DEVELOPMENT OF RBOTIC SYSTEM FOR FUNCTIONAL MEASUREMENT OF JOINT BIOMECHANICS

本文采用机器人系统和通用力矩传感器相结合的方法，研制了人体膝关节生物力学测试系统。该系统可用于测定膝关节在外力或力矩作用下韧带的原位力和作用点，可了解人体尸体膝关节各韧带在不同位置的前向力、后向力、外翻力矩和内翻力矩的滚动情况，在100 N的前向力作用下，前交叉韧带（ACL）中的原位力在0 °屈曲时为88 N;在90 °屈曲时降至54 N。相反，内侧副韧带（MCL）和外侧副韧带（LCL）的原位力在较大屈曲角度时增加。在前向力作用下，没有其他韧带未受到显著载荷。在10 Nm的外翻力矩作用下，屈曲0 °时浅莱尔层的拉力为17 N，屈曲30 °、60 °和90 °时分别增至24 N、29 N和35 N，而在10 Nm的外翻力矩作用下，屈曲0 °时关节囊层的拉力为24 N;屈曲30 °、60 °、90 °时分别降至13 N、9 N、11 N，并在此基础上进行了膝关节韧带断裂的诊断和断裂韧带重建的评价。

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.