CN111728744A - Spherical bionic six-dimensional force sensor - Google Patents
Spherical bionic six-dimensional force sensor Download PDFInfo
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- CN111728744A CN111728744A CN202010411837.0A CN202010411837A CN111728744A CN 111728744 A CN111728744 A CN 111728744A CN 202010411837 A CN202010411837 A CN 202010411837A CN 111728744 A CN111728744 A CN 111728744A
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- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 24
- 230000003750 conditioning effect Effects 0.000 claims abstract description 23
- 230000007704 transition Effects 0.000 claims description 4
- 239000011888 foil Substances 0.000 claims 5
- 230000005611 electricity Effects 0.000 claims 1
- 238000010030 laminating Methods 0.000 claims 1
- 238000001514 detection method Methods 0.000 abstract description 6
- 238000010586 diagram Methods 0.000 description 6
- 210000000988 bone and bone Anatomy 0.000 description 5
- 206010060820 Joint injury Diseases 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 206010007710 Cartilage injury Diseases 0.000 description 3
- 210000001188 articular cartilage Anatomy 0.000 description 3
- 201000010099 disease Diseases 0.000 description 2
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 201000008482 osteoarthritis Diseases 0.000 description 2
- 230000035945 sensitivity Effects 0.000 description 2
- 241000238421 Arthropoda Species 0.000 description 1
- 208000012239 Developmental disease Diseases 0.000 description 1
- 206010023203 Joint destruction Diseases 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 206010003246 arthritis Diseases 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000003412 degenerative effect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 210000004394 hip joint Anatomy 0.000 description 1
- 208000015181 infectious disease Diseases 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 210000000629 knee joint Anatomy 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 210000000323 shoulder joint Anatomy 0.000 description 1
- 238000001356 surgical procedure Methods 0.000 description 1
- 230000008733 trauma Effects 0.000 description 1
- 210000003857 wrist joint Anatomy 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/02—Prostheses implantable into the body
- A61F2/30—Joints
- A61F2/46—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor
- A61F2/4657—Measuring instruments used for implanting artificial joints
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/16—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force
- G01L5/167—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force using piezoelectric means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/02—Prostheses implantable into the body
- A61F2/30—Joints
- A61F2/46—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor
- A61F2/4657—Measuring instruments used for implanting artificial joints
- A61F2002/4666—Measuring instruments used for implanting artificial joints for measuring force, pressure or mechanical tension
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- Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Transplantation (AREA)
- Engineering & Computer Science (AREA)
- Vascular Medicine (AREA)
- Physical Education & Sports Medicine (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Cardiology (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Biophysics (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Surgery (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Prostheses (AREA)
Abstract
The invention discloses a spherical bionic six-dimensional force sensor which comprises an inner sphere, an outer sphere, a signal conditioning circuit and six Y-shaped beams, wherein the outer sphere is hollow, the inner sphere is arranged in the outer sphere and is concentric with the outer sphere, the bottom end of each Y-shaped beam is fixedly connected with the inner sphere, two top ends of each Y-shaped beam are attached to the inner wall of the outer sphere, two strain gauges are arranged at the bottom of each Y-shaped beam and are symmetrical relative to the corresponding Y-shaped beam, the inner sphere is fixedly connected with one end of a connecting rod, the signal conditioning circuit is positioned in the outer sphere and is fixedly arranged on the connecting rod, and the strain gauges on the six Y-shaped beams are respectively and electrically connected with the signal conditioning circuit. The spherical bionic six-dimensional force sensor realizes the artificial detection of joint stress.
Description
Technical Field
The invention relates to the technical field of sensors, in particular to a spherical bionic six-dimensional force sensor.
Background
Articular cartilage damage is a common disease, the reasons for articular cartilage damage are manifold, and once articular cartilage is damaged, the joint movement function is affected. With the increase of the competition degree, the sports joint injury has a rising trend. In addition, arthritis is a frequent disease in the elderly after age 65, and degenerative osteoarthritis is closely associated with age. Clinically, patients who require joint replacement surgery are mostly elderly patients, and they roughly include three types: degenerative joint diseases, previously suffered trauma or infection resulting in severe joint destruction, patients present with developmental diseases of the bone. The joint injury presents an ascending trend in quantity and proportion, and the artificial joint replacement of the joint cartilage injury is an effective treatment method at present. The artificial joint has been designed from the beginning to clinical application for nearly a century, the artificial joint is the artificial hip joint as the lead, and the design, application and improvement of the artificial joints such as the wrist joint, the shoulder joint and the knee joint are promoted along with the continuous proficiency of the clinical technical application.
