Hill-based musculoskeletal model for a fracture reduction robot

Area of Science:

• Biomechanics
• Robotics Engineering
• Medical Simulation

Background:

• Fracture reduction robots offer advantages but lack safety certification.
• Assessing robot safety requires understanding muscle constraints via musculoskeletal models.
• Existing models are primarily for rehabilitation or accident analysis.

Purpose of the Study:

• To develop and validate a musculoskeletal model for fracture reduction robot safety assessment.
• To investigate muscle constraints on robots during surgical procedures.
• To provide a foundation for controlling fracture reduction robots.

Main Methods:

• Selected the Hill model for muscle simulation based on biological characteristics.
• Created a 170-cm male musculoskeletal model in OpenSim, analyzing five malposition scenarios.
• Validated the model's muscle force accuracy by comparing OpenSim and Adams simulations.

Main Results:

• High correlation coefficients (0.98-0.99) between OpenSim and Adams models for muscle force curves.
• Overall correlation coefficient exceeding 0.95, confirming model accuracy.
• Demonstrated the model's capability to simulate muscle forces in various fracture malpositions.

Conclusions:

• The validated musculoskeletal model is suitable for fracture reduction robot safety assessment.
• This model serves as a crucial environmental constraint for robot control research.
• The findings pave the way for enhanced safety and efficacy in orthopedic robotic surgery.