JPH02297361A - Artificial articulation simulator - Google Patents
Artificial articulation simulatorInfo
- Publication number
- JPH02297361A JPH02297361A JP1308190A JP1308190A JPH02297361A JP H02297361 A JPH02297361 A JP H02297361A JP 1308190 A JP1308190 A JP 1308190A JP 1308190 A JP1308190 A JP 1308190A JP H02297361 A JPH02297361 A JP H02297361A
- Authority
- JP
- Japan
- Prior art keywords
- cup
- artificial
- simulator
- swing
- turntable
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000007246 mechanism Effects 0.000 claims abstract description 44
- 230000033001 locomotion Effects 0.000 claims abstract description 28
- 230000005540 biological transmission Effects 0.000 claims abstract description 9
- 239000000463 material Substances 0.000 claims description 5
- 210000000988 bone and bone Anatomy 0.000 abstract description 21
- 230000001360 synchronised effect Effects 0.000 abstract description 2
- 210000004394 hip joint Anatomy 0.000 description 13
- 238000012360 testing method Methods 0.000 description 8
- 210000004197 pelvis Anatomy 0.000 description 6
- 230000008878 coupling Effects 0.000 description 4
- 238000010168 coupling process Methods 0.000 description 4
- 238000005859 coupling reaction Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 4
- 229910001220 stainless steel Inorganic materials 0.000 description 3
- 239000010935 stainless steel Substances 0.000 description 3
- 238000001727 in vivo Methods 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000011056 performance test Methods 0.000 description 2
- 239000002504 physiological saline solution Substances 0.000 description 2
- 229920003225 polyurethane elastomer Polymers 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000037396 body weight Effects 0.000 description 1
- 230000015556 catabolic process Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 229920001684 low density polyethylene Polymers 0.000 description 1
- 239000004702 low-density polyethylene Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 230000010363 phase shift Effects 0.000 description 1
- 239000000843 powder Substances 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 102200145443 rs2271733 Human genes 0.000 description 1
Classifications
-
- 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
- A61F2/468—Testing instruments for artificial joints
-
- 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
- A61F2002/30001—Additional features of subject-matter classified in A61F2/28, A61F2/30 and subgroups thereof
Landscapes
- Health & Medical Sciences (AREA)
- Transplantation (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Heart & Thoracic Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Physical Education & Sports Medicine (AREA)
- Vascular Medicine (AREA)
- Cardiology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Prostheses (AREA)
- Instructional Devices (AREA)
- Testing Of Devices, Machine Parts, Or Other Structures Thereof (AREA)
Abstract
Description
【発明の詳細な説明】
［産業上の利用分野コ
本発明は人工関節の機械的性能や耐久性等を計測又は評
価するためのシミュレータに関し、詳細には上記計測又
は評価を実際の装着状況に酷似させた状態で行なえる様
にすると共に、シミュレータ自体の構造が複雑とならず
、コンパクト且つ故障の発生が少ない構成を備えた人工
関節シミュレータに関するものである。Detailed Description of the Invention [Field of Industrial Application] The present invention relates to a simulator for measuring or evaluating the mechanical performance, durability, etc. of an artificial joint. The present invention relates to an artificial joint simulator that allows operations to be performed in conditions that are very similar to each other, has a structure that does not complicate the structure of the simulator itself, is compact, and has a configuration in which failures are less likely to occur.
以下の説明においては人工股関節を試験対象としてこれ
に適用するシミュレータについて述べるが、本発明の試
験対象となる関節部位は一切限定されない。In the following description, a simulator that is applied to an artificial hip joint as a test subject will be described, but the joint site that is the test subject of the present invention is not limited at all.
［従来の技術］
股関節が欠損又は損傷した場合は第５図（一部破断斜視
図）に示す様な人工股関節を利用することがある。該人
工股関節は大腿骨側の代替骨となる人工骨１、及び骨盤
側の代替骨となって前記人工骨１の先端頭部１ａに対し
て回転自在に嵌合されるカップ２から構成される。この
様な人工股関節を生体内で使用するに当たっては、予め
次の様な点を評価しておく必要がある。即ち人工股関節
を生体内に埋め込んだときに歩行や屈伸等の運動が支障
なく行なえるかどうか、或は長期に亘って前記運動が繰
返されたときに該人工股関節に不具合を生じることがな
いかどうか等を試験しておかなければならない。[Prior Art] When a hip joint is missing or damaged, an artificial hip joint as shown in FIG. 5 (partially cutaway perspective view) may be used. The artificial hip joint is composed of an artificial bone 1 that serves as a substitute bone on the femoral side, and a cup 2 that serves as a substitute bone on the pelvis side and is rotatably fitted to the distal end head 1a of the artificial bone 1. . When using such an artificial hip joint in vivo, it is necessary to evaluate the following points in advance. In other words, when the artificial hip joint is implanted in a living body, whether movements such as walking and bending/extending can be performed without any problems, or whether the artificial hip joint will develop problems if the above movements are repeated over a long period of time. I have to test whether or not this is the case.
