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Use of Robotic Manipulators to Study Diarthrodial Joint Function.
Richard E Debski1, Satoshi Yamakawa2, Volker Musahl3
1Orthopaedic Robotics Laboratory, Departments of Bioengineering and Orthopaedic Surgery, University of Pittsburgh, 408 Center for Bioengineering, 300 Technology Drive, Pittsburgh, PA 15219
Journal of Biomechanical Engineering
|January 6, 2017
Summary
Robotic testing systems enhance understanding of diarthrodial joint biomechanics and ligament forces. This research improves surgical repair and rehabilitation protocols for joint injuries.
Area of Science:
- Biomechanics
- Orthopedic Surgery
- Robotics
Background:
- Diarthrodial joint function involves complex interactions between bones, ligaments, cartilage, and muscles.
- Understanding joint injury mechanisms and improving surgical procedures requires detailed knowledge of joint structure and function.
Purpose of the Study:
- To utilize robotic testing systems for measuring diarthrodial joint kinematics and in situ ligament forces.
- To simulate physiological loading conditions and clinical exams using advanced robotic systems.
- To validate computational models for predicting in vivo stresses and strains in joint tissues.
Main Methods:
- Employing six degrees-of-freedom (DOF) robotic testing systems in position or force control modes.
- Utilizing velocity-impedance control for continuous kinematic, in situ force, and strain data acquisition.
- Reproducing in vivo kinematic data on cadaveric specimens to determine in situ forces during physiological motions.
- Applying the principle of superposition to determine forces in capsular tissue.
Main Results:
- Robotic systems successfully measure joint kinematics and in situ ligament forces under various loading conditions.
- Advanced control strategies enable continuous data collection throughout the joint's range of motion.
- Data generated can validate computational models for predicting tissue stresses and strains.
Conclusions:
- Robotic testing systems are valuable tools for studying diarthrodial joint biomechanics and soft tissue injury mechanisms.
- Findings aid in improving surgical repair techniques and postoperative rehabilitation strategies.
- Further research is needed on in vivo joint loading during daily activities and clinical exams.
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