Joint injuries require some time of rehabilitation after treatment. In recent years, rehabilitation has been vigorously developed and supported, and has also gradually gained popularity among residents. The recovery time is generally determined by the physical constitution, age, injured part, etc. of the patient, and requires not only the effort of the patient but also the guidance of the experience of the doctor. At present, an effective and convenient detection means is still lacked for clinically detecting the stress of the artificial joint. Therefore, the force detection device suitable for the artificial joint is developed, the rehabilitation process can be accelerated, scientific guidance is enhanced, the complete stress condition of the joint can be obtained, and the work of rehabilitation medical treatment is further guided.
Disclosure of Invention
The invention aims to provide a spherical bionic six-dimensional force sensor, which is used for solving the problems in the prior art and realizing artificial detection of joint stress.
In order to achieve the purpose, the invention provides the following scheme:
the invention provides a spherical bionic six-dimensional force sensor which comprises an inner sphere, an outer sphere, a signal conditioning circuit and six Y-shaped beams, wherein the outer sphere is hollow, the inner sphere is arranged in the outer sphere and is concentric with the outer sphere, the bottom end of each Y-shaped beam is fixedly connected with the inner sphere, two top ends of each Y-shaped beam are attached to the inner wall of the outer sphere, two strain gauges are arranged at the bottom of each Y-shaped beam and are symmetrical relative to the corresponding Y-shaped beam, the inner sphere is fixedly connected with one end of a connecting rod, the signal conditioning circuit is located in the outer sphere and is fixedly arranged on the connecting rod, and the strain gauges on the six Y-shaped beams are respectively and electrically connected with the signal conditioning circuit.
Preferably, two top ends of the Y-shaped beam are both arc-shaped curved surfaces, and an arc transition part is arranged between the two top ends of the Y-shaped beam.
Preferably, the bottom of the Y-shaped beam is a square rod, a plurality of grooves which are arranged in parallel are arranged on the side wall of the Y-shaped beam, the plurality of grooves which are arranged in parallel are positioned between the two strain gauges, and the length direction of each groove is perpendicular to the strain gauges.
Preferably, the connecting rod is vertical, the three Y-shaped beams are horizontally arranged and uniformly distributed with a central horizontal plane along the inner ball, the other three Y-shaped beams are obliquely arranged and uniformly distributed along a second circumference on the surface of the inner ball, the plane where the second circumference is located is parallel to the central horizontal plane, and the second circumference is far away from the connecting rod.
Preferably, the second circumference has an off-angle of 30 ° with the center of the inner sphere, and two vertex angles of each of the three obliquely arranged Y-shaped beams are located in the same vertical plane.
Preferably, the three parallel Y-shaped beams and the three inclined Y-shaped beams are distributed in a staggered manner.
Preferably, the outer ball is provided with an opening, the connecting rod passes through the opening, and the signal conditioning circuit is close to the opening.
Compared with the prior art, the invention has the following technical effects:
the spherical bionic six-dimensional force sensor realizes the artificial detection of joint stress. The spherical bionic six-dimensional force sensor is suitable for artificial joint replacement, and can feed back the stress magnitude of the replacement joint in the rehabilitation treatment process, thereby realizing the replacement effect of the artificial joint and providing powerful experimental data for the adjustment of the rehabilitation treatment scheme; the invention designs a sensing unit with a seam structure (groove) by using the principle of an arthropod foot seam receptor for reference, thereby improving the sensitivity of the sensor; the spherical bionic six-dimensional force sensor provided by the invention is light in weight and high in sensitivity, and has great beneficial effects on the treatment and rehabilitation process of patients with joint injury.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a first schematic structural diagram of a spherical bionic six-dimensional force sensor according to the present invention;
FIG. 2 is a schematic structural diagram of a spherical bionic six-dimensional force sensor according to the present invention;
FIG. 3 is a schematic diagram of a part of a spherical bionic six-dimensional force sensor according to the present invention;
FIG. 4 is a schematic diagram of a partial structure of a spherical bionic six-dimensional force sensor according to the present invention;
FIG. 5 is a schematic diagram of a part of a structure of a spherical bionic six-dimensional force sensor according to the present invention;
FIG. 6 is a bridge diagram of a signal conditioning circuit in the spherical bionic six-dimensional force sensor according to the present invention;
wherein: 1. the device comprises an outer ball, 2 parts of a connecting rod, 3 parts of a Y-shaped beam, 3-1 parts of a first Y-shaped beam, 3-1-1 parts of a seam structure, 3-1-2 parts of an arc curved surface, 3-1-3 parts of an arc transition part, 3-2 parts of a second Y-shaped beam, 3-3 parts of a third Y-shaped beam, 3-4 parts of a fourth Y-shaped beam, 3-5 parts of a fifth Y-shaped beam, 3-6 parts of a sixth Y-shaped beam, 4 parts of a strain gauge, 5 parts of a signal conditioning circuit.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive effort based on the embodiments of the present invention, are within the scope of the present invention.
