基于关节坐标系的肌肉骨骼间附着点坐标转换方法

目的运动状态下对人体骨肌系统进行运动学及动力学分析时,应避免对人体造成伤害。本研究通过尸体切片、CT或者MRI图像重建等方法构建静态骨肌模型,并将其应用于活体进行分析。方法采用尸体切片数据重建下肢的三维骨肌模型,并对此骨肌模型及活体下肢建立统一规则的关节坐标系,详细描述人体骨肌系统模型和活体上相关肌肉骨骼间附着点空间坐标值转换。结果对研究对象膝关节屈曲运动中股二头肌短头力臂及长度进行计算和分析。结论该方法对提高人体运动学和动力学仿真及肌肉力预测具有重要意义。     

基于二次规划的人体屈伸运动肌肉力预测研究

目的研究人体屈伸运动过程中的肌肉力。方法在"中国力学虚拟人"模型的基础上,确定屈伸运动中参与运动肌肉束的生理横截面积及附着点的起止位置,建立完整的人体胸腰部骨肌系统模型。利用NDI运动捕捉系统获取脊柱形状的变化,利用肌电测量系统采集运动中肌肉的肌电信号规律。采用二次规划方法对不同运动速度和不同负载下的肌肉力进行优化预测。结果通过二次规划法预测出的肌肉力与肌电信号具有较好的一致性。结论该方法可以有效地预测人体屈伸运动中的肌肉力,对深入了解肌肉的运动机理,预防和减少运动损伤发生具有重要意义。     

基于骨肌模型的肌肉力计算方法及其面临的若干问题

肌肉力计算已经成为骨肌损伤防护、关节假体设计等研究的重要组成部分,目前基于骨肌系统模型的肌肉力计算方法有:静态优化、动态优化以及基于力-肌电关系的肌肉力计算。本文分析了肌肉力计算方法和骨肌系统建模的研究现状以及面临的若干问题。个性化建模、计算方法的改进和计算结果的实验验证将是今后的研究重点。     

基于AnyBody脑卒中患者手部抓握训练的肌肉力学特性分析

目的建立手部抓握的骨骼肌生物力学模型并进行逆向动力学仿真,得到不同受力时手部抓握过程各参与肌肉的最大肌肉力。方法选择1名志愿者对其手部进行CT扫描,将得到的手部CT数据导入Mimics软件进行三维重建,获得各节骨模型,通过Geomagic Studio重新调整模型坐标后导入AnyBody软件,建立手部骨骼运动学模型。添加参与各手指屈曲的相关肌肉,建立手部骨骼肌模型。使用该模型进行手部抓握的逆向动力学仿真。结果分别在各远节指骨上施加5～30 N不同外力后,得到各肌肉在整个运动过程中的最大肌肉力。随着力的增加,各肌肉最大肌肉力也呈线性趋势增大,如拇长屈肌的最大肌肉力从18.49 N增加到110.93 N;且在外力5 N时,手指抓握过程中拇短屈肌、拇长屈肌、拇收肌、小指短屈肌的最大肌肉力分别为7.70、18.49、9.49、8.39 N,指浅屈肌、指深屈肌在各手指运动过程的肌肉力远大于其他肌肉,对手部抓握起主要作用。结论参与手部抓握各肌肉在不同阻力时的最大肌肉力,以及主要肌肉的肌肉力与关节角度的关系,可为评价脑卒中患者手部康复效果提供指导及参考,也可为康复设备制造提供一定的理论依据。     

