CN105266932A - Vertical type total knee replacement patella movement test device - Google Patents

Abstract

A vertical total knee replacement joint patella motion testing device is composed of a support structure, a femur motion mechanism, a patella motion mechanism, a tibia motion mechanism and a driving mechanism thereof. The support structure realizes the fixed connection of the test device and the movement support of the femur; the movement support is provided by the piston rod of the hydraulic cylinder and connected with the femoral movement mechanism, and the mechanism drives the up/down movement and rotation of the proximal end of the femur to realize the flexion and extension of the femur; A coupling mechanism for the movement of the patella and the femur is provided to generate a movement of the patella that is consistent with the flexion and extension of the femur; the movement mechanism of the tibia and its driving mechanism are installed on the bottom plate of the support structure to generate the flexion and extension movement and the spin movement of the tibia. The invention tests the movement of the patella by simulating the actual movement of the replacement prosthesis in the human knee, through the up/down movement of the proximal end of the femur, the flexion and extension of the femur, the displacement of the patellar ligament, the flexion and extension of the tibia, and the spin movement And other multiple sports measurements, comprehensively obtained patella sports performance.

Description

A vertical total knee replacement joint patella motion testing device

technical field

The invention relates to a device for testing motion of a total knee joint prosthesis, in particular to a vertical total knee replacement joint patella motion testing device, which belongs to the technical field of medical treatment and medical device design and manufacture.

Background technique

As the largest joint in the human body, the knee joint not only supports the weight of the human body but also undertakes the activities of the lower limbs. Because the exposed structure of the knee joint is very easy to damage, and the knee arthritis disease caused by fatigue injury, the cases of knee joint injury and arthritis are increasing rapidly. The ultimate treatment for knee arthritis is total knee replacement. With the aging society, total knee replacement has become the main operation in orthopedic surgery, and its influence is wide and powerful. However, the biological structure of the knee joint is complex, and the tibiofemoral and patellofemoral joints are coupled in series. After total knee replacement, the changes in joint materials and shapes not only affect the kinematic performance of the relationship between the tibiofemoral joint and the patellofemoral joint, but also affect the joint performance after replacement. Stability and dynamic balance, especially the impact on the patellofemoral joint is more obvious, for example: it will change the stress distribution of the articular surface, cause stress concentration or joint instability, and may also change the degree of tightness and stress distribution of the joint ligaments. cause ligament damage. Therefore, the performance of the patellofemoral joint and the kinematic characteristics of the patella after knee replacement become the main indicators of postoperative joint quality. In order to reduce the complications of the knee joint after total knee replacement and avoid the revision of the replacement knee, testing the kinematic characteristics of the patella of the replacement prosthetic knee has become an important and urgent key problem in the field of orthopedic surgery. Advanced testing equipment and devices are its core technology. The unique feature of the test device of the present invention is that based on the movement of the replacement knee prosthesis of the human body, the movement of the replacement knee prosthesis joint is simulated through the femur, patella and tibial mechanism, and the proximal femur is collected during the entire motion process of the knee joint flexion and extension. The relevant data of up and down movement, flexion and extension of the femur, swing of the patella, flexion and extension of the tibia, and spin movement are synthesized to obtain the kinematic performance of the patella. The maximum flexion and extension angle that the device can realize is 120°, and the invention provides technology and equipment for the motion test of the replacement knee prosthesis joint, especially the patella.

Contents of the invention

1. Purpose: The purpose of this invention is to provide a kind of vertical total knee replacement joint patella motion testing device, the motion of replacement knee joint in this device is close to the motion state of the human knee after total knee replacement, especially in the device, the patella alignment has been realized. The relative motion of the femoral slideway measures and records the motion parameters of the femur, patella, and tibia, and provides technical data and methods for evaluating the motion characteristics of the knee joint after replacement.

2. Technical scheme: as shown in Fig. 1, a kind of vertical total knee replacement joint patella motion testing device of the present invention, it is made up of support structure, femur motion mechanism, patella motion mechanism, tibia motion mechanism and its driving mechanism four parts, among them The positional connection relationship among them is: the supporting structure supports other parts of the test device and the femoral movement mechanism in motion; the femoral movement mechanism is connected with the hydraulic cylinder piston rod of the support structure and its guiding mechanism to generate Up and down movement and flexion and extension of the femur; the patella movement mechanism is connected with the femur movement mechanism to generate the relative movement of the patella during femur flexion and extension; the tibia movement mechanism and its driving mechanism are installed on the bottom plate of the support structure to generate the flexion and extension movement of the tibia and spin movement. The femur and tibia of the knee joint prosthesis are respectively fixed in the corresponding bone clamping parts of the femoral movement mechanism and the tibial movement mechanism, and the patellar ligament of the knee joint prosthesis is pulled by the ligament clamping device of the patella movement mechanism.