The invention aims to provide a spherical bionic six-dimensional force sensor, which is used for solving the problems in the prior art and realizing artificial detection of joint stress.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
As shown in fig. 1 to 5: the spherical bionic six-dimensional force sensor comprises an inner sphere, an outer sphere 1, a signal conditioning circuit 5 and six Y-shaped beams 3, wherein the outer sphere 1 is hollow, and the outer sphere 1 is in the shape of an artificial bone joint and is equivalent to the artificial bone joint; the inner ball is arranged in the outer ball 1 and concentric with the outer ball 1, the bottom end of the Y-shaped beam 3 is fixedly connected with the inner ball, the inner ball is fixedly connected with one end of the connecting rod 2, the signal conditioning circuit 5 is arranged in the outer ball 1 and fixedly arranged on the connecting rod 2, the strain gauges 4 on the six Y-shaped beams 3 are respectively electrically connected with the signal conditioning circuit 5, the outer ball 1 is provided with an opening, the connecting rod 2 penetrates through the opening, and the signal conditioning circuit 5 is close to the opening.
The connecting rod 2 is vertical, the first Y-shaped beam 3-1, the second Y-shaped beam 3-2 and the third Y-shaped beam 3-3 are horizontally arranged and are uniformly distributed with a central horizontal plane along an inner ball, the fourth Y-shaped beam 3-4, the fifth Y-shaped beam 3-5 and the sixth Y-shaped beam 3-6 are obliquely arranged and are uniformly distributed along a second circumference of the surface of the inner ball, a plane where the second circumference is located is parallel to the central horizontal plane, the second circumference is far away from the connecting rod 2, an off-angle between the second circumference and the center of the inner ball is 30 degrees, two vertex angles of each Y-shaped beam 3 in the three obliquely arranged Y-shaped beams 3 are located in the same vertical plane, and the three parallel Y-shaped beams 3 are distributed with the three obliquely arranged Y-shaped beams 3 in a staggered mode.
Two top ends of the Y-shaped beam 3 are both arc-shaped curved surfaces 3-1-2, the two top ends of the Y-shaped beam 3 are completely attached to the inner wall of the outer ball 1, and an arc transition part 3-1-3 is arranged between the two top ends of the Y-shaped beam 3. The bottom of the Y-shaped beam 3 is a square rod, the side wall of the square rod is provided with two strain gauges 4, the two strain gauges 4 are symmetrical relative to the Y-shaped beam 3, the side wall of the Y-shaped beam 3 is provided with a plurality of parallel-arranged grooves to form a seam structure 3-1-1, the plurality of parallel-arranged grooves are located between the two strain gauges 4, and the length direction of the grooves is perpendicular to the strain gauges 4.
This embodiment can real-time detection artificial bone joint (ectosphere 1) atress through six Y type roof beams 3, can drive Y type roof beam 3 and take place deformation when ectosphere 1 atress, and strain gauge 4 on Y type roof beam 3 can detect the signal of telecommunication and feed back to signal conditioning circuit 5 after Y type roof beam 3 takes place deformation, and signal conditioning circuit 5 obtains artificial bone joint's the atress condition through the analysis.
The signal conditioning circuit 5 is arranged along the axial direction of the connecting rod 2 and is arranged in the space of the outer ball 1. The signal conditioning circuit 5 changes the resistance value to a voltage value by means of a bridge, which is shown in fig. 6. The signal conditioning circuit 5 is provided with a sensing element, and the output of each Y-shaped beam 3 can be obtained by detecting the displacement. The sensing elements are respectively in communication connection with the processing circuit on the other side of the signal conditioning circuit 5, so that pressure can be measured and fed back to the processing circuit, and integration of the circuit board and the sensing elements is realized.
In the description of the present invention, it should be noted that the terms "vertical", "horizontal", "inside", "outside", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
Claims (7)
1. The utility model provides a bionical six dimension force transducer of spherical which characterized in that: including interior ball, outer ball, signal conditioning circuit and six Y type roof beams, the outer ball is hollow, interior ball set up in the outer ball and with outer ball is concentric, the bottom of Y type roof beam with interior ball links firmly, two tops of Y type roof beam with the inner wall laminating of outer ball, the bottom of Y type roof beam is provided with two foil gages, and two the foil gage is about corresponding Y type roof beam symmetry, interior ball links firmly with connecting rod one end, signal conditioning circuit is located in the outer ball and set firmly on the connecting rod, six on the Y type roof beam the foil gage respectively with signal conditioning circuit electricity is connected.