基于AnyBody骨骼肌肉多体动力学分析的有限元仿真

目的研究AnyBody骨骼肌肉多体动力学仿真技术的建模和有限元建模相结合的方法,进行临床骨外科生物力学分析。方法根据志愿者身高、体质量及CT数据,利用AnyBody软件建立志愿者个性化上肢的骨骼肌肉运动力学模型,模拟正常人肘关节屈曲运动,导出肱骨在屈曲运动过程中所受肌肉力、关节力、力矩及约束条件,作为有限元分析的边界条件。根据CT数据在MIMICS软件中进行三维重建,在Geomagic Studio软件中完成肱骨曲面化和位置坐标匹配,并在HyperMesh软件中进行网格划分和材料赋值。把三维重建的肱骨有限元模型导入ABAQUS软件中,施加AnyBody软件导出的边界条件数据并执行应力计算分析。结果在ABAUQUS软件中计算得到肘关节屈曲运动过程中肱骨的应力、位移结果,肘关节屈曲运动约90°时肱骨受到的应力和位移最大,分别为0.76 MPa、20μm。结论实现了肘关节屈曲运动过程中肱骨应力、位移的一个连续动态的分析,更符合人体生理解剖要求,为研究临床骨外科问题提供一个高效的分析平台及新的方法。     

基于肌肉机械功的异常步态分析

目的通过量化背屈肌和跖屈肌之间的协同作用分析不同行走速度下偏瘫受试者踝关节角度的异常,以深层次地分析患者的运动功能。方法将从肌电(electromyograph,EMG)驱动的人体肌肉骨骼模型中获得的肌力、力臂和关节角度参数进行预处理,利用肌力和力臂差计算患侧跖屈肌群和背屈肌群做功情况,以此分析由踝关节角度曲线反映出的步态异常。结果跖屈肌群(主要是比目鱼肌和腓肠肌)过度活跃做正功,保持高强度向心收缩,背屈肌群(主要是胫骨前肌)无力几乎不做功导致肌肉协同失衡,从而引起步态异常。结论本文提出的量化肌肉机械功方法可以深层次地分析肌肉之间的协同作用,对于偏瘫患者异常步态的分析具有重要的意义。     

自然步态摆动期动力学协调模式的研究

建立了包含肌肉一肌腱动力特性和神经兴奋一肌肉收缩动力学方程在内的人体下肢生物力学模型，并针对自然步态摆动期的运动过程，采用最优控制方法进行了计算分析。计算结果与实验测量结果在运动学、肌电信号和肌肉活性参数等方面均具有很好的一致性；同时利用模型分析了肌肉协调运动模式，结果表明在自然步态摆动期运动过程中，神经系统将肌肉结成不同的协同肌群，并按照特定的时序结构控制不同肌群实现步行运动的加速、制动和姿态控制。     

穿戴式下肢外骨骼对人体步态特性的影响研究

本文拟探明穿戴式下肢外骨骼对人体下肢相应关节参数与肌肉运动学、动力学参数的影响变化,进而为优化其结构、提高其系统性能提供科学依据。本文通过采集受试者的行走数据,以人体下肢各关节在矢状面上的关节角度作为下肢外骨骼仿真分析的驱动数据,运用人体生物力学分析软件Anybody分别建立了人体模型(即未穿戴下肢外骨骼的人体模型)和人-机系统模型(即穿戴下肢外骨骼后的模型),并对比分析了两种情况下人体下肢运动时的运动学参数(关节力、关节力矩)及肌肉参数(肌肉力、肌肉激活程度、肌肉收缩速度、肌肉长度)的变化情况。实验结果表明,人体穿戴下肢外骨骼后行走的步态满足正常步态,但会出现个别肌肉力突增的现象;下肢主要肌肉的最大肌肉激活程度均未超过1,说明肌肉均未出现疲劳或损伤状况;股直肌的最大肌肉激活程度增加最多(0.456),半腱肌的最大肌肉激活程度增加最少(0.013),提示下肢外骨骼最容易引起股直肌疲劳或损伤。通过本文研究结果说明,为避免出现个别肌肉力突增导致人体下肢损伤,在设计下肢外骨骼时,要特别注意人体体段长与下肢外骨骼杆长的一致性和运动的平稳性。     

