2005 Fiscal Year Final Research Report Summary
Development of a robotic system for joint mechanical tests : Application to the ligament reconstruction assessment
| Project/Area Number |
15591603
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Orthopaedic surgery
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| Research Institution | Kogakuin University |
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Principal Investigator |
FUJIE Hiromichi Kogakuin University, Dept.of Mechanical Engineering, Professor, 工学部, 教授 (20199300)
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| Co-Investigator(Kenkyū-buntansha) |
SEKIGUCHI Isamu Kogakuin University, Dept.of Mechanical Engineering, Professor, 工学部, 教授 (40090576)
KOKUBO Kunio Kogakuin University, Dept.of Mechanical Engineering, Professor, 工学部, 教授 (70245645)
SHINO Konsei Osaka Prefecture University, School of Comprehensive Rehabilitation, Professor, 総合リハビリテーション学部, 教授 (40135679)
MABUCHI Kiyoshi Kitasato University, Faculty of Allied Health Sciences, Professor, 医療衛生学部, 教授 (70118842)
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| Project Period (FY) |
2003 – 2005
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| Keywords | Clinical biomechanics / Ligament reconstruction / Force-control robotic system / Joint mechanical test |
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| Research Abstract |
For a meaningful research to determine the knee function and ligament reconstruction, we have been developing a joint loading system using a robotic technology including a robotic manipulator and multi-DOF load transducer technique. The objectives of the present study are to develop and modify the robotic system capable of 6 degree-of-freedom position and force/moment control of the human knee joint, to determine the contribution of ligament bundles (for example anteromedial bundle of the ACL) to the stability of the knee, and to evaluate the significance of the multi-bundle reconstruction technique of the ACL and other ligaments. A 6-DOF manipulator, originally developed by Sekito and Fujie et al., was modified. The manipulator was designed specially for joint biomechanical tests, capable of moving in larger range of motion and generating larger forces/moments as compared with commercially available articulated-type robots. Note that the three rotational axes cross at a point during the drive of the rotational actuators, which allowed for a simple mathematical expression of kinematic calculation. The robotic system has been successfully used 1)to determine the mechanical function of the anteromedial bundle, intermediate bundle, and posterolateral bundle of the ACL in response to anterior tibial drawer load, and 2)to assess the surgical technique of tibial plateau leveling osteotomy (TPLO) of canine stifle joints. The later study was performed to evaluate the capability of the robotic system.
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