As shown in Figure 2, the support structure includes a base plate, a dust cover, an aluminum profile column, a hydraulic cylinder, a hydraulic cylinder base, a hydraulic cylinder guide mechanism and connectors, and the positional connection relationship between them is: the base plate is located at the Bottom; the aluminum profile column is installed on the base plate; the hydraulic cylinder is placed on the base of the hydraulic cylinder and installed on the base plate; the top of the hydraulic cylinder piston rod is connected to the guide mechanism, and the guide is realized through the aluminum profile columns on both sides; the dustproof cover is located on the support structure The top of the support structure forms a closed structure by connecting with the aluminum profile column; as shown in Figure 3 (a), (b), one of the aluminum profile columns used for fixing the helical rack, the model is APS-8- 4080, four pieces of aluminum profile columns for hydraulic cylinder guidance, the model is APS-8-4040, the size of the hydraulic cylinder is 32/16-400; the aluminum profile columns are fixed and connected in the same way, and the bottom is through bolts and corner joints It is connected with the bottom plate, and the top is connected with each other by screws and connecting strips and covered with a dust-proof cover; the bottom plate is a rectangular sheet; the dust-proof cover is a hexagonal sheet; the bottom of the hydraulic cylinder is installed in the base of the hydraulic cylinder, The base of the hydraulic cylinder is fixed on the bottom plate by bolts, and the top of the hydraulic cylinder is fixed between two aluminum profile columns by bolts and connecting pieces; as shown in Figure 4, the guiding mechanism of the hydraulic cylinder is realized by the groove of the column, the sliding nut block and its connecting parts. The movement guide of the piston rod of the hydraulic cylinder. The sliding nut block includes a base, balls, ball baffles, and screws. The balls are placed in the grooves of the base to achieve rolling friction and reduce friction. The ball baffle is fixed on the base by screws. Both ends, prevent the ball from falling out.

As shown in Figures 5a and 5b, the femoral movement mechanism includes a helical rack, a rack backing plate, a clamping plate, a shafting one, a second shafting, a third shafting, a fourth shafting, a femoral clamping piece and a connecting piece; The position connection relationship between them is: the helical rack is fixed on the rack backing plate through screws, and the rack backing plate is fixed on the aluminum profile column of the support structure through screws and fixing nut blocks; the main shaft of shaft system 1 is the gear The shaft cooperates with the second upper helical gear of the shaft system. A helical gear is installed in the middle of the gear shaft to cooperate with the helical rack. One end of the helical gear is fixed with a shaft shoulder, and the other end is fixed with an elastic ring, and the torque is transmitted through the key; Angular contact bearings are installed at both ends of the gear shaft, and the installation method is face-to-face installation. The angular contact bearings are fixed by the shaft shoulder, end cover, and elastic ring. The end of the gear shaft is connected with the speed measuring motor with an encoder. The measured angle It can be converted into the moving distance of the proximal femur, realizing the measurement and recording of the movement of the proximal femur; the main shaft of the second shaft is a gear shaft, which cooperates with the upper helical gear of the third shaft, and two oblique gears are installed at both ends of the gear shaft. The gear cooperates with the upper gear shaft of the shaft system. One end of the helical gear is fixed with a shaft shoulder, and the other end is fixed with a sleeve, and the torque is transmitted through a key. Angular contact bearings are installed at both ends of the gear shaft, and the installation method is face-to-face. The angular contact bearing is fixed by a sleeve, an end cover, and a circlip; the main shaft of the third shaft is a stepped shaft, and two helical gears are installed on both ends of the stepped shaft, which are mutually connected with the helical gears on the second shaft and the fourth shaft. One end of the helical gear is fixed with a shaft shoulder, the other end is fixed with a sleeve, and the torque is transmitted through a key. Angular contact bearings are installed at both ends of the stepped shaft, and the installation method is face-to-face installation. The angular contact bearing passes through the sleeve, end cover , The elastic retaining ring is fixed; the main shaft of the fourth shaft is a stepped shaft, and two helical gears are installed at both ends of the stepped shaft, which cooperate with the helical gear on the third shaft. One end of the helical gear is fixed by a shaft shoulder, and the other end is used The sleeve is fixed, and the torque is transmitted through the key. Angular contact bearings are installed at both ends of the stepped shaft, and the installation method is face-to-face installation. It is connected with the tachometer motor of the device, and the measured angle is the flexion and extension angle of the femur, which realizes the measurement and recording of the femoral flexion and extension movement; the femoral clamping part plays the role of femoral clamping, and is fixed on the worm gear of the patella movement mechanism by screws On the worm box, the worm gear box is connected with the main shaft of the shaft system four through screws, connectors, keys, and elastic retaining rings.