2. The spherical bionic six-dimensional force sensor according to claim 1, characterized in that: two tops of Y type roof beam all are the arc curved surface, be provided with circular arc transition portion between two tops of Y type roof beam.
3. The spherical bionic six-dimensional force sensor according to claim 1, characterized in that: the bottom of Y type roof beam is square pole, be provided with a plurality of parallel arrangement's recess on the lateral wall of Y type roof beam, a plurality of parallel arrangement's recess is located two between the foil gage, just the length direction perpendicular to of recess the foil gage.
4. The spherical bionic six-dimensional force sensor according to claim 1, characterized in that: the connecting rod is vertical, the three Y-shaped beams are horizontally arranged and are uniformly distributed with the central horizontal plane along the inner ball, the other three Y-shaped beams are obliquely arranged and are uniformly distributed along a second circumference on the surface of the inner ball, the plane where the second circumference is located is parallel to the central horizontal plane, and the second circumference is far away from the connecting rod.
5. The spherical bionic six-dimensional force sensor according to claim 4, wherein: and the deflection angle between the second circumference and the center of the inner ball is 30 degrees, and two vertex angles of each Y-shaped beam in the three obliquely-arranged Y-shaped beams are positioned in the same vertical plane.
6. The spherical bionic six-dimensional force sensor according to claim 4, wherein: the three parallel Y-shaped beams and the three obliquely arranged Y-shaped beams are distributed in a staggered mode.
7. The spherical bionic six-dimensional force sensor according to claim 1, characterized in that: the outer ball is provided with an opening, the connecting rod penetrates through the opening, and the signal conditioning circuit is close to the opening.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010411837.0A CN111728744B (en) | 2020-05-15 | 2020-05-15 | Spherical bionic six-dimensional force sensor |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010411837.0A CN111728744B (en) | 2020-05-15 | 2020-05-15 | Spherical bionic six-dimensional force sensor |
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| Publication Number | Publication Date |
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| CN111728744A true CN111728744A (en) | 2020-10-02 |
| CN111728744B CN111728744B (en) | 2021-07-13 |
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| CN202010411837.0A Active CN111728744B (en) | 2020-05-15 | 2020-05-15 | Spherical bionic six-dimensional force sensor |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116698260A (en) * | 2023-07-07 | 2023-09-05 | 锐马（福建）电气制造有限公司 | Three-dimensional six-dimensional force sensor |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023018631A1 (en) * | 2021-08-11 | 2023-02-16 | Orthosensor, Inc. | Joint measurement devices, systems, and methods |
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| CN109079826A (en) * | 2018-10-12 | 2018-12-25 | 中国石油大学(华东) | A kind of orthogonal beam type six-dimension force sensor of diameter of Spherical Volume and joint of robot |
| CN109269706A (en) * | 2018-10-26 | 2019-01-25 | 东南大学 | A kind of view-based access control model sensor legged type robot foot end multi-dimensional force sensing device |
| KR101949097B1 (en) * | 2018-08-30 | 2019-02-15 | 진희태 | Sensor for detecting impact |
| CN208818385U (en) * | 2018-11-16 | 2019-05-03 | 合肥工业大学 | A kind of six-dimension force sensor |
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2020
- 2020-05-15 CN CN202010411837.0A patent/CN111728744B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103983383A (en) * | 2014-05-19 | 2014-08-13 | 江西理工大学 | Sensitive element of three-dimensional micro force sensor based on flexible mechanism |
| CN107044898A (en) * | 2017-03-28 | 2017-08-15 | 东南大学 | A kind of six-dimension force sensor of flexible body structure |
| KR101949097B1 (en) * | 2018-08-30 | 2019-02-15 | 진희태 | Sensor for detecting impact |
| CN109079826A (en) * | 2018-10-12 | 2018-12-25 | 中国石油大学(华东) | A kind of orthogonal beam type six-dimension force sensor of diameter of Spherical Volume and joint of robot |
| CN109269706A (en) * | 2018-10-26 | 2019-01-25 | 东南大学 | A kind of view-based access control model sensor legged type robot foot end multi-dimensional force sensing device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116698260A (en) * | 2023-07-07 | 2023-09-05 | 锐马（福建）电气制造有限公司 | Three-dimensional six-dimensional force sensor |
| CN116698260B (en) * | 2023-07-07 | 2023-11-14 | 锐马（福建）电气制造有限公司 | Three-dimensional six-dimensional force sensor |
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