基于AnyBody仿真和肌电测试分析不同体质量指数男性青年球类运动中的生物力学特征

文题释义： Anybody仿真：使用数学建模技术模拟人体肌肉骨骼在不同载荷中的情况,计算各块肌肉和关节的受力、变形、肌腱的弹性能、拮抗肌肉运动和其他对于工作中的人体有用的特性,以计量方式计算出人体对于环境的反应,兼与人机工程学和生物力学分析,为人体运动建模、人机工程学产品性能改进和生物医学工程研究提供平台。 均方根振幅：是将振幅平方的平均值开平方,把振幅值平均然后开方,最原始的是针对正弦波推导出来的,但实际上对所有的波形都适用,均方根值(RMS)也称作为效值,表示在一段周期内,参加肌肉活动的肌肉瞬间肌电图振幅均方根值,是一定时间内肌电位值平方和的平方根。 背景：Anybody肌肉骨骼建模系统,使用数学建模技术模拟人体骨骼、肌肉和环境的关系,可对人体的逆向动力学进行研究,得出下肢三关节最大肌肉力等指标。 目的：研究24名不同体质量指数男大学生在坐瑞士球一个动作周期的下肢肌肉力值,及受试者在坐瑞士球与平凳的均方根肌电平均值对比情况。 方法：将24名男大学生按体质量指数分为正常组、超重组、肥胖组,用BTS三维红外动作捕捉系统、Kistler 三维测力台、BTS表面肌电测试系统,同步记录动力学和肌电参数,以单因素方差分析定性比较不同组间肌力和肌电参数差异,用定量差异分析法对比均值差异。 结果与结论：①肌肉力量方面,由坐到站过程中,正常组与肥胖组相比,股直肌、半膜肌、股二头肌长头、腘肌、比目鱼肌、胫骨前肌差异显著(P < 0.05,0.47≤QD<0.80),股方肌与耻骨肌的两组肌肉力差异极其显著(P < 0.01,QD≥0.80);超重组与肥胖组肌肉力相比,股方肌具有显著性差异(P < 0.05,0.47≤QD<0.80),由站到坐过程中,正常组与肥胖组相比,缝匠肌、拇长伸肌、腓肠肌肌肉力差异显著(P < 0.05,0.47≤QD<0.80);②均方根肌电值方面,坐平凳状态下,由坐到站过程中,正常组与肥胖组相比,股二头肌和腓肠肌差异显著(P < 0.05,0.47≤QD<0.80),由站到坐过程中,正常组与肥胖组相比,股直肌差异显著(P < 0.05,0.47≤QD<0.80);坐瑞士球状态下,由坐到站过程中,正常组与肥胖组相比,胫骨前肌、股二头肌差异显著(P < 0.05,0.47≤QD<0.80);由站到坐过程中,正常组与肥胖组相比,腓肠肌、右竖脊肌肌电值差异显著(P < 0.05,0.47≤QD<0.80)。提示：①各组由坐到站过程中主导发力肌肉是臀中肌、股外侧肌、股二头肌长头、股直肌、腓肠肌、胫骨前肌、比目鱼肌,由站到坐过程中下肢臀中肌、股外侧肌和股二头肌长头、腓肠肌、胫骨前肌、比目鱼肌主导发力;②与坐平凳相比,受试者在坐瑞士球时胫骨前肌、股直肌、股二头肌、腓肠肌均方根肌电值高。ORCID: 0000-0003-0520-5606(庞博) 中国组织工程研究杂志出版内容重点：人工关节;骨植入物;脊柱;骨折;内固定;数字化骨科;组织工程     

踏跳瞬间足后部骨骼的三维有限元分析

目的建立足部三维有限元模型,对足后部骨骼在踏跳中的应力分布进行分析。方法应用CT扫描和CAD/CAM软件处理,建立足后部骨骼三维模型。通过对背跃式跳高踏跳的足底压力测量和逆向肌肉力量计算,确定载荷约束条件,并进行有限元计算。结果获得了踏跳瞬间,跟骨、距骨、舟骨等易损伤部位的生物力学响应和应力分布,发现跟骨后距关节,距骨背面均为应力集中处。结论本研究建立的模型可用于足后部骨骼生物力学研究,为踏跳中的运动损伤力学机理提供数据。     