As shown in Figure 6, the patella kinematic mechanism includes a worm gear shafting, a worm shafting, a worm gear casing, a steel wire rope, a ligament clamping device and a connector; the position connection relationship between them is: as shown in Figure 7, the worm shafting The main shaft of the worm shaft is a worm shaft, which cooperates with the worm gear on the worm gear shaft system. Two planetary helical gears are installed at both ends of the worm shaft, which cooperate with two fixed helical gears installed on the shaft system 4 of the femoral movement mechanism. One end of the helical gear It is fixed with a shaft shoulder, and the other end is fixed with a sleeve, and the torque is transmitted through a key. Angular contact bearings are installed at both ends of the worm shaft, and the installation method is face-to-face installation. The main shaft of the worm gear shaft system is a stepped shaft, and a worm wheel is installed in the middle. One end of the worm wheel is fixed with a shaft shoulder, and the other end is fixed with a sleeve, and the torque is transmitted through a key. Angular contact bearings are installed at both ends of the stepped shaft, and the installation method is face-to-face installation. , the angular contact bearing, one of the fixing methods is through the sleeve, the end cover, and the elastic retaining ring, and the other fixing method is through the shaft shoulder and the end cover, as shown in Figure 8, the end of the stepped shaft is connected with the encoder The speed measuring motor is connected, and the measured angle is the movement angle of the patella, which realizes the measurement and recording of the movement of the patella; the worm gear box plays a supporting role for the worm gear shafting, worm shafting, and femoral clamping parts. Connect with the main shaft of the shaft system four through screws, connectors, keys, and circlips; as shown in Figure 9, the ligament clamping device: includes a base plate, a pressure plate, a wire rope guide plate, and screws to clamp the patellar ligament, and pass The steel wire rope is connected with the main shaft of the worm gear shaft system to realize the corresponding movement of the patella, and the steel wire rope and the main shaft of the worm gear shaft system are fixed by screws.

As shown in Figure 10, the tibial motion mechanism includes a support plate, a flexion and extension motion shaft system, a spin motion shaft system, a tibial clamping piece and a connecting piece; The parts are fixed on the bottom plate of the support structure; the main axis of the flexion and extension motion shaft system is a stepped shaft, which is connected with the spin motion shaft system through a connecting piece. Angular contact bearings are installed at both ends of the stepped shaft, and the installation method is face-to-face installation. The contact bearing is fixed by the sleeve, the end cap, and the elastic retaining ring. The protruding end of the stepped shaft is connected with the rocker of the tibial movement driving mechanism through a key, and is connected with the speed measuring motor with an encoder at the same time. The measured angle is The flexion and extension angle of the tibia realizes the measurement and recording of the flexion and extension of the tibia; as shown in Figure 11, the main shaft of the spin motion shaft system is a special-shaped shaft, one end of the main shaft is connected with the tibial clamping piece through a bolt, and the other end is installed with a Angular contact bearing, the angular contact bearing is fixed by the shaft shoulder, end cover and elastic retaining ring, the end of the main shaft is connected with the speed measuring motor with encoder, the measured angle is the rotation angle of the tibia, which realizes the rotation of the tibia The measurement and recording of the motion situation; as shown in Figure 12, the driving mechanism of the tibia motion: comprising low-speed motor, shaft coupling, transmission shaft, motor support plate, crank slider-rocker mechanism; the positional connection relationship between them is : The model of the low-speed motor is 120TYD-S30M, which is fixed to the motor support plate by bolts, and the motor support plate is fixed on the bottom plate of the support structure by bolts and corner joints; the drive shaft is supported by the drive shaft support plate, and one end of the drive shaft is , couplings, bolts are connected with the low-speed motor, and the other end is connected with the crank of the crank slider-rocker mechanism through a key and a circlip to realize the low-speed motor-driven crank movement; the crank slider-rocker mechanism includes a crank, Short connecting rods, slider mechanisms, V-shaped guide rails, guide rail supports, long connecting rods, rockers, short shafts and connectors, the positional connection relationship between them is: two moving parts are connected by short shafts, The crank, the short connecting rod, the slider mechanism and the V-shaped guide rail constitute the crank slider mechanism, the long connecting rod and the rocker constitute the rocker mechanism, and the slider mechanism of the crank slider mechanism is connected with the long connecting rod of the rocker mechanism; Realize the conversion of the rotation of the crank into the sliding of the slider mechanism, and then convert the sliding of the slider mechanism into the swing of the rocker; as shown in Figures 13a and 13b, the slider mechanism realizes rolling friction, including sliders, balls, balls The baffle, screws, and balls are placed in the groove of the slider, the ball baffle is fixed on both ends of the slider by screws, and the slider mechanism is placed on the V-shaped guide rail; the V-shaped guide rail is connected with the guide rail support by screws, and the guide rail supports The parts are fixed on the bottom plate of the supporting structure through corner joints and bolts; the crank, short connecting rod, slider mechanism, long connecting rod, and rocker are connected by a short axis, and the axial positioning is realized by a sleeve and a circlip; The rocker is connected with the main shaft of the flexion and extension motion shaft system of the tibial motion mechanism through a key to drive its motion.

Among them, the first end of the shaft system and the fourth end of the shaft system of the femoral movement mechanism, the end of the worm gear shaft system of the patella movement mechanism, the flexion and extension movement axis system of the tibial movement mechanism, and the ends of the spin movement shaft system are all related to the encoder with encoder. Speed motor connection, the model of the speed motor with encoder is ASLONGRF371.

Wherein, the external dimensions of the test device are 560×680×1080.

The operating conditions of a device for testing the motion of a total knee joint prosthesis in the present invention are as follows: the range of flexion and extension angles of the knee joint is 0° to 120°, wherein the range of flexion and extension angles of the tibia is 0° to 62°, and the range of movement of the proximal end of the femur is 0 to 373mm, the loading frequency is 1±0.1Hz, the linear velocity of the proximal femoral reciprocating motion is 764mm/s, and the test is carried out under normal temperature and pressure.

