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

项目总结/摘要 通常，手的复杂机制因创伤或神经系统疾病而受损。在 在这种情况下，需要手术干预以恢复或部分恢复正常的手功能。目前的外科 干预是基于多年的试验和错误的结果。目前，外科医生还没有一种工具 预测新技术的结果。该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预测手术结果，使用虚拟模型， 外科医生检查手术结果，例如活动范围和握力。一个物理机器人 手肌腱系统的表示也将有助于提供一种执行手术的方式， 走进手术室 本建议旨在通过审查 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，旨在重新连接切断屈肌腱。在此期间， 手术后，肌腱会缩短。这种缩短会导致不同的结果取决于长度 缩短这项研究将试图通过虚拟和机器人来复制这些效果。第二次手术将 是FDS对侧肌腱成形术这项手术旨在恢复拇指的对掌功能 通过从一根手指的FDS肌腱中捐赠一根肌腱，并在手掌中将其重新布线以连接到拇指。 这种手术有许多变量和许多不同的方法。成功模拟这些手术将 演示虚拟模型和机器人试验台在未来未开发的手术技术中的实用性。 这项建议的具体目标是： 1.扩展机器人试验台和虚拟模型，以包括拇指肌腱系统。 2.使用机器人和虚拟手指模拟重建肌腱手术 3.使用尸体和虚拟手指模拟重建肌腱手术。 使用PI当前的虚拟模型框架和机器人测试平台作为起点， 添加到模型和测试。使用新的两位数模型和试验台， 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 试验台将促进严格和可重复的结果。该模型还将与尸体模拟进行比较， 通过手术来证明模型转化为真实的生物系统。尸体的使用 在解剖学上更正确，将随着实验时间的推移而恶化和改变。

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.