そこでこの様な試験を生体内と同じ様な条件の下で、別
に設けた装置を使って行なう目的で人工股関節シミュレ
ータが開発されており、このシミュレータの例としては
特開昭６３−１５８０５４号公報に開示されたものがあ
る。Therefore, an artificial hip joint simulator has been developed for the purpose of conducting such tests under conditions similar to in-vivo conditions using a separate device. There are some that have been disclosed.
人工股関節における頭部１ａとカップ２（第５図参照）
の機械的強度や摩擦係数等の性能試験、並びに頭部１ａ
、ステム部１ｂ及びカップ２の耐疲労強度や耐摩耗性等
の耐久試験を行なうシミュレータとしては、次の項目を
満足する様なものでなければならない。Head 1a and cup 2 of the artificial hip joint (see Figure 5)
Performance tests such as mechanical strength and friction coefficient, and head 1a
A simulator for carrying out durability tests such as fatigue strength and abrasion resistance of the stem portion 1b and the cup 2 must satisfy the following requirements.
■まず第５図に示す様な人工骨１とカップ２の配設にお
いて、３次元方向にＸ、Ｙ、Ｚ軸を想定したとき、Ｙ軸
に沿って矢印Ｆ、Ｇ方向（人工骨１の軸芯に沿う方向）
に方向変換の自在な荷重（以下単に軸荷重という）を負
荷でき、さらにこの軸荷重の負荷量をも任意に変えられ
る様な軸方向加圧機構を備えなければならない。また人
工骨１とカップ２の接触面において相互に摺擦６動する
様に、Ｘ−Ｚ面（水平面）内において一定角度θの範囲
で矢印ＸＩ、Ｘ２方向に方向変換することのできるねじ
り運動が行なえる機能、及びＹ−Ｚ面内において一定角
度φで矢印Ｙ ｒ 、 Ｙ ２方向に方向変換すること
のできる揺動運動が行なえる機能を備えていなければな
らない。■First, when arranging the artificial bone 1 and the cup 2 as shown in Fig. 5, assuming the X, Y, and Z axes in three-dimensional directions, the direction along the axis)
It is necessary to provide an axial pressure mechanism that can apply a load whose direction can be freely changed (hereinafter simply referred to as axial load) and that can also arbitrarily change the amount of this axial load. In addition, a torsional movement that can change direction in the directions of arrows XI and X2 within a certain angle θ in the X-Z plane (horizontal plane) so that the artificial bone 1 and the cup 2 slide against each other at the contact surface. It must also have a function that can perform a swinging motion that can change direction in the two directions of arrows Y r and Y at a constant angle φ in the Y-Z plane.
■歩行時においては、股関節の頭部に体重の５〜６倍の
荷重が負荷されると言われており、前記軸荷重の最大負
荷量は５００ ｋｇｆ程度まで高めることができるもの
でなければならない。■When walking, it is said that a load of 5 to 6 times the body weight is applied to the head of the hip joint, and the maximum axial load must be able to increase to about 500 kgf. .
■人工骨１とカップ２の配置は生体内に埋込むときと同
様、カップ２が上で人工骨１が下に位置する正立状態（
第５図の状態）に保持できるものでなければならない。■The arrangement of artificial bone 1 and cup 2 is the same as when implanted in a living body, in an erect state with cup 2 on top and artificial bone 1 on the bottom (
It must be able to maintain the condition shown in Figure 5).
■上記軸荷重の方向変換及び荷重負荷量の変更は人の運
動パターンに近似する様自在に変更できるものでなけれ
ばならない。(2) The direction of the axial load and the amount of load applied must be changed freely so as to approximate the movement pattern of a person.
■前記ねじり運動の方向変換周期、揺動運動の方向変換
周期及び軸荷重の方向と負荷量の変更周期は任意に定期
的又は非定期的に変えることができるものでなければな
らない。(2) The direction change period of the torsional motion, the direction change period of the rocking motion, and the change period of the direction and amount of the shaft load must be able to be changed periodically or irregularly as desired.
■人工骨１とカップ２は、生体埋込み状態と類似する条
件とするため、生理食塩水等の試験液中に浸漬して作動
させることができるものでなければならない。(2) The artificial bone 1 and the cup 2 must be able to be operated by being immersed in a test liquid such as physiological saline in order to achieve conditions similar to those in a living body.