建立基于广义Hamilton及Lie群理论的人体骨肌系统动力学方程

目的　建立一种基于广义Arial及Arial群理论的人体骨肌系统动力学建模方法。方法　首先,定义了人体骨肌系统的广义坐标,建立了人体骨肌系统Arial群位形流形;其次,在广义Arial动力学体系下建立了人体骨肌系统的动力学模型;最后,研究了该动力学模型的计算方法。结果　给出了基于广义Arial及其群理论的人体骨肌系统动力学方程,并以一个举重动作为例进行了骨肌系统动力学算法分析。结论　所提出的人体骨肌系统动力学方程能够有效真实地对人体骨肌系统进行动力学描述,为人体骨肌系统动力学分析提供了一种新方法。     

头部前屈运动过程中颈肌特性的研究

目的分析人体头部前屈运动过程中头颈部肌群活动特性,探索人体头颈部肌肉疲劳原因。方法基于AnyBody软件建立人体头颈部肌骨模型,以Vicon运动捕捉系统测量数据为输入,对头部前屈运动过程中的肌力进行仿真,并结合文献数据进行分析。结果颈后肌群在头部前屈运动中起主要作用。在头部前屈45%和75%行程位置肌力分配模式不同。肌力对前屈角位移的积分WM一定程度上反映了肌肉的疲劳特性,其中颈半棘肌和多裂肌在头部前屈运动过程中WM最大,容易出现疲劳。结论本文建立的头颈部肌骨模型可为分析人体运动状态下肌肉分析提供技术平台。     

The development of a core syllabus for teaching musculoskeletal anatomy of the vertebral column and limbs to medical students

The study of human anatomy is fundamental to medical education globally. Knowledge of musculoskeletal anatomy is essential for safe and effective clinical practice, yet this topic often receives insufficient medical program time and perceptions differ regarding which knowledge is core. Given the lack of syllabuses specific to musculoskeletal anatomy, this article aims to provide a detailed syllabus for the vertebral column and limbs relevant to medical students. A Delphi panel comprising anatomists and clinicians rated 2,260 anatomical structures and concepts as “essential,” “important,” “acceptable,” or “not required,” with evaluations based around the core knowledge deemed acceptable for a competent medical student. Based on the percentage of panelist agreement for an item to be considered “essential,” each item was then classified as core (≥60%), recommended (30%–59%), not recommended (20%–29%), or not core (<20%). Items not classified as core or recommended but rated important by greater than 50% of the panel were highlighted for future consideration. A total of 252/389 musculoskeletal concept items were categorized as core or recommended. The number of core or recommended items for the vertebral column, upper limb, and lower limb were 220/438, 322/663, and 318/770, respectively. Ninety‐six items were recommended for future consideration. The results of this Delphi panel will be published on the International Federation of Associations of Anatomists website for continuing international consideration and deliberation by relevant stakeholders. The aim is to set an internationally recognized syllabus, that covers the minimum musculoskeletal content that is academically and clinically relevant. Clin. Anat. 32:974–1007, 2019. © 2019 Wiley Periodicals, Inc.     

