Development of a robotic system for the analysis of the mechanical function of biological joints

开发用于分析生物关节机械功能的机器人系统

• 批准号: 09557123
• 负责人: FUJIE Hiromichi
• 金额: $ 7.87万
• 依托单位: Osaka University
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (B)
• 财政年份: 1997
• 资助国家: 日本
• 起止时间: 1997 至 1998
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-09557123/
• 关键词: Robotic system; Biological joint; Cruciate ligament; Menisci; Load; Mechanical function; 6 degree of freedom; 十字靭帯; 靱帯; 半月; 内力

A robotic system, consisting of a 6 axis manipulator, servo motor controllers, and a control computer, has been developed to determine the mechanical function of biological joints. All the axes of the manipulator are driven with AC servo motors. Kinematics of biological joints was assumed to be represented with a 6 degreeof freedom joint coordinate system. Jacobian transformation was used for the description of the position/posture and force/moment of the joints. C language was employed for the programming of a closed position/force feedbackloop on an operating system, IBM CP/Q which is capable of performing multi tasks simultaneously. Based on position/force data, the manipulator moves to control position/force of the joint at a prescribed level. To determine the force applied to soft tissues, the UFS method was employed. A preliminary test to assess the system performance showed that error in displacement was less than 120 mm under the application of 500 N of load to the tibial clamp, and that the stiffness of the manipulator was higher than 310 N/mm.An experimental analysis of knee motion and mechanical functions of knee ligaments and menisci has been performedusing the developed system. We have found 1) force distribution in the anterior cruciate ligament depends on knee flexion angle, 2) the cruciate ligaments primarily resist to knee translation, while the menisci primarily resist to knee rotation, 3) the function of the menisci depends on both joint compressive force and cruciate ligaments injury, and 4) Bi-socket ACL reconstruction has an advantage in postoperative joint stability over traditional reconstruction methods. Finally, we have found that the system has the capability for the analysis of joint mechanical function.

为确定生物关节的机械功能，研制了一套由六轴机械手、伺服电机控制器和控制计算机组成的机器人系统。机械手的所有轴都由交流伺服电机驱动。假设生物关节的运动学用6自由度关节坐标系来表示。用雅可比变换描述关节的位置/姿势和力/力矩。在能同时执行多任务的IBM CP/Q操作系统上，用C语言编制了位置/力反馈闭环的程序。基于位置/力数据，机械手移动以将关节的位置/力控制在规定的水平。为了确定施加在软组织上的力，采用了UFS方法。初步测试结果表明，在500 N的载荷作用下，系统的位移误差小于120 mm，机械手的刚度大于310 N/mm。利用研制的系统对膝关节运动和膝关节韧带、半月板的力学功能进行了实验分析。我们发现1)前交叉韧带的受力分布取决于膝关节屈曲角度，2)十字韧带主要抵抗膝关节平移，而半月板主要抵抗膝关节旋转，3)半月板的功能取决于关节压力和交叉韧带损伤，4)双窝前交叉韧带重建在术后关节稳定性方面优于传统重建方法。最后，我们发现该系统具有分析关节力学性能的能力。

项目成果

Sekito,T,Fujie,H.,et al.: "Development of a novel robotic simulator for the analysis of knee joint echanical function" Proc.1997 ASME Summer Bioengineering Conference(BED). 35. 393-394 (1997)

Sekito,T,Fujie,H.,et al.：“用于分析膝关节机械功能的新型机器人模拟器的开发”Proc.1997 ASME 夏季生物工程会议（BED）。

Sekito, T., Fujie, H., et al.: "Development of a novel robotic simulator for the analysis of knee joint mechanical function" Proc.1997 ASME Summer Bioengineering Conference. BED-35. 393-394 (1997)

Sekito, T.、Fujie, H. 等人：“用于分析膝关节机械功能的新型机器人模拟器的开发”Proc.1997 ASME 夏季生物工程会议。

関藤 武士,藤江 裕道: "前十字靱帯と半月板に作用する荷重に及ぼす内外反および内外旋モーメントの影響" 日本機械学会第76期全国大会講演論文集. 98-3. 207-208 (1998)

Takeshi Sekito、Hiromichi Fujie：“外翻和内旋力矩对作用于前十字韧带和半月板的载荷的影响”第 76 届日本机械工程师学会全国会议记录 98-208（1998 年）。

Sekito, t., and Fujie, H.: "Effect of varus-valgus and internal-external moments on in-situ forces in the anterior cruciate ligament and menisci" Proc.The 76th JSME Fall Annual Meeting. 98-3(II). 207-208 (1998)

Sekito, t. 和 Fujie, H.：“内翻-外翻和内外力矩对前十字韧带和半月板原位力的影响”Proc.第 76 届 JSME 秋季年会。