3. Advantages and effects: The total knee replacement joint patella motion testing device of the present invention simulates the actual motion of the knee joint prosthesis in the human knee, especially realizes the relative motion of the patella to the femur during knee flexion and extension, making the prosthesis The movement of the body in the device is closer to that of a knee replacement, so the test results are more accurate; the device can measure and record the motion parameters of the femur, patella, and tibia, providing technical data and methods for evaluating the motion characteristics of the knee joint.

Description of drawings

Fig. 1 is a schematic diagram of the structure of the total knee replacement joint patella motion testing device of the present invention.

Fig. 2 is a schematic diagram of the supporting structure of the present invention.

Figure 3 (a), (b) schematic cross-sectional view of the aluminum profile column of the present invention.

Fig. 4 is a schematic diagram of the connection of the top end of the piston rod of the hydraulic cylinder of the present invention.

Fig. 5a is a schematic diagram of the femoral motion mechanism of the present invention.

Fig. 5b is a front view of the femoral motion mechanism of the present invention.

Fig. 5c is a top view of the femoral motion mechanism of the present invention.

Fig. 5d is a left side view of the femoral motion mechanism of the present invention.

Fig. 6 is a schematic diagram of the patella movement mechanism of the present invention.

Fig. 7 is a schematic diagram of the internal structure of the worm gear box of the present invention.

Fig. 8 is a schematic diagram of connection at the top of the steel wire rope of the present invention.

Fig. 9 is a schematic diagram of the ligament clamping device of the present invention.

Fig. 10 is a schematic diagram of the tibial movement mechanism of the present invention.

Fig. 11 is a sectional view of the tibial spin mechanism of the present invention.

Fig. 12 is a schematic diagram of the tibial movement driving mechanism of the present invention.

Fig. 13a is a front view of the slider guide rail mechanism of the present invention.

Fig. 13b is a perspective view of the slider guide rail mechanism of the present invention.

The symbols in the figure are explained as follows:

1. Support structure; 2. Femoral movement device; 3. Patella movement device; 4. Tibia movement mechanism and its driving mechanism;

1-1, bottom plate; 1-2, aluminum column APS-8-4080; 1-3, dust cover; 1-4, aluminum column APS-8-4040; 1-5, hydraulic cylinder 32/16 -400; 1-6, piston rod of hydraulic cylinder; 1-7, connecting piece at the top of piston rod; 1-8, sliding nut block; 1-9, guide connecting piece; 1-10, corner joint with rib plate;

2-1, helical rack; 2-2, helical gear one; 2-3, gear shaft one; 2-4, helical gear two; 2-5, gear shaft two; 2-6, helical gear three; 2- 7. Step shaft one; 2-8, helical gear four; 2-9, step shaft two; 2-10, fixed horizontal plate; 2-11, fixed splint; 2-12, rack backing plate; 2-13, Fixed nut block; 2-14, clamping plate;

3-1, femoral clamping piece; 3-2, worm gear; 3-3, worm shaft; 3-4, planetary helical gear; 3-5, fixed helical gear; 3-6, box connector; 3-7 , worm gear box; 3-8, worm gear shaft; 3-9, angular contact bearing code 292; 3-10, end cover; 3-11, steel wire rope; 3-12, strip support connecting plate; 3-13, ASLONGRF371 speed measuring motor with encoder; 3-14, simplified ligament model; 3-15, holder base plate; 3-16, holder pressure plate; 3-17, wire rope guide plate;

4-1, tibial clamping piece; 4-2, installation connecting plate; 4-3, supporting connecting piece; 4-4, stepped shaft three; 4-5, tibial mechanism supporting piece; 4-6, elastic retaining ring; 4-7. Support end cover; 4-8. Angular contact bearing code 292; 4-9. Tibia spin shaft; 4-10. Low-speed motor 120TYD-S30M; 4-11. Motor support plate; 4-12. Shaft device; 4-13, transmission shaft support plate; 4-14, transmission shaft; 4-15, crank; 4-16, short shaft one; 4-17, short connecting rod; 4-18, short shaft two; 4 -19, slider mechanism; 4-20, V-shaped guide rail; 4-21, V-shaped guide rail support; 4-22, long connecting rod; 4-23, short shaft three; 4-24, rocker.

detailed description

Further elaborate the technical scheme of the present invention in conjunction with accompanying drawing:

As shown in Fig. 1, a kind of vertical total knee replacement joint patella motion testing device of the present invention, it is made up of support structure 1, femur motion mechanism 2, patella motion mechanism 3, tibia motion mechanism and its driving mechanism 4 four parts, between them The position connection relationship is: the clamping plate 2-14 of the femoral movement mechanism is connected with the hydraulic cylinder piston rod 1-6 of the support structure, and the rack plate 2-12 of the femur movement mechanism is fixed on the aluminum profile column APS of the support structure -8-40801-2, the worm gear box 3-7 of the patella movement mechanism is connected with the stepped shaft 2-9 of the femur movement mechanism, and the tibial movement mechanism and its driving mechanism are installed on the bottom plate 1-1 of the support structure, The femur and tibia of the knee joint prosthesis are respectively fixed in the femur clamping part 3-1 and the tibial clamping part 4-1, and the patellar ligament of the knee joint prosthesis is pulled by the ligament clamping device of the patella movement mechanism.