■人間の骨盤の剛性とできるだけ類似した条件で作動で
きるものでなければならない。■It must be able to operate under conditions as similar as possible to the rigidity of the human pelvis.
［発明が解決しようとする課題］
上記■〜■のうち、特に■、■、■、■、■の条件を満
たすためには、軸荷重、揺動、ねじりの３運動を夫々独
立して行なえる様な装置を備え、且つ夫々別の駆動源を
使って任意の周期及び荷重変更パターンで人工股関節を
動かすことのできる装置を提供することが必要となる。[Problem to be solved by the invention] Of the above ■ to ■, in particular, in order to satisfy the conditions of ■, ■, ■, ■, ■, the three movements of axial load, swinging, and torsion must be performed independently. It is necessary to provide a device that is equipped with a device that allows the artificial hip joint to be moved with arbitrary cycles and load change patterns using separate drive sources.
しかしこの様な装置では機構が複雑となって装置全体が
大型化して高価となり、さらに稼動機構部分が多くなる
ため、摩損を引き起こし易く、ＭＭ機構部分の故障発生
率が高くなったり、或は該摩損部分を修復するための保
守作業が多くなるといった問題を生じる。また他に前記
■及び■の条件を満足しないものとして、人工骨１とカ
ップ２の位置を生体埋込み状態と逆に配置したり、或は
大気中で人工関節を作動させる様な装置を使用した場合
には、人工骨１とカップ２の摩擦によって生じる微粉末
が上向きカップ２の凹曲面内に滞留したり、或は潤滑性
を不正確にし、摩擦環境が異なる為に正確にシミュレー
トできないといフた不都合があった。However, such a device has a complicated mechanism, making the entire device large and expensive, and since there are many moving mechanism parts, it is easy to cause wear and tear, and the failure rate of the MM mechanism part is high, or the failure rate of the MM mechanism part is high. A problem arises in that maintenance work to repair worn parts increases. In addition, as cases in which the above conditions (1) and (2) are not satisfied, the positions of the artificial bone 1 and the cup 2 are placed opposite to the state in which they are implanted in a living body, or a device that operates the artificial joint in the atmosphere is used. In some cases, the fine powder generated by the friction between the artificial bone 1 and the cup 2 may remain in the concave curved surface of the upward facing cup 2, or the lubricity may become inaccurate, making it impossible to accurately simulate the friction environment. There was an inconvenience.
他方カップ２は第５図に示す様に金属製（主としてステ
ンレス鋼製）の保持台座２９に嵌装されるのが一般的で
あり、この様なシミュレータ装置では人間の骨盤に比較
して剛性が高過ぎるという問題があった。そのためこの
ようなシミュレータ装置では人工関節の変形が小さく、
カップに発生する応力も小さくなるので、性能評価とし
て実際の使用とそぐわなくなり、上記■の条件を満たさ
ないという問題があった。On the other hand, the cup 2 is generally fitted into a holding base 29 made of metal (mainly made of stainless steel) as shown in FIG. The problem was that it was too expensive. Therefore, with this kind of simulator device, the deformation of the artificial joint is small, and
Since the stress generated in the cup also becomes smaller, there is a problem in that it is no longer suitable for actual use as a performance evaluation, and the above condition (2) is not satisfied.
そこで本発明者らは、上記■〜■の条件を満足し、しか
も装置自体の構造が複雑とならずコンパクトに構成でき
、且つ故障が少なくてメンテナンスが簡単でしかも人間
の骨盤に類似した剛性を発揮し得る人工関節シミュレー
タを提供する目的で研究を重ね、本発明を完成した。Therefore, the inventors of the present invention have developed a device that satisfies the conditions (1) to (3) above, has a compact structure without complicating the structure of the device itself, is less prone to breakdowns, is easy to maintain, and has a rigidity similar to that of the human pelvis. With the aim of providing an artificial joint simulator that can perform effectively, the present invention was completed after repeated research.
［課題を解決するための手段］
上記目的を達成した第１の発明は、揺動機構及びねじり
機構は各々の伝達装置を介して１つの可変速駆動源に接
続されることによって、上記揺動機構及びねじり機構を
機械的に同期作動できる様に構成してなる点に要旨を有
するものである。[Means for Solving the Problems] A first invention that achieves the above object is such that the swinging mechanism and the torsion mechanism are connected to one variable speed drive source through respective transmission devices, so that the swinging mechanism and the twisting mechanism are connected to one variable speed drive source through respective transmission devices. The gist is that the mechanism and the twisting mechanism are constructed so that they can mechanically operate synchronously.
