Development of a clinical robotic device for diagnosis, rehabilitation and treatm

描述(由申请人提供)： 前十字韧带(ACL)损伤每年至少困扰着20万美国年轻人。至少有50%的人在受伤后的十年内患上骨关节炎，这给美国的医疗保健系统带来了巨大的负担。尽管有大量的手术和治疗选择，但治疗前交叉韧带损伤的黄金标准尚不清楚。目前还没有标准、灵敏和可靠的方法来比较当前治疗的生物力学效果。此外，由于缺乏这类器械，临床医生无法确定与前交叉韧带损伤有关的3D运动模式和特殊接触机制的复杂变化，而这些变化在OA的发生和发展中起着重要作用。我们新的生物力学评估平台集成了临床环境中关节功能的计算建模和3D测量，将转变研究和临床实践范式。它将弥合临床和实验室评估关节功能的方法之间的差距，从而克服各自的缺点。一种符号计算方法，以平滑、显式的形式生成完整的非线性模型方程，允许应用现代控制理论的强大工具和高效、实时的实施。我们集成的实验和控制框架允许将新的理论概念应用到实时临床环境中，这将垂直推进前交叉韧带损伤的治疗。开发的设备最终可以用作评估、治疗计划、客观评估、比较和监测任何肌肉骨骼损伤或治疗后的膝关节的工具。由于其广泛的功能和应用，该仪器具有很高的商业价值，可以很容易地出售或授权给医院或康复中心。 公共卫生相关性： 前十字韧带(ACL)损伤每年至少困扰着20万美国年轻人。至少有50%的人在受伤后的十年内患上骨关节炎，这给美国的医疗保健系统带来了巨大的负担。拟议的机器人设备将用作临床医生工具，在任何肌肉骨骼损伤或治疗后对膝关节进行评估、治疗计划、客观评估、比较和监测，显著降低患者的不适感和系统的总体成本负担。

DESCRIPTION (provided by applicant): Anterior Cruciate Ligament (ACL) injury afflicts at least 200,000 young Americans annually. At least, 50 percent of individuals develop Osteoarthritis (OA) in the ten years after the injury and this imposes a substantial burden on the U.S. health care system. The gold standard for treating the ACL-injured individual is unknown, despite the vast array of surgical and treatment options available. No standard, sensitive, and reliable method exists to compare biomechanical effectiveness of current treatments. Moreover, the lack of such instruments leaves clinicians unable to identify the complicated changes in 3D motion patterns and particular contact mechanics that occur with ACL injury, which play an important role in onset and progression of OA. Our new biomechanical assessment platform that integrates computational modeling and 3D measurements of joint function in the clinical setting will shift research and clinical practice paradigms. It will bridge the gap between clinical and laboratory methods of assessing joint function, thereby overcoming the disadvantage of each. A symbolic computational approach that generates the full nonlinear model equations in a smooth, explicit form allows application of powerful tools from modern control theory and efficient, real-time implementation. Our integrated experimental and controls framework allows implementation of novel theoretical concepts into the real-time clinical setting that will vertically advance treatment of ACL injury. The developed device could ultimately be used as a tool for evaluation, treatment planning, objective assessment, comparison, and monitoring of the knee after any musculoskeletal injury or treatment. The instrument has high commercial value due to its broad capabilities and applications and can easily be sold or licensed to hospitals or rehabilitation centers. PUBLIC HEALTH RELEVANCE: Anterior Cruciate Ligament (ACL) injury afflicts at least 200,000 young Americans annually. At least, 50 percent of individuals develop Osteoarthritis (OA) in the ten years after the injury and this imposes a substantial burden on the U.S. health care system. The proposed robotic device will use as a clinician tool for evaluation, treatment planning, objective assessment, comparison, and monitoring of the knee after any musculoskeletal injury or treatment significantly lowering patient discomfort and overall cost burden to the system.