Simulating Tendon Reconstructive Surgeries using a Virtual Hand Model and Robotic Testbed

使用虚拟手模型和机器人测试台模拟肌腱重建手术

• 批准号: 9810023
• 负责人: Stephen Mascaro
• 金额: $ 21.36万
• 依托单位: UNIVERSITY OF UTAH
• 依托单位国家: 美国
• 财政年份: 2019
• 资助国家: 美国
• 起止时间: 2019-07-01 至 2021-05-31
• 项目状态: 已结题
• 来源: https://reporter.nih.gov/project-details/9810023
• 关键词: Agreement; Anatomy; Articular Range of Motion; Biological; Biomechanics; Biomimetics; Cadaver; Clinical; Clinical Research; Complex; Computer Simulation; Dependence; Development; Digit structure; Environment; Event; Fingers; Flexor; Friction; Future; Goals; Hand; Hand Strength; Hand functions; Lead; Length; Mathematics; Measurable; Measures; Mechanics; Methodology; Methods; Modeling; Motion; Operating Rooms; Operative Surgical Procedures; Outcome; Patients; Posture; Quality of life; Reconstructive Surgical Procedures; Research; Robotics; Route; Specimen; Surgeon; Surgical Models; System; Techniques; Tendon Transfer; Tendon structure; Testing; Thumb structure; Time; Translations; Trauma; Validation; Work; base; biological systems; biomechanical model; exhaustion; experience; experimental study; grasp; improved; kinematics; nervous system disorder; outcome prediction; reconstruction; repaired; simulation; surgery outcome; tool; transmission process; virtual

Project Summary/Abstract Often, the complex mechanisms of the hand are damaged either by trauma or neurological disorder. In this event, surgical intervention is necessary to restore or partially restore normal hand function. Current surgical intervention is based on years of prior trial and error outcomes. Currently there is not a tool for surgeons to predict the outcomes of new techniques. The long-term objective of this project is to advance tendon reconstructive surgery, by providing a new way to predict the surgical outcomes using a virtual model for surgeons to examine the outcomes of surgery like range of motion and strength of grip. A physical robotic representation of the hand tendon system would also be useful for providing a way to perform the surgery without stepping into the operating room. This proposal seeks to take the first step towards the broader project objective, by examining the feasibility of using a virtual model and a robotic testbed to simulate two specific tendon surgeries. The first surgery will be the flexor tendon repair surgery that seeks to reconnect severed flexor tendons. Often during this surgery, the tendon will be shortened. This shortening can lead to different results depending on the length shortened. This study will seek to replicate these effects both virtually and robotically. The second surgery will be the FDS Opponensplasty tendon transfer. This surgery seeks to restore the opposition function of the thumb by donating a tendon from the FDS tendon from one finger and rerouting it in the palm to connect to the thumb. This surgery has many variables and many different methods. Successfully simulating these surgeries will demonstrate the virtual model and robotic testbeds utility for future unexplored surgical techniques. The specific aims of this proposal are: 1. Expand robotic testbed and virtual model to include thumb tendon system. 2. Simulate reconstructive tendon surgeries using the robotic and virtual digits 3. Simulate reconstructive tendon surgeries using cadavers and virtual digits. Using the PI’s current virtual model framework and robotic testbed as starting points, a thumb will be added to both model and tested. Using the new two digit model and testbed each of the surgeries will be simulated to demonstrate their accuracy at mimicking the outcomes of reconstructive tendon surgeries. A robotic testbed will promote rigorous and repeatable results. The model will also be compared to cadaver simulation of the surgery to demonstrate the model’s translation to true biological systems. The use of a cadaver while being more anatomically correct, will deteriorate and change over the time of experimentation.

项目摘要/摘要 通常情况下，手的复杂机制会因创伤或神经紊乱而受损。在……里面 在这一事件中，需要手术干预以恢复或部分恢复正常的手功能。当前外科手术 干预是基于多年的先前试验和错误结果。目前还没有一种工具可以让外科医生 预测新技术的结果。这个项目的长期目标是推进肌腱 重建手术，通过提供一种新的方法来使用虚拟模型来预测手术结果 外科医生检查手术结果，如活动范围和握力。一台物理机器人 手部肌腱系统的表现也将有助于提供一种在不需要手术的情况下进行手术的方法 步入手术室。 该提案寻求向更广泛的项目目标迈出第一步，通过审查 使用虚拟模型和机器人试验台模拟两种特定肌腱手术的可行性。第一 手术将是屈肌腱修复手术，寻求重新连接切断的屈肌腱。通常在此期间 手术后，肌腱会变短。根据长度的不同，这种缩短可能会导致不同的结果 被缩短了。这项研究将寻求在虚拟和机器人上复制这些效应。第二次手术将 采用FDS Opponenss型肌腱成形术。这项手术旨在恢复拇指的对位功能 从一根手指的FDS肌腱中捐出一条肌腱，并将其在手掌中重新布线，连接到拇指上。 这项手术有许多变数和许多不同的方法。成功地模拟这些手术将会 演示虚拟模型和机器人试验台在未来未探索的外科技术中的应用。 这项建议的具体目标是： 1.扩展机器人试验台和虚拟模型，加入拇指肌腱系统。 2.使用机器人和虚拟手指模拟重建肌腱手术 3.利用身体和虚拟手指模拟肌腱重建手术。 使用PI当前的虚拟模型框架和机器人试验台作为起点，拇指将被 添加到两个模型和测试。使用新的两位数模型和试验床，每一台手术都将 模拟以证明它们在模拟重建肌腱手术结果方面的准确性。机器人 TestBed将促进严格和可重复的结果。该模型还将与身体模拟进行比较 这项手术是为了演示模型如何转化为真正的生物系统。使用身体时， 在解剖学上更准确，会随着实验时间的推移而恶化和变化。