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Development of a robotic system for joint mechanical tests : Application to the ligament reconstruction assessment

开发用于关节机械测试的机器人系统：在韧带重建评估中的应用

基本信息

批准号：
15591603
负责人：
FUJIE Hiromichi
金额：
$ 2.24万
依托单位：
Kogakuin University
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (C)
财政年份：
2003
资助国家：
日本
起止时间：
2003 至 2005
项目状态：
已结题

项目摘要

For a meaningful research to determine the knee function and ligament reconstruction, we have been developing a joint loading system using a robotic technology including a robotic manipulator and multi-DOF load transducer technique. The objectives of the present study are to develop and modify the robotic system capable of 6 degree-of-freedom position and force/moment control of the human knee joint, to determine the contribution of ligament bundles (for example anteromedial bundle of the ACL) to the stability of the knee, and to evaluate the significance of the multi-bundle reconstruction technique of the ACL and other ligaments. A 6-DOF manipulator, originally developed by Sekito and Fujie et al., was modified. The manipulator was designed specially for joint biomechanical tests, capable of moving in larger range of motion and generating larger forces/moments as compared with commercially available articulated-type robots. Note that the three rotational axes cross at a point during the drive of the rotational actuators, which allowed for a simple mathematical expression of kinematic calculation. The robotic system has been successfully used 1)to determine the mechanical function of the anteromedial bundle, intermediate bundle, and posterolateral bundle of the ACL in response to anterior tibial drawer load, and 2)to assess the surgical technique of tibial plateau leveling osteotomy (TPLO) of canine stifle joints. The later study was performed to evaluate the capability of the robotic system.

为了确定膝关节功能和韧带重建的有意义的研究，我们一直在开发一个关节加载系统，使用机器人技术，包括机器人操作器和多自由度载荷传感器技术。本研究的目的是开发和修改能够对人类膝关节进行6自由度位置和力/力矩控制的机器人系统，以确定韧带束（例如ACL的前内侧束）对膝关节稳定性的贡献，并评估ACL和其他韧带的多束重建技术的意义。首先由Sekito和Fujie等人开发了一种6自由度机械手，被修改了。该机械手是专门为关节生物力学测试而设计的，与市售关节型机器人相比，能够在更大的运动范围内移动并产生更大的力/力矩。注意，在旋转致动器的驱动期间，三个旋转轴线在一点处交叉，这允许运动学计算的简单数学表达式。该机器人系统已成功用于1）确定ACL前内侧束、中间束和后外侧束对胫骨前抽屉载荷的响应的机械功能，以及2）评估犬后膝关节胫骨平台平整截骨术（TPLO）的手术技术。后来的研究是为了评估机器人系统的能力。