またカップを着脱自在に嵌装保持するカップ支持具を低
剛性の材料によって形成し、該カップ支持具を保持台座
へ着脱自在に取付ける様に構成することもできる。Alternatively, the cup support for removably fitting and holding the cup may be formed of a low-rigidity material, and the cup support may be removably attached to the holding base.
［作用及び実施例］
第１図は本発明シミュレータの代表的な実施例を示す原
理説明図であり、第２図はこれを適用したシミュレータ
の一部破断側面説明図である。[Operations and Examples] FIG. 1 is a principle explanatory diagram showing a typical embodiment of the simulator of the present invention, and FIG. 2 is a partially cutaway side explanatory diagram of a simulator to which this is applied.
該シミュレータはねじり機構１０、揺動機構２０及び軸
方向加圧機構４０を備えたものであり、前記ねじり機構
１０は、台座１８（第２図参照）を介して人工骨１を保
持するターンテーブル１４と、該ターンテーブル１４を
矢印Ｘ ｒ ” 、Ｘ ２方向に揺動するためのＡＣサ
ーボモータ３を主構成部材とし、該ターンテーブル１４
とＡＣサーボモータ３はロッド１３．プーリ１１，１２
及びベルト４等の伝達装置を介して接続される。The simulator is equipped with a twisting mechanism 10, a swinging mechanism 20, and an axial pressure mechanism 40, and the twisting mechanism 10 includes a turntable that holds the artificial bone 1 via a pedestal 18 (see FIG. 2). 14, and an AC servo motor 3 for swinging the turntable 14 in the two directions of arrow X r '' and X.
and the AC servo motor 3 is connected to the rod 13. Pulley 11, 12
and is connected via a transmission device such as a belt 4.
即ちＡＣサーボモータ３が矢印Ａ方向へ回転すると、該
回転力はベルト４を介してプーリ１１に伝達され、さら
に軸１５を介してプーリ１２を同方向に回転する。尚軸
１５は軸受１６に回転自在に支持される。前記プーリ１
２上にはロッド１３の一方端を回転自在に支持する枢支
点０□が設けられ、該プーリ１２の回転によってロッド
１３を矢印８ＭＣ方向に往復移動する。該ロッド１３の
他方端はターンテーブル１４上に設けた受は部材１７と
次に述べる様に連結される。即ち該受は部材１７とロッ
ド１３の先端は、ターンテーブル１４の揺動回転に合わ
せて水平回動が可能な構造で、且つ枢支点Ｏ０の回転移
動に合わせてロッド１３が上下方向及び水平方向に振動
するの対して支障のない連結構造であれば良い。この様
な結合構造としては例えばピボット結合や第２図に示す
様な回転軸支接合とピボット結合を組合せたもの等が採
用できる。また上記枢支点０１におけるロッド１３の結
合は、前記した連結構造と同様、ピボット結合等を採用
することが好ましい。なおターンテーブル１４上には第
２図に示す様な貯留槽５３を設け、該貯留槽５３内へ生
理食塩水を貯留又は循環できる様に構成し、人工骨１や
カップ２が液中に浸漬されて生体条件と類似した状態と
なる様に工夫されている。That is, when the AC servo motor 3 rotates in the direction of arrow A, the rotational force is transmitted to the pulley 11 via the belt 4, and further rotates the pulley 12 in the same direction via the shaft 15. The shaft 15 is rotatably supported by a bearing 16. The pulley 1
A pivot point 0□ is provided on 2 to rotatably support one end of the rod 13, and rotation of the pulley 12 causes the rod 13 to reciprocate in the direction of arrow 8MC. The other end of the rod 13 is connected to a member 17 provided on a turntable 14 as described below. That is, the receiver has a structure in which the member 17 and the tip of the rod 13 can be horizontally rotated in accordance with the rocking rotation of the turntable 14, and the rod 13 can be rotated vertically and horizontally in accordance with the rotational movement of the pivot point O0. Any connection structure is sufficient as long as it does not interfere with vibration. As such a coupling structure, for example, a pivot coupling or a combination of a rotary shaft support coupling and a pivot coupling as shown in FIG. 2 can be employed. Further, the connection of the rod 13 at the pivot point 01 preferably employs a pivot connection or the like, similar to the connection structure described above. A storage tank 53 as shown in FIG. 2 is provided on the turntable 14, and the structure is such that physiological saline can be stored or circulated in the storage tank 53, so that the artificial bone 1 and the cup 2 are immersed in the liquid. It has been devised so that the conditions are similar to those of living organisms.