The supporting structure realizes the support for other parts of the device and the support for the femoral movement mechanism in motion. The femoral movement mechanism produces the up and down movement of the proximal femur and the flexion and extension movement of the femur. The kinematic mechanism and its driving mechanism produce the flexion and extension movement and the spin movement of the tibia.

Technical scheme and principle of supporting structure:

As shown in Figure 2, the support structure includes a base plate 1-1, a dust cover plate 1-3, aluminum profile columns APS-8-40801-2 and APS-8-40401-4 (as shown in Figure 3 (a), ( b)), hydraulic cylinder 32/16-4001-5, hydraulic cylinder base, hydraulic cylinder guide mechanism, and connectors; as shown in Figure 4, the hydraulic cylinder guide mechanism passes through the groove of the aluminum profile column 1-2APS-8-4080, The sliding nut block 1-8 and its guiding connector 1-9 realize the motion guidance of the piston rod of the hydraulic cylinder, and are connected with the piston rod 1-6 of the hydraulic cylinder through the connecting member 1-7 at the top of the piston rod, and through the corner joint with ribs 1-10 are connected with the femoral kinematic mechanism to drive the femoral kinematic mechanism to move and realize guidance.

The technical scheme and principle of the femoral movement mechanism:

As shown in Figures 5a, 5b, 5c, and 5d, the femoral movement mechanism includes a helical rack 2-1, a rack backing plate 2-12, a clamping plate 2-14, a shaft system one, a shaft system two, and a shaft system three. Shaft system 4, femoral clamping part 3-1, connecting part; the helical rack 2-1 is fixed on the rack backing plate 2-12 by screws, and the rack backing plate 2-12 is fixed by screws and nut blocks 2-13 It is fixed on the aluminum profile column APS-8-40801-2 of the support structure; the main shaft of shaft system 1 is gear shaft 1 2-3, which cooperates with the upper helical gear 2 2-4 of shaft system 2, and gear shaft 1 2-3 A helical gear 2-2 is installed in the middle to cooperate with the helical rack 2-1. One end of the helical gear 2-2 is fixed with a shaft shoulder, and the other end is fixed with a circlip, and the torque is transmitted through a key. Angular contact bearings are installed at both ends of 2-3, and the installation method is face-to-face installation. The angular contact bearings are fixed by shaft shoulders, end covers, and elastic rings. The end of the gear shaft 2-3 is connected to the speed measuring motor ASLONGRF3713 with encoder -13 is connected; the main shaft of the shaft system two is the gear shaft two 2-5, which cooperates with the upper helical gear three 2-6 of the shaft system three, and two helical gears two 2-4 are installed at the two ends of the gear shaft two 2-5, Cooperate with the gear shaft 1 2-3 on the shaft system 1, one end of the helical gear 2-4 is fixed with a shoulder, the other end is fixed with a sleeve, and the torque is transmitted through the key, and the two ends of the gear shaft 2-5 are installed with Angular contact bearings are installed face-to-face. The angular contact bearings are fixed by sleeves, end caps and elastic retaining rings; Two helical gears 3 2-6 cooperate with the gear shaft 2 2-5 of the shaft system 2 and the helical gear 4 2-8 of the shaft system 4. One end of the helical gear 3 2-6 is fixed with a shoulder, and the other end is fixed The barrel is fixed, and the torque is transmitted through the key. Angular contact bearings are installed at both ends of the stepped shaft 1-2, and the installation method is face-to-face installation. It is the stepped shaft two 2-9, and two helical gears four 2-8 are installed at both ends of the stepped shaft two 2-9, which cooperate with the three helical gears 2-6 on the shaft system three, and one end of the helical gear four 2-8 It is fixed with a shaft shoulder, and the other end is fixed with a sleeve, and the torque is transmitted through the key. Angular contact bearings are installed at both ends of the stepped shaft 2-9, and the installation method is face-to-face installation. The retaining ring is fixed, and the end of the stepped shaft 2-9 is connected with the speed measuring motor ASLONGRF3713-13 with an encoder; the femur clamping part 3-1 is fixed on the worm gear box 3-7 of the patella movement mechanism by screws , The worm gear casing 3-7 is connected with the main shaft stepped shaft 2 2-9 of the shafting system 4 through screws, connectors, keys, and circlips.