基于高速摄像的人体上肢运动信息检测

提出了一种基于高速摄像的人体运动参数检测方法。建立了一套人体上肢运动信息检测系统；设计了快速图像处理算法，准确提取图像中标记点；采用关节瞬心原理对关节角度等参数计算结果进一步修正。所检测出的人体上肢运动参数可以为医疗、体育、仿生学等研究提供参考，所提出的检测方法还可以扩展到人体其它部位运动信息的检测。     

Graphic-based musculoskeletal model for biomechanical analyses and animation

The ability to combine physiology and engineering analyses with computer sciences has opened the door to the possibility of creating the 'Virtual Human' reality. This paper presents a broad foundation for a full-featured biomechanical simulator for the human musculoskeletal system physiology. This simulation technology unites the expertise in biomechanical analysis and graphic modeling to investigate joint and connective tissue mechanics at the structural level and to visualize the results in both static and animated forms together with the model. Adaptable anatomical models including prosthetic implants and fracture fixation devices and a robust computational infrastructure for static, kinematic, kinetic, and stress analyses under varying boundary and loading conditions are incorporated on a common platform, the VIMS (Virtual Interactive Musculoskeletal System). Within this software system, a manageable database containing long bone dimensions, connective tissue material properties and a library of skeletal joint system functional activities and loading conditions are also available and they can easily be modified, updated and expanded. Application software is also available to allow end-users to perform biomechanical analyses interactively. This paper details the design, capabilities, and features of the VIMS development at Johns Hopkins University, an effort possible only through academic and commercial collaborations. Examples using these models and the computational algorithms in a virtual laboratory environment are used to demonstrate the utility of this unique database and simulation technology. This integrated system will impact on medical education, basic research, device development and application, and clinical patient care related to musculoskeletal diseases, trauma, and rehabilitation.     

骨质疏松症患者脊柱胸腰段椎体力学稳定性变化与椎体压缩性骨折风险预测的有限元分析

目的:通过有限元分析骨质疏松症（OP）患者的脊柱胸腰段椎体在不同运动状态下椎体力学稳定性变化,与人体正常模型进行对比分析,针对椎体是否存在压缩性骨折的风险进行预测,为干预性策略标准化建立和完善提供理论和生物力学依据。方法:选择没有脊柱胸腰段椎体伤病史的健康志愿者男女各1人;选择2例住院老年OP女性患者胸腰椎CT及MRI扫描资料。建立T11~L2骨质疏松性椎体的三维有限元模型并验证有效性。在正常生理载荷分析不同运动状态下的生物力学变化,对两组模型之间椎体、关节突关节、终板、纤维环、松质骨、椎间盘、髓核的Von Mises应力及椎体最大位移进行比对分析,同时对应力云图进行比对,分析其生理与病理关节应力变化。结果:正常人体与OP患者脊柱椎体的材料属性、弹性模量、刚度、强度以及所处的力学生物学环境变化进行分析结果表明,OP患者在脊柱前屈、后伸、左右侧弯、左右旋转、轴向7种不同运动状态下与正常人体脊柱胸腰段相比较,椎体、关节突关节、椎间盘、终板、纤维环、髓核的Von Mises应力有明显降低趋势,椎体最大位移呈现增大趋势。此外本研究对OP模型的建立并非采用文献中降低正常皮质骨、松质骨、终板弹性模量的模型,而是采用临床中根据CT数据、临床症状、骨密度等明确诊断的OP患者数据,与目前文献所提供的模型数据对比,更符合临床OP患者真实的脊柱胸腰段椎体与附属结构的生物力学特性和属性变化。与正常人体模型相比较,从筋骨系统进行分析,骨与肌肉、韧带所代表的动静力变化都有明显降低,这也印证了临床真实数据的变化。结论:OP患者脊柱胸腰段椎体应力分布不均匀、应力的集中趋势导致脊柱胸腰段椎体、椎间盘、髓核、纤维环、关节突及周围附属结构应力异常变化,即骨弹性模量的异常改变、周围附属结构的束缚力下降,引起筋骨系统平衡失常和长期稳定性下降,进而增加脊柱胸腰段椎体骨折的退变过程和风险,通过有限元分析针对椎体压缩性骨折风险建立标准化预防策略,提供理论和生物力学依据。     

肌骨系统生物力学建模2021年研究进展

肌骨系统生物力学模型具有精确的人体解剖结构和良好的生物逼真度,能够较为精准有效地描述肌骨生物力学状态、预测肌骨内部力学响应,故被广泛应用于人体肌骨系统生物力学研究、骨科疾病诊断和治疗、植入体优化设计及术前规划.2021年国内外关于肌骨系统生物力学建模方法的最新进展主要体现在个体化有限元建模、统计模型建模和肌骨系统建模3...     

