DEVELOPMENT OF RBOTIC SYSTEM FOR FUNCTIONAL MEASUREMENT OF JOINT BIOMECHANICS

我们采用机器人系统和通用力力矩传感器（UFS）相结合的方法开发了人体膝关节生物力学测试系统。该系统在膝盖外部施加的力或力矩下，减缓了韧带原位力的测定和施加点。我们可以知道人体膝关节各位置各韧带的前、后力、外翻力矩和内翻力矩的滚动情况。在100 N的前力作用下，前交叉韧带（ACL）在0°弯曲时的原位力为88 N；在90°挠曲时降至54 N。相反，内侧副韧带（MCL）和外侧副韧带（LCL）的原位力随着屈曲角度的增大而增加。其他韧带均在前力作用下负荷明显。在10 Nm的外翻力矩下，在0 / w挠曲时，浅层（SL）的拉伸力为17 N；在30、60、90时，分别增加到24、29、35。相反，在10 Nm外翻力矩下，在0°挠曲时囊层的拉伸力为24 N；在30、60、90时，分别降至13N、9N、11N。在此基础上，我们在尸体膝关节上进行了该系统在膝关节韧带断裂诊断和韧带断裂重建评价中的应用。

We developed the system for biomechanical testing of human knee joint using combined approach of the robotic system and universal force-moment sensor (UFS). This system sllows for the determination, and point of application of the in-situ force in ligaments under externally applied force or moment to the knee.We could know the roll of each ligament in anterior force, posterior force, valgus moment and varus moment at various position of the human cadaver knees.Under 100 N of anterior force, the in-situ force in the anterior cruciate ligament (ACL) was found to be 88 N at 0ﾟ of flextion ; decreasing to 54 N at 90ﾟ of flexion. In contrast, the in-situ forces medial collateral ligament (MCL) and lateral collateral ligament (LCL) increased at greater flexion angles. No other ligaments were not loaded significantly under anterior force. Under 10 Nm of valgus moment, the tensile force in the superficial laer (SL) was found to be 17 N at 0ﾟ of flexion ; increasing to 24 N,29 N,and 35 N at 30ﾟ, 60ﾟ, and 90ﾟ of flexion, respecttively.Contrarily, the tensile force in the capsular layr under 10 Nm of valgus moment was found to be 24 N at 0ﾟ of flexio ; decreasing to 13N,9N,and 11N at 30ﾟ, 60ﾟ, and 90ﾟ of flexion, respectively.Under these basis of results on the cadaver knees, we have proceeded the application of the system for the diagnosis of rupurure of knee ligaments and evaluation of reconstruction of ruptured ligament.