他方ターンテーブル１４は基台４２上にベアリング等を
介して軸支回転自在に構成されており、上記ロッド１３
の往復移動によってターンテーブル１４は基台４２に対
して矢印Ｘ ｒ ” Ｘ ２方向に回転揺動し、カップ
２に対して該人工骨１をねじる様に作動する。尚このと
きのねじり角度θは、プーリ１２とロッド１３の枢支位
置を変えることによって変更できる。例えば枢支点を図
中の０１から０２へ変換すればロッド１３の矢印Ｂ、Ｃ
方向の往復移動量は小さくなり、ねじり角度θを小さく
することができる。On the other hand, the turntable 14 is rotatably supported on a base 42 via a bearing or the like.
As a result of the reciprocating movement of can be changed by changing the pivot position of the pulley 12 and the rod 13. For example, if the pivot point is changed from 01 to 02 in the figure, the arrows B and C of the rod 13
The amount of reciprocating movement in the direction becomes small, and the twist angle θ can be made small.
また揺動機構２０はクランク２８を主たる構成部材とし
て次の通り構成される。該クランク２８の凹部には保持
台座２９が固定され、該保持台座２９の下方には低剛性
材料によって形成されたカップ支持具２９ａが取付板２
９ｂによって着脱自在に取付けられ、さらに該カップ支
持具２９ａの下部はカップ２を着脱自在に嵌装できる様
に構成し、装着したカップ２と人工骨１の頭部１ａが嵌
合できる様に構成される。また前記クランク２８のクラ
ンク軸２７ａ、２７ｂは軸受２３ａ。Further, the swing mechanism 20 is configured as follows, with the crank 28 as a main component. A holding pedestal 29 is fixed to the recessed portion of the crank 28, and a cup support 29a formed of a low-rigidity material is provided below the holding pedestal 29 to the mounting plate 2.
The lower part of the cup support 29a is configured so that the cup 2 can be detachably fitted thereinto, and the attached cup 2 is configured so that the head 1a of the artificial bone 1 can be fitted. be done. Further, the crankshafts 27a and 27b of the crank 28 are bearings 23a.
２３ｂを介してフレームＦ１に回転自在に軸支され、該
クランク軸２７ａの一方端部にはアーム２６が固定され
る。該アーム２６の先端部にはロッド２５が回転自在に
軸支されると共に、該ロッド２５の他方端はアーム２６
の揺動平面と同一平面内で回転するプーリ２４に対して
回転自在に軸支される。該プーリ２４は軸２２．プーリ
２１及びベルト４を介してＡＣサーボモータ３に連結さ
れる。従ってＡＣサーボモータ３の矢印入方向への回転
によってプーリ２４が同方向に回転したとき、該プーリ
２４の回転によってロッド２５が矢印Ｄ４４Ｅ方向に往
復移動し、アーム２６及びクランク２８は矢印Ｙ１→Ｙ
２方向に揺動し、保持台座２９に取付けたカップ２は人
工骨１に対して揺動運動する。該カップ２の揺動角度φ
はクランク２８及びアーム２６の揺動角度と同じであり
、との揺動角度を変更するためには、ロッド２５とプー
リ２４又はアーム２６の軸支位置を変えれば良く、上記
ねじり角度θと同様に揺動角度φは簡単に変更できる。The crankshaft 27a is rotatably supported by the frame F1 via the crankshaft 27a, and an arm 26 is fixed to one end of the crankshaft 27a. A rod 25 is rotatably supported at the tip of the arm 26, and the other end of the rod 25 is supported by the arm 26.
It is rotatably supported by a pulley 24 that rotates in the same plane as the swing plane of the pulley 24 . The pulley 24 is connected to the shaft 22. It is connected to an AC servo motor 3 via a pulley 21 and a belt 4. Therefore, when the pulley 24 rotates in the same direction as the AC servo motor 3 rotates in the direction indicated by the arrow, the rotation of the pulley 24 causes the rod 25 to reciprocate in the direction of arrow D44E, and the arm 26 and crank 28 move from arrow Y1 to Y
The cup 2, which swings in two directions and is attached to the holding base 29, swings relative to the artificial bone 1. Swing angle φ of the cup 2
is the same as the swing angle of the crank 28 and the arm 26, and in order to change the swing angle of the crank 28 and the arm 26, it is sufficient to change the pivot position of the rod 25 and the pulley 24 or the arm 26. The swing angle φ can be easily changed.
例えばプーリ２４におけるロッド２５の接続位置を０３
から０４へ変換すれば、揺動角度φを小さくすることが
できる。For example, the connection position of the rod 25 on the pulley 24 is 03
By converting from to 04, the swing angle φ can be reduced.