The technical scheme and principle of the patella movement mechanism:

As shown in Figure 6, the patellar movement mechanism includes a worm gear shaft system, a worm shaft system, a worm gear box 3-7, a steel wire rope 3-11, a ligament clamping device, and a connector; as shown in Figure 7, the main shaft of the worm shaft system is the worm shaft 3-3, cooperate with the worm gear 3-2 on the worm gear shaft system, two planetary helical gears 3-4 are installed at both ends of the worm shaft 3-3, and two fixed helical gears installed on the shaft system 4 of the femoral movement mechanism 3-5 cooperate with each other, one end of the planetary helical gear 3-4 is fixed with a shoulder, the other end is fixed with a sleeve, and the torque is transmitted through the key. The fixed helical gear 3-5 passes through the fixed horizontal plate 2-10 and the fixed splint 2- 11 is fixed, the two ends of the worm shaft 3-3 are installed with angular contact bearings, the installation method is face-to-face installation, the angular contact bearings are fixed by sleeves, end covers, and elastic retaining rings; , a worm gear 3-2 is installed in the middle, one end of the worm gear 3-2 is fixed with a shaft shoulder, the other end is fixed with a sleeve, and the torque is transmitted through a key. Angular contact bearings are installed at both ends of the worm gear shaft 3-8, and the installation method is face-to-face Installation, the angular contact bearing, one of the fixing methods is through the sleeve, the end cover, and the elastic retaining ring, and the other fixing method is through the shaft shoulder and the end cover, as shown in Figure 8, the 3-8 ends of the worm gear shaft The part is connected with the speed measuring motor ASLONGRF3713-13 with an encoder; as shown in Figure 9, the ligament clamping device includes a clamper base plate 3-15, a clamper pressure plate 3-16, a wire rope guide plate 3-17, and screws to realize The clamping of the simplified ligament model 3-14 is connected with the worm shaft 3-8 of the worm gear shaft system through the steel wire rope 3-11, and the steel wire rope 3-11 and the worm gear shaft 3-8 of the worm gear shaft system are fixed by screws.

The technical scheme and principle of the tibial kinematic mechanism and its driving mechanism:

As shown in Figure 10, the tibial movement mechanism includes the tibial mechanism support 4-5, the flexion and extension movement shaft system, the spin movement shaft system, the tibial clamping part 4-1, and the connecting piece; The connecting piece is fixed on the bottom plate 1-1 of the support structure; the main axis of the flexion and extension motion shaft system is the stepped shaft 4-4, which is connected with the spin motion shaft system through the connecting piece 4-3 and the support piece 4-2. Angular contact bearings are installed at both ends of the three 4-4, and the installation method is face-to-face installation. The angular contact bearings are fixed by sleeves, end covers, and elastic retaining rings. The protruding end of the stepped shaft three 4-4 is connected to the tibia through the key The rocker 4-24 of the motion drive mechanism is connected, and is connected with the speed measuring motor ASLONGRF3713-13 with an encoder at the same time; as shown in Figure 11, the main axis of the spin motion axis system is the tibial spin axis 4-9, and the tibial spin One end of the shaft 4-9 is connected with the tibial clamping part 4-1 by a bolt, and an angular contact bearing is installed at the other end, and the angular contact bearing is fixed by a shaft shoulder, an end cover, and a circlip, and the tibial spin shaft 4- 9. The end is connected with the speed measuring motor ASLONGRF3713-13 with an encoder; as shown in Figure 12, the tibial movement drive mechanism includes a low-speed motor 120TYD-S30M4-10, a coupling 4-12, a transmission shaft 4-14, and a transmission shaft support Plate 4-13, crank slider-rocker mechanism; the low-speed motor 120TYD-S30M4-10 is fixed to the motor support plate 4-11 by bolts, and the motor support plate 4-11 is fixed to the support structure by bolts and corner joints On the bottom plate 1-1; the transmission shaft 4-14 is supported by the transmission shaft support plate 4-13, one end of which is connected with the low-speed motor 120TYD-S30M4-10 through a key, coupling 4-12, and bolts, and the other end is connected through a key, elastic The retaining ring is connected with the crank 4-15 of the crank slider-rocker mechanism; the crank slider-rocker mechanism includes crank 4-15, short connecting rod 4-17, slider mechanism 4-19, V-shaped guide rail 4 -20, V-shaped guide rail support 4-21, long connecting rod 4-22, rocker 4-24, short shaft one 4-17, short shaft two 4-18, short shaft three 4-23 and connectors, to achieve The rotation of the crank 4-15 is converted into the sliding of the slider mechanism 4-19, and then the sliding of the slider mechanism 4-19 is converted into the swing of the rocker 4-24; as shown in Figure 13a, 13b, the slider mechanism 4- 19, including sliders, balls, ball baffles, and screws, the balls are placed in the groove of the slider, the ball baffles are fixed at both ends of the slider by screws, and the slider mechanism 4-19 is placed on the V-shaped guide rail 4-20 Above; the V-shaped guide rail 4-20 is connected with the V-shaped guide rail support 2-21 through screws, and the V-shaped guide rail support 4-21 is fixed on the bottom plate 1-1 of the support structure through corner joints and bolts; crank 4-15 , the short connecting rod 4-17, the slider mechanism 4-19, the long connecting rod 4-22, and the rocking rod 4-24 are connected by each short shaft, and the axial positioning is realized by the sleeve and the elastic retaining ring; the rocking rod 4-24 The stepped axis of the flexion and extension movement axis system of the tibial movement mechanism through the key and the third 4-4 connected to drive its movement.