Expanding Panjabi’s stability model to express movement: A theoretical model

Novel theoretical models of movement have historically inspired the creation of new methods for the application of human movement. The landmark theoretical model of spinal stability by Panjabi in 1992 led to the creation of an exercise approach to spinal stability. This approach however was later challenged, most significantly due to a lack of favourable clinical effect. The concepts explored in this paper address and consider the deficiencies of Panjabi’s model then propose an evolution and expansion from a special model of stability to a general one of movement. It is proposed that two body-wide symbiotic elements are present within all movement systems, stability and mobility. The justification for this is derived from the observable clinical environment. It is clinically recognised that these two elements are present and identifiable throughout the body in different joints and muscles, and the neural conduction system. In order to generalise the Panjabi model of stability to include and illustrate movement, a matching parallel mobility system with the same subsystems was conceptually created. In this expanded theoretical model, the new mobility system is placed beside the existing stability system and subsystems. The ability of both stability and mobility systems to work in harmony will subsequently determine the quality of movement. Conversely, malfunction of either system, or their subsystems, will deleteriously affect all other subsystems and consequently overall movement quality. For this reason, in the rehabilitation exercise environment, focus should be placed on the simultaneous involvement of both the stability and mobility systems. It is suggested that the individual’s relevant functional harmonious movements should be challenged at the highest possible level without pain or discomfort. It is anticipated that this conceptual expansion of the theoretical model of stability to one with the symbiotic inclusion of mobility, will provide new understandings on human movement. The use of this model may provide a universal system for body movement analysis and understanding musculoskeletal disorders. In turn, this may lead to a simple categorisation system alluding to the functional face-value of a wide range of commonly used passive, active or combined musculoskeletal interventions. Further research is required to investigate the mechanisms that enable or interfere with harmonious body movements. Such work may then potentially lead to new and evolved evidence based interventions.     

Development and Validation of a Computational Musculoskeletal Model of the Elbow and Forearm

Computational modeling is a powerful tool to study normal, injured, and repaired joint function. Existing musculoskeletal models of the elbow have all limited their applicability by assuming fixed joint axes of rotation or prescribing specific kinematics. The purpose of this study was to develop and validate a model of the elbow and forearm whereby joint behavior was dictated by articular contact, ligamentous constraints, muscle loading, and external perturbations. A three-dimensional computer representation of the humerus, ulna, and radius was produced from computed tomography scans, ligaments were modeled as linear springs, select muscles were represented as constant-magnitude force vectors, and reaction forces were automatically applied at points of bone-to-bone contact. A commercial rigid body dynamics program was used to simulate joint function, and validation was accomplished through a comparison of model predictions to results obtained in published studies which explored elbow range of motion and the effects of coronoid process removal on joint stability. The computational model accurately predicted flexion–extension motion limits, and relationships between coronoid process removal, flexion angle, and varus constraining forces. The model was also able to compute parameters that the experimental investigations could not, such as forces within ligaments and contact forces between bones. The potential medical applications for this model and modeling approach are significant, and are anticipated to ultimately have value as a predictive clinical tool.     

肌骨模型在膝关节生物力学研究中的应用进展

肌骨模型是基于生理学、工程分析和计算机三维图像技术的用于分析人体运动系统中肌肉与骨骼之间相对位置关系的几何模型,是分析人体生物力学特性的基础,由于其在研究人体肌肉骨骼系统生物力学上的优越性而越来越多地被应用.就肌骨模型在膝关节生物力学研究中的应用进展作一综述.