上記ねじり機構１０及び揺動機構２０は１つのＡＣサー
ボモータ３を駆動源とし共用しているので、人工骨１と
カップ２の当接面における揺動運動及びねじり運動は機
械的に同期して作動させることができる。また上記ＡＣ
サーボモータ３は正逆２方向に回転変換させるのではな
く、一定方向に回転速度を変えて回転させるものである
から、上記の揺動運動及びねじり運動を位相ずれを生じ
ることなく連続的に繰返すことができる。Since the torsion mechanism 10 and the swinging mechanism 20 share one AC servo motor 3 as a driving source, the swinging motion and twisting motion on the contact surfaces of the artificial bone 1 and the cup 2 are mechanically synchronized. can be activated. Also, the above AC
Since the servo motor 3 does not rotate in two forward and reverse directions, but rotates in a fixed direction at a different rotational speed, the above-mentioned oscillating motion and twisting motion are continuously repeated without any phase shift. be able to.
さらにねじり機構１０又は揺動機構２０のいずれかの伝
達装置内に可変プーリを設けることにより、ねじり運動
及び揺動運動の周期を任意にずらす様に調整することも
できる。Furthermore, by providing a variable pulley in the transmission device of either the twisting mechanism 10 or the swinging mechanism 20, the cycles of the twisting motion and the swinging motion can be adjusted to be shifted as desired.
なお前記人工骨１及びカップ２は人体内に埋込んだとき
と同様、正立状態に保持できるため、実際の使用に近似
した条件で試験を行なうことが可能である。It should be noted that since the artificial bone 1 and cup 2 can be maintained in an erect state in the same way as when they are implanted in a human body, it is possible to conduct the test under conditions similar to actual use.
前記ターンテーブル１４を取付ける基台４２は、軸方向
加圧機構４０における複動型油圧シリンダ４１のロッド
４３の先端に固定され、矢印Ｆ４４Ｇ方向に昇降自在に
構成され、人工骨１とカップ２０間における軸荷重の方
向は容易に変換できる。さらに該油圧シリンダ４１はサ
ーボ制御タイプのものを使用することにより、該油圧シ
リンダ４１に接続される制御装置５０によって荷重負荷
量を任意に変更制御できる。The base 42 on which the turntable 14 is attached is fixed to the tip of the rod 43 of the double-acting hydraulic cylinder 41 in the axial pressure mechanism 40, and is configured to be movable up and down in the direction of arrow F44G, and is configured to move up and down between the artificial bone 1 and the cup 20. The direction of the axial load at can be easily converted. Furthermore, by using a servo control type hydraulic cylinder 41, the amount of load can be changed and controlled as desired by a control device 50 connected to the hydraulic cylinder 41.
また該制御装置５０は制御系路５２を介してＡＣサーボ
モータ３とも接続しておくことにより、上記油圧シリン
ダ４１とＡＣサーボモータ３を同期して作動制御するこ
ともできる。従ってこれらねじり機構１０、揺動機構２
０及び軸方向加圧機構４０を同時に作動することにより
、人工股関節に軸荷重を負荷しつつ、揺動及びねじり運
動を模擬的に再現することができ、人体の関節と同様の
動き及び荷重パターンをシミュレートすることができる
。Furthermore, by connecting the control device 50 to the AC servo motor 3 via a control system path 52, it is possible to control the operation of the hydraulic cylinder 41 and the AC servo motor 3 in synchronization. Therefore, these twisting mechanisms 10 and swinging mechanisms 2
By simultaneously operating the 0 and axial pressure mechanisms 40, it is possible to simulate rocking and twisting movements while applying an axial load to the artificial hip joint, creating a movement and load pattern similar to that of a human joint. can be simulated.
上記ねじり機構１０及び揺動機構２０における動力伝達
装置は図例のものに限られず、その他歯車やチェーン等
公知の伝達装置を使用するものであっても良い。The power transmission devices in the twisting mechanism 10 and the swinging mechanism 20 are not limited to those illustrated, and other known transmission devices such as gears and chains may be used.
尚上記機構の適所には揺動力、ねじり力、軸方向荷重負
荷値等を検出する計測センサや、摩耗量を連続的に計測
する摩耗量検出装置等を配設し、人工骨１やカップ２の
機械的性能及び耐久性を適宜計測及び表示記録できる様
に構成するのが好ましい。In addition, measurement sensors that detect rocking force, torsional force, axial load value, etc., and a wear amount detection device that continuously measures the amount of wear, etc. are installed at appropriate locations in the above mechanism. It is preferable to configure the device so that its mechanical performance and durability can be appropriately measured, displayed and recorded.