Claims (3)

1. A vertical total knee replacement joint patella kinematic testing device is characterized in that: it is made up of support structure, femur kinematic mechanism, patella kinematic mechanism, tibial kinematic mechanism and its driving mechanism four parts; Partial support and support for the femoral movement mechanism in motion; the femoral movement mechanism is connected with the hydraulic cylinder piston rod of the supporting structure and its guiding mechanism, which produces the up and down movement of the proximal femur and the flexion and extension movement of the femur; the patella movement mechanism and the femoral movement The mechanism is connected to produce the relative movement of the patella during femur flexion and extension; the tibial movement mechanism and its driving mechanism are installed on the bottom plate of the support structure to generate the flexion and extension movement and spin movement of the tibia; the femur and tibia of the knee joint prosthesis are fixed separately In the corresponding bone clamps of the femoral kinematic mechanism and the tibial kinematic mechanism, the patellar ligament of the knee joint prosthesis is pulled by the ligament clamping device of the patella kinematic mechanism; The support structure includes a base plate, a dustproof cover plate, an aluminum profile column, a hydraulic cylinder, a hydraulic cylinder base, a hydraulic cylinder guide mechanism and connectors, the base plate is located at the bottom of the support structure; the aluminum profile column is installed on the base plate; the hydraulic cylinder is placed It is installed on the base of the hydraulic cylinder and on the bottom plate; the top of the piston rod of the hydraulic cylinder is connected with the guide mechanism, and the guide is realized through the aluminum profile columns on both sides; the dustproof cover is located on the top of the support structure, and the support structure is Form a closed structure; one of the aluminum profile columns is used to fix the helical rack, and four aluminum profile columns are used to guide the hydraulic cylinder; the aluminum profile columns are fixed and connected in the same way, and the bottom is connected to the bottom plate through bolts and corner joints , the top is connected with each other by screws and connecting slats and covered with a dust cover; the bottom plate is a rectangular sheet; the dust cover is a hexagonal sheet; the bottom of the hydraulic cylinder is installed in the base of the hydraulic cylinder, and the base of the hydraulic cylinder It is fixed on the bottom plate by bolts, and the top of the hydraulic cylinder is fixed between two aluminum profile columns through bolts and connecting pieces; the hydraulic cylinder guide mechanism realizes the movement guidance of the piston rod of the hydraulic cylinder through the groove of the column, the sliding nut block and its connecting parts , the sliding nut block includes a base body, balls, ball baffles, and screws. The balls are placed in the grooves of the base body to achieve rolling friction and reduce friction. The ball baffles are fixed on both ends of the base body by screws to prevent the balls from falling ; The femoral movement mechanism includes a helical rack, a rack backing plate, a clamping plate, a shaft system one, a shaft system two, a shaft system three, a shaft system four, a femoral clamping part and a connecting part; the helical rack is passed through a screw It is fixed on the rack backing plate, and the rack backing plate is fixed on the aluminum profile column of the support structure through screws and fixed nut blocks; the main shaft of the first shaft system is a gear shaft, which cooperates with the upper helical gear of the second shaft system, and the middle of the gear shaft A helical gear is installed to cooperate with the helical rack. One end of the helical gear is fixed with a shaft shoulder, and the other end is fixed with a circlip, and the torque is transmitted through a key; the two ends of the gear shaft are installed with angular contact bearings, and the installation method is face-to-face installation. , the angular contact bearing is fixed by the shaft shoulder, the end cover, and the elastic retaining ring. The end of the gear shaft is connected with the speed measuring motor with an encoder, and the measured angle is converted into the moving distance of the proximal femur, which realizes The measurement and recording of motion conditions; the main shaft of the second shaft system is the gear shaft, which cooperates with the upper helical gear of the third shaft system. Two helical gears are installed at both ends of the gear shaft, which cooperate with the upper gear shaft of the first shaft system. It is fixed with a shaft shoulder, and the other end is fixed with a sleeve, and the torque is transmitted through a key. Angular contact bearings are installed at both ends of the gear shaft, and the installation method is face-to-face installation. The main shaft of shaft system 3 is a stepped shaft. Two helical gears are installed at both ends of the stepped shaft, which cooperate with the helical gears on shaft system 2 and shaft system 4. One end of the helical gear is fixed by a shaft shoulder, and the other end is fixed by a sleeve. It is fixed and the torque is transmitted through the key. Angular contact bearings are installed at both ends of the stepped shaft. The installation method is face-to-face installation. Two helical gears are installed on both ends of the stepped shaft, which cooperate with the helical gear on the third shaft system. One end of the helical gear is fixed with a shaft shoulder, and the other end is fixed with a sleeve, and the torque is transmitted through the key. The two ends of the stepped shaft are installed with Angular contact bearings are installed face to face. The angular contact bearings are fixed by sleeves, end caps, and elastic retaining rings. The end of the stepped shaft is connected to a speed measuring motor with an encoder. The measured angle is the flexion and extension angle of the femur. Realized the measurement and recording of the femoral flexion and extension movement; the femoral clamping part, which plays the role of femoral clamping, is fixed on the worm gear box of the patella movement mechanism through screws, and