby respectively measuring tensile and compressive stress, shear and torsional stress on the same detection part, and further reducing the volume of the device. In short, this method can realize the detection of multi-dimensional mechanical properties and reduce the volume of the device.

[0100] Furthermore, during the detection process, the detection plate is lifted to a suitable position by a lifting unit, thereby avoiding the need to provide additional lifting devices for the tensile and compressive stress-strain detection unit, the shear stress-strain detection unit, and the torsional stress-strain detection unit, further compressing the volume of the equipment, achieving lightweight and miniaturization, and enabling rapid search for the initial test position of the body surface soft tissue.

[0101] Those skilled in the art should understand that the present invention is not limited to the above embodiments, and the above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, and these changes and improvements fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A high-precision in-body detection device for multi-dimensional material properties of body surface soft tissue, used for detecting mechanical properties of body surface soft tissue to be detected, characterized in that: include: base, a rotating unit, a tensile and compressive stress-strain detection unit, a shear stress-strain detection unit, a torsional stress-strain detection unit and a control unit, Wherein, the rotating unit is arranged on the base. The tensile and compressive stress-strain detection unit, the shear stress-strain detection unit and the torsional stress-strain detection unit are respectively arranged on the rotating unit, The tensile and compressive stress-strain detection unit is used to load vertical tensile and compressive stress on the body surface soft tissue and measure it. The shear stress-strain detection unit is used to load tangential stress on the body surface soft tissue and measure it. The torsional stress-strain detection unit is used to load torsional stress on the body surface soft tissue and measure it. The control unit is used to control the rotation unit to rotate and stop, and switch the tensile and compressive stress-strain detection unit, the shear stress-strain detection unit and the torsional stress-strain detection unit to measure the body surface soft tissue.

2. The high-precision in-body detection device for multi-dimensional material properties of body surface soft tissue according to claim 1, Features: Wherein, the rotating unit comprises: A fixed bracket, arranged on the base; A rotating bracket connected to the fixed bracket; A driving motor is connected to the rotating bracket and is used to drive the rotating bracket to rotate. The tensile and compressive stress-strain detection unit, the shear stress-strain detection unit and the torsional stress-strain detection unit are respectively arranged on the rotating bracket.

3. The high-precision in-body detection device for multi-dimensional material properties of body surface soft tissue according to claim 2, characterized in that: in, The tensile and compressive stress-strain detection unit includes a first detection probe, a first tensile and compressive pressure sensor, a first driving connection, a first voice coil motor, and a first displacement sensor connected in sequence. The first detection probe is used to connect with the body surface soft tissue. The first tension and pressure sensor is used to detect the pressure of the body surface soft tissue acting on the first detection probe in the vertical direction. The first driving connection member is used to guide the linear reciprocating motion output by the first voice coil motor to drive the first detection probe to perform linear reciprocating motion in a vertical direction. The first displacement sensor is used to detect the vertical displacement of the first detection probe during the detection process.

4. The high-precision in-body detection device for multi-dimensional material properties of body surface soft tissue according to claim 3, characterized in that: in, The first driving connection member includes a first linear guide slider and a first connecting plate, The guide rail of the first linear guide slider is fixedly connected to the rotating bracket, The first connecting plate is fixedly connected to the slider of the first linear guide slider. The mover of the first voice coil motor is vertically arranged on the first connecting plate. The first displacement sensor is arranged on the rotating bracket, and the inner core of the first displacement sensor is connected to the first connecting plate.

5. The high-precision in-body detection device for multi-dimensional material properties of body surface soft tissue according to claim 2, characterized in that: in, The shear stress-strain detection unit includes a second detection probe, a second tension and pressure sensor, a second driving connection, a third tension and pressure sensor, a second voice coil motor, and a second displacement sensor connected in sequence. The second detection probe is used to connect with the body surface soft tissue. The second tension and pressure sensor is used to detect the pressure of the body surface soft tissue acting on the second detection probe in the vertical direction. The third tension and pressure sensor is used to detect the pressure of the body surface soft tissue acting on the second detection probe in the transverse shear direction. The second driving connection member is used to convert the linear reciprocating motion output by the second voice coil motor into a linear reciprocating motion in the horizontal direction of the second detection probe. The second displacement sensor is used to detect the lateral displacement of the second detection probe during the detection process.

6. The high-precision in-body detection device for multi-dimensional material properties of body surface soft tissue according to claim 5, characterized in that: in, The second driving connection member includes a second linear guide slider and a second connecting plate, The guide rail of the second linear guide slider is fixedly connected to the rotating bracket, The second connecting plate is fixedly connected to the slider of the second linear guide slider. The third tension and pressure sensor is connected to the second connecting plate, The second voice coil motor is horizontally arranged on the rotating bracket, The second displacement sensor is arranged on the rotating bracket, and the inner core of the second displacement sensor is connected to the second connecting plate.

7. The high-precision in-body detection device for multi-dimensional material properties of body surface soft tissue according to claim 2, characterized in that: in, The torsional stress-strain detection unit includes a third detection probe, a fourth tension and pressure sensor, a torque sensor, a coupling and an angle sensor, a third driving connection and a third voice coil motor connected in sequence. The third detection probe is used to connect with the body surface soft tissue. The fourth tension and pressure sensor is used to detect the pressure of the body surface soft tissue acting on the third detection probe in the vertical direction. The torque sensor is used to detect the torque applied by the body surface soft tissue to the third detection probe. The angle sensor is used to detect the rotation angle of the third detection probe during the detection process. The third driving connector is connected to the torque sensor and the third voice coil motor respectively, and is used to convert the reciprocating swing of the third voice coil motor into a torsional reciprocating motion that drives the third detection probe in a horizontal direction.

8. The high-precision in-body detection device for multi-dimensional material properties of body surface soft tissue according to claim 7, characterized in that: in, The torsional stress-strain detection unit further includes a first torsional fixing bracket and a second torsional fixing bracket respectively fixed on the rotating bracket, The torque sensor is connected to the first torsion fixing bracket, The angle sensor is fixedly connected to the second torsion fixing bracket, The third voice coil motor is arranged on the rotating bracket.

9. The high-precision in-body detection device for multi-dimensional material properties of body surface soft tissue according to claim 1, characterized in that: in, The vertical displacement amplitude range of the detection probe of the tensile and compressive stress-strain detection unit during the detection process is ±2mm. The tangential displacement amplitude range of the detection probe of the shear stress-strain detection unit during the detection process is ±2mm. The torsion angle range of the detection probe of the torsion stress-strain detection unit during the detection process is ±15°. The periodic frequency of the movement of the detection probe during the detection process does not exceed 10 Hz.

10. The high-precision in-body detection device for multi-dimensional material properties of body surface soft tissue according to claim 1, characterized in that: Also includes: Lifting unit and inspection plate, The lifting unit includes four lifting components respectively arranged around the base. The lifting assembly includes a driving member and a Z-axis lead screw slider module. The vertically arranged driving member is connected to the lead screw of the Z-axis lead screw slider module. The sliders of the four Z-axis lead screw slider modules are respectively connected to drive the detection plate to rise and fall in the vertical direction. The detection plate is used to place the body surface soft tissue. The detection plate is provided with through holes, and the detection probes of the tensile and compressive stress-strain detection unit, the shear stress-strain detection unit and the torsional stress-strain detection unit are connected to the body surface soft tissue through the through holes, and the mechanical properties of the body surface soft tissue are detected.

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