第３図はカップ２を嵌装するカップ支持具２９ａの剛性
を変えたとき、カップ２に発生する最大応力の変化を解
析したものである。例えばステンレス鋼のヤング率は２
１０００ Ｋｇ／ｍｍ２程度であるが、ヤング率を低く
すれば発生する最大応力は徐々に増大し、ヤング率をＩ
Ｋｇ／ｍｍ２程度まで低下させると最大応力は約１．
４倍増加することが分かる。従って剛性の低いカップ支
持具２９ａを使用すれば、人工関節の変形状態等を実際
の股関節への使用状態にできるだけ類似したものとして
観察及び評価することができる。上記低剛性材料として
は例えばポリウレタンゴムや低密度ポリエチレン等を使
用する。FIG. 3 is an analysis of changes in the maximum stress generated in the cup 2 when the rigidity of the cup support 29a into which the cup 2 is fitted is changed. For example, the Young's modulus of stainless steel is 2
1000 Kg/mm2, but as Young's modulus is lowered, the maximum stress that occurs gradually increases, and when Young's modulus is
If the stress is reduced to about Kg/mm2, the maximum stress will be about 1.
It can be seen that there is a fourfold increase. Therefore, by using the cup support 29a with low rigidity, it is possible to observe and evaluate the state of deformation of the artificial joint as similar as possible to the state of actual use of the hip joint. Examples of the low-rigidity material used include polyurethane rubber and low-density polyethylene.
第４図はカップ２をステンレス鋼製の保持台座２９に直
接取り付けたもの（従来例）と、ポリウレタンゴム製の
カップ支持具２９ａを介装したもの（本発明実施例）の
夫々について、シュミレータ装置による反復回数とカッ
プ２の摩耗量との関係を比較したグラフである。このグ
ラフによって明らかな様に、本発明実施例のほうが従来
例よりカップ２の摩耗量が多くなり、剛性を低くしたほ
うが苛酷な状態の予想される人体の骨盤により類似した
ものとすることができ、実際の人体骨盤の装着に適した
人工関節の性能評価ができる様になる。FIG. 4 shows a simulator device in which the cup 2 is directly attached to a holding base 29 made of stainless steel (conventional example) and in which a cup support 29a made of polyurethane rubber is interposed (embodiment of the present invention). 2 is a graph comparing the relationship between the number of repetitions and the amount of wear of the cup 2. As is clear from this graph, the amount of wear of the cup 2 is greater in the embodiment of the present invention than in the conventional example, and lowering the rigidity allows it to more closely resemble the human pelvis, which is expected to be in severe conditions. , it becomes possible to evaluate the performance of artificial joints suitable for installation in actual human pelvises.
［発明の効果］
本発明は以上の様に構成されているので、人体の運動パ
ターンに合わせた荷重負荷及び運動を正確に模擬して人
工関節を作動することができ、人工関節の性能及び耐久
性等を確実に試験できる。[Effects of the Invention] Since the present invention is configured as described above, it is possible to operate an artificial joint by accurately simulating the load and movement that match the movement pattern of the human body, and improve the performance and durability of the artificial joint. It is possible to reliably test gender, etc.
しかもこの装置の全体構造は複雑でなくコンパクトに構
成でき、故障の発生は少なくてメンテナンスも簡単に済
む様になった。従って装置コストは廉価であり、ランニ
ングコストも低く抑えることができる様になった。Moreover, the overall structure of this device is not complicated and can be constructed compactly, and the occurrence of failures is low and maintenance is easy. Therefore, the equipment cost is low, and running costs can also be kept low.
また請求項（２）の如くカップは低剛性材料によって形
成されたカップ支持具に保持されるので、人体骨盤への
装着に類似した条件で人工関節の性能試験が行なえる様
になった。Furthermore, as in claim (2), since the cup is held by a cup support made of a low-rigidity material, it has become possible to perform a performance test on the artificial joint under conditions similar to when it is attached to a human pelvis.
第１図は本発明シミュレータの代表例を示す原理説明図
、第２図は本発明シミュレータの実施例を示す一部破断
側面図、第３図はカップの支持具の剛性と最大応力との
関係を示すグラフ、第４図は本発明による低剛性のカッ
プ支持具と従来例の高剛性のものとの摩耗量相違を比較
するグラフ、第５図は人工関節の荷重負荷及び運動方向
を示す説明図である。
１・・・人工骨 ２・・・カップ３・・・ＡＣ
サーボモータ
４・・・ベルト １１．１２，２１．２４・・
・プーリ１３．２５・・・ロッド １４・・・ター
ンテーブル１５．２２ ・・・軸 １６，２３
，２３ａ、２３ｂ ・・・軸受１７・・・受は部材
２６・・・アーム２７ａ、２７ｂ・・・クランク軸
２８・・・クランク ２９・・・保持台座２９ａ
・・・カップ支持具 ２９ｂ・・・取付板４１・・・油
圧シリンダ ４２・・・基台５０・・・制御装置
５１．５２・・・制御系路５３・・・貯留槽Fig. 1 is a principle explanatory diagram showing a typical example of the simulator of the present invention, Fig. 2 is a partially cutaway side view showing an embodiment of the simulator of the invention, and Fig. 3 is the relationship between the rigidity of the cup support and the maximum stress. FIG. 4 is a graph comparing the difference in wear between the low-rigidity cup support according to the present invention and a conventional high-rigidity cup support, and FIG. 5 is an explanation showing the load and movement direction of the artificial joint. It is a diagram. 1... Artificial bone 2... Cup 3... AC
Servo motor 4...Belt 11.12, 21.24...
