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.
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