the worm gear box is connected by screws, connectors, and keys. , The elastic retaining ring is connected with the main shaft of the fourth shafting; The patella kinematic mechanism includes a worm gear system, a worm gear system, a worm gear box, a steel wire rope, a ligament clamping device and a connector; Two planetary helical gears are installed at both ends of the worm shaft, which cooperate with two fixed helical gears installed on the shaft system 4 of the femoral movement mechanism. One end of the helical gear is fixed with a shaft shoulder, and the other end is fixed with a sleeve, and the torque is transmitted through the key. Angular contact bearings are installed at both ends of the worm shaft, and the installation method is face-to-face installation. The angular contact bearings are fixed by sleeves, end covers, and elastic retaining rings; the main shaft of the worm gear shaft system is a stepped shaft, and a worm wheel is installed in the middle. It is fixed with a shaft shoulder, and the other end is fixed with a sleeve, and the torque is transmitted through a key. Angular contact bearings are installed at both ends of the stepped shaft, and the installation method is face-to-face installation. The cover and the elastic retaining ring are fixed, and the other fixing method is fixed by the shaft shoulder and the end cover; the end of the stepped shaft is connected with the speed measuring motor with an encoder, and the measured angle is the movement angle of the patella, which realizes the movement of the patella. The measurement and recording of the worm gear and worm box, which play a supporting role for the worm gear shafting, worm shafting, and femoral clamping parts, are connected to the main shaft of the shafting four through screws, connectors, keys, and elastic retaining rings; Ligament clamping device: including the bottom plate, pressure plate, wire rope guide plate, and screws, to realize the clamping of the patellar ligament, and connect the main shaft of the worm gear shaft system through the steel wire rope to realize the corresponding movement of the patella. Fixed by screws; The tibial motion mechanism includes a support plate, a flexion and extension motion axis, a spin motion axis, a tibial clamping piece and a connecting piece; the support plate is fixed on the bottom plate of the support structure by bolts and corner joints; the flexion and extension motion axis The main shaft of the main shaft is a stepped shaft, which is connected with the spin motion shaft system through a connecting piece. Angular contact bearings are installed at both ends of the stepped shaft, and the installation method is face-to-face installation. , the protruding end of the stepped shaft is connected with the rocker of the tibial movement driving mechanism through a key, and at the same time connected with the speed measuring motor with an encoder. Measurement and recording; the main shaft of the spin motion shaft system is a special-shaped shaft, one end of the main shaft is connected with the tibial clamping piece through a bolt, and the other end is installed with an angular contact bearing, and the angular contact bearing passes through the shaft shoulder, the end cover, the elastic The retaining ring is fixed, and the end of the main shaft is connected with a speed measuring motor with an encoder, and the measured angle is the spin angle of the tibia, which realizes the measurement and recording of the spin motion of the tibia; the driving mechanism of the tibial motion includes: Low-speed motor, coupling, transmission shaft, motor support plate, crank slider-rocker mechanism; the low-speed motor is fixed to the motor support plate by bolts, and the motor support plate is fixed to the bottom plate of the support structure by bolts and corner joints The transmission shaft is supported by the transmission shaft support plate, one end of which is connected to the low-speed motor through a key, a coupling, and a bolt, and the other end is connected to the crank of the crank slider-rocker mechanism through a key, a circlip, and the low-speed motor drives the crank Movement; the crank slider-rocker mechanism includes crank, short connecting rod, slider mechanism, V-shaped guide rail, guide rail support, long connecting rod, rocker, short shaft and connecting parts, and the moving parts are connected between two Connected by the short axis, the crank, short connecting rod, slider mechanism and V-shaped guide rail constitute the crank slider mechanism, the long connecting rod and the rocker constitute the rocker mechanism, and the long connection between the slider mechanism of the crank slider mechanism and the rocker mechanism The rods are connected; it converts the rotation of the crank into the sliding of the slider mechanism, and then converts the sliding of the slider mechanism into the swing of the rocker; the slider mechanism realizes rolling friction, including sliders, balls, and ball stops. Plates, screws, and balls are placed in the groove of the slider, the ball baffle is fixed on both ends of the slider by screws, and the slider mechanism is placed on the V-shaped guide rail; the V-shaped guide rail is connected with the guide rail support by screws, and the guide rail support It is fixed on the bottom plate of the supporting structure through corner joints and bolts; the crank, short connecting rod, slider mechanism, long connecting rod and rocker are connected through a short shaft, and the axial positioning is realized through a sleeve and a circlip; The rocker is connected with the main shaft of the flexion and extension motion shaft system of the tibial motion mechanism through a key to drive its motion. 2. a kind of vertical total knee replacement joint patella motion testing device according to claim 1 is characterized in that: one end of the shafting of the femoral kinematic mechanism, four ends of the shafting, and the end of the worm gear shafting of the patella kinematic mechanism , the end of the flexion and extension motion shaft system and the spin motion shaft system of the tibial motion mechanism are all connected with the speed measuring motor with an encoder. 3. A vertical total knee replacement joint patella motion testing device according to claim 1, characterized in that: the external dimensions of the testing device are 560×680×1080.