・Pulley 13.25...Rod 14...Turntable 15.22...Shaft 16,23
, 23a, 23b...Bearing 17...The bearing is a member
26... Arms 27a, 27b... Crankshaft 28... Crank 29... Holding pedestal 29a
...Cup support 29b...Mounting plate 41...Hydraulic cylinder 42...Base 50...Control device
51.52...Control system line 53...Storage tank
Claims (2)
関節に揺動運動及びねじり運動を模擬的に作用させる揺
動機構及びねじり機構を備えてなる人工関節シミュレー
タにおいて、前記揺動機構及びねじり機構は各々の伝達
装置を介して１つの可変速駆動源に接続されることによ
って、上記揺動機構及びねじり機構を機械的に同期作動
できる様に構成してなることを特徴とする人工関節シミ
ュレータ。(1) An artificial joint simulator comprising a rocking mechanism and a torsion mechanism that simulate rocking motion and torsion motion on a prosthetic joint to which an axial load is applied by an axial pressure mechanism, wherein the rocking mechanism and An artificial joint characterized in that the torsion mechanism is connected to one variable speed drive source through each transmission device, so that the swing mechanism and the torsion mechanism can mechanically operate in synchronization. simulator.
よって形成されたカップ支持具に着脱自在に嵌装され、
該カップ支持具は保持台座に着脱自在に取付けられてな
る請求項（１）に記載の人工関節シミュレータ。(2) the cup constituting the artificial joint is removably fitted into a cup support made of a low-rigidity material;
The artificial joint simulator according to claim 1, wherein the cup support is detachably attached to the holding base.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1308190A JPH02297361A (en) | 1989-02-23 | 1990-01-22 | Artificial articulation simulator |
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP4468189 | 1989-02-23 | ||
| JP1-44681 | 1989-02-23 | ||
| JP1308190A JPH02297361A (en) | 1989-02-23 | 1990-01-22 | Artificial articulation simulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH02297361A true JPH02297361A (en) | 1990-12-07 |
Family
ID=26348805
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP1308190A Pending JPH02297361A (en) | 1989-02-23 | 1990-01-22 | Artificial articulation simulator |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH02297361A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007272116A (en) * | 2006-03-31 | 2007-10-18 | Saga Univ | Hip joint motion simulator |
| JP2011169852A (en) * | 2010-02-22 | 2011-09-01 | Nakamura Tome Precision Ind Co Ltd | Device and method for testing wear of artificial joint |
| JP2014108328A (en) * | 2012-12-04 | 2014-06-12 | Kyocera Medical Corp | Orthopedic implant strength evaluation method |
| CN105319141A (en) * | 2015-10-12 | 2016-02-10 | 中国矿业大学 | Parallel-connection artificial knee joint testing machine |
| CN109975003A (en) * | 2019-04-30 | 2019-07-05 | 合肥工业大学 | A kind of ground simulation experiment method and device of Satellite Tracking turntable |
-
1990
- 1990-01-22 JP JP1308190A patent/JPH02297361A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007272116A (en) * | 2006-03-31 | 2007-10-18 | Saga Univ | Hip joint motion simulator |
| JP2011169852A (en) * | 2010-02-22 | 2011-09-01 | Nakamura Tome Precision Ind Co Ltd | Device and method for testing wear of artificial joint |
| JP2014108328A (en) * | 2012-12-04 | 2014-06-12 | Kyocera Medical Corp | Orthopedic implant strength evaluation method |
| CN105319141A (en) * | 2015-10-12 | 2016-02-10 | 中国矿业大学 | Parallel-connection artificial knee joint testing machine |
| CN105319141B (en) * | 2015-10-12 | 2018-08-21 | 中国矿业大学 | A kind of parallel connected bionic knee joint testing machine |
| CN109975003A (en) * | 2019-04-30 | 2019-07-05 | 合肥工业大学 | A kind of ground simulation experiment method and device of Satellite Tracking turntable |
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