Force-measuring Robot for Evaluation of ACL Reconstruction
HU Yan1,2, WANG Tianmiao1, YANG Chuang1, SUN Lei3, HU Lei1, BIAN Qingwu1
1. Robotics Institute, Beihang University, Beijing 100191, China; 2. School of Control Science and Engineering, University of Jinan, Jinan 250022, China; 3. Beijng Institute of Traumatology and Orthopedics, Jishuitan Hospital, Beijing 100035, China
胡岩, 王田苗, 杨闯, 孙磊, 胡磊, 卞庆武. 面向前交叉韧带重建术后评估的测力机器人[J]. 机器人, 2009, 31(6): 605-611..
HU Yan, WANG Tianmiao, YANG Chuang, SUN Lei, HU Lei, BIAN Qingwu. Force-measuring Robot for Evaluation of ACL Reconstruction. ROBOT, 2009, 31(6): 605-611..
Abstract:Aimed at the problems of the anterior cruciate ligament(ACL) reconstruction in knee joint,such as deficiency in effective effect evaluation and insufficiency in operation safety,a zero gravity based force-measuring robot is developed to measure the pre-and post-operative tension of the knee joint ACL.The requirements for the robot's configuration and control are analyzed with regard to the ACL operation environment.Then the mathematical model of the ACL lateral force is deduced.The mechanical configuration and the control system design of the force-measuring robot for knee joint ACL are presented in detail.Lastly,experiments on measuring precision of the mandril displacement and force,and the post-operation evaluation on the ovine bone,are implemented.The results show that the robot is effective for ACL reconstruction evaluation and the mathematics model of ACL force in lateral direction is valid.
[1] Frisbie D D,Oxford J T,Southwood L,et al.Early events in cartilage repair after subchondral bone microfracture[J].Clinical Orthopaedics and Related Research,2003(407):215-227.
[2] Holmes P E James S L,Larson R L,et al.Retrospective direct comparison of three intraarticular anterior cruciate ligament reconstructions[J].The American Journal of Sports Medicine,1991,19(6):596-600.
[3] Howe J G,Johnson R J,Kaplan M J,et al.Anterior cruciate ligament reconstruction using quadriceps pateUar tendon graft.1.Long-term follow-up[J].The American Journal of Sports Medicine,1991.19(5):447-457.
[4] Panni A S,Milano G,Tartarone M,et al.Clinical and radiographic results of ACL reconstruction:A 5-to 7-year followup study of outside-in versus inside-out reconstruction techniques[J].Knee Surgery,Sports Traumatology,Atthroscopy,2001,9(2):77-85.
[5] 冯华,张辉,洪雷,等.透视导航技术辅助前交叉韧带重建的工作原理及手术流程[J].中国运动医学杂志,2006,25(5):560-563.Feng Hna,Zhang Hui,Hong Lei,et al.Fhioroscopy-based navigation assisted anterior cruciate ligament reconstruction[J].Chinese Journal of Sports Medicine,2006,25(5):560-563.
[6] Hirokawa S,Yamamoto K,Kawada T.Circumferential measurement and analysis of strain distribution in the human ACL using a photoelastic coating method[JJ.Journal of Biomechanics,2001,34(9):1135-1143.
[7] Williams T.The circuit designer's companion[M].2nd ed.Beijing:Publishing House of Electronics Industry,2006.
[8] Fu L X,Du Z J,Sun L N.A novel robot-assisted bonesetting system[C]//IEEE/RSJ International Conference on Intelligent Robots and Systems.Piscataway,NJ,USA:IEEE,2004:2247-2252.
[9] Rogers G J,Milthorpe B K,Muratore A,et al.Measurement of the mechanical-properties of the ovine anterior cruciate ligament bone ligament bone complex:A basis for prosthetic evaluation[J].Biomaterials,1990,11(2):89-96.
[10] Shoham M,Burman M,Joskowicz L,et al.Bone-mounted miniature robot for surgical procedures:Concept and clinical applications[J].IEEE Transactions on Robotics and Automation,2003,19(5):893-901.
[11] Kneissler M,Hein A,Matzig M,et al.Concept and clinical evaluation of navigated control in spine surgery[C]//IEEE/ASME International Conference on Advanced Intelligent Mechatrouics.Piscataway,NJ,USA,2003:1084-1089.