Robotic hip joint testing: Development and experimental protocols
Robotic hip joint testing: Development and experimental protocols
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DOI：
10.1016/j.medengphy.2018.10.006
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发表时间：
2019-01-01
影响因子：
2.2
通讯作者：
Rodriguez y Baena, Ferdinando
中科院分区：
文献类型：
--
作者：
El Daou, Hadi;Ng, K. C. Geoffrey;Rodriguez y Baena, Ferdinando
结合力传感的机器人系统的使用正在成为体外生物力学关节测试的金标准，因为它具有相互独立控制所有六个自由度的优势。本文介绍了一种新型的机器人平台和实验协议用于髋关节测试。实验协议实现光学跟踪和注册技术，以定义髋关节旋转中心（COR）在机器人的末端执行器的坐标系中的位置。COR坐标定义了用于控制机器人的任务相关坐标系的原点，并采用混合力/位置定律来模拟标准临床测试。利用本课题组自行研制的机器人测试平台和力学测试装置，在两个尸体髋关节标本上进行了实验。使用两种系统进行模拟内外和内收/外展松弛测试，并测量所得的峰值活动度（ROM）。在这些实验中观察到了相似性和差异性，这些实验用于突出传统系统的一些局限性和机器人技术的相应优势，进一步强调它们在体外测试中的附加值。(C)2018作者由Elsevier Ltd代表IPEM出版。
The use of robotic systems combined with force sensing is emerging as the gold standard for in vitro biomechanical joint testing, due to the advantage of controlling all six degrees of freedom independently of one another. This paper describes a novel robotic platform and the experimental protocol used for hip joint testing. An experimental protocol implemented optical tracking and registration techniques in order to define the position of the hip joint centre of rotation (COR) in the coordinate system of the robot's end effector. The COR coordinates defined the origin of the task-related coordinate system used to control the robot, with a hybrid force/position law to simulate standard clinical tests. The axes of this frame were defined using the International Society of Biomechanics (ISB) anatomical coordinate system.Experiments were carried out on two cadaveric hip joint specimens using the robotic testing platform and a mechanical testing rig previously developed and described by our group. Simulated internal-external and adduction/abduction laxity tests were carried out with both systems and the resulting peak range of motion (ROM) was measured. Similarities and differences were observed in these experiments, which were used to highlight some of the limitations of conventional systems and the corresponding advantages of robotics, further emphasising their added value in vitro testing. (C) 2018 The Authors. Published by Elsevier Ltd on behalf of IPEM.