藤田 正弘 三菱電機, 産業システム研究所, 課長
MIYAZAKI Hiroshi Graduate School of Engineering Science, Research Associate, 基礎工学研究科, 助手 (00263228)
史野 根生 大阪府立看護大学, 医療技術短期大学部, 教授
HAYASHI Kozaburo Graduate School of Engineering Science, Professor, 基礎工学研究科, 教授 (90026196)
FUJITA Masahiro Mitsubishi Electric Corporation Group Manager
SHINO Konsei Osaka Prefectural College of Health Sciences, Professor
|Budget Amount *help
¥12,300,000 (Direct Cost : ¥12,300,000)
Fiscal Year 1998 : ¥4,000,000 (Direct Cost : ¥4,000,000)
Fiscal Year 1997 : ¥8,300,000 (Direct Cost : ¥8,300,000)
A robotic system, consisting of a 6 axis manipulator, servo motor controllers, and a control computer, has been developed to determine the mechanical function of biological joints. All the axes of the manipulator are driven with AC servo motors. Kinematics of biological joints was assumed to be represented with a 6 degreeof freedom joint coordinate system. Jacobian transformation was used for the description of the position/posture and force/moment of the joints. C language was employed for the programming of a closed position/force feedbackloop on an operating system, IBM CP/Q which is capable of performing multi tasks simultaneously. Based on position/force data, the manipulator moves to control position/force of the joint at a prescribed level. To determine the force applied to soft tissues, the UFS method was employed. A preliminary test to assess the system performance showed that error in displacement was less than 120 mm under the application of 500 N of load to the tibial clamp
, and that the stiffness of the manipulator was higher than 310 N/mm.
An experimental analysis of knee motion and mechanical functions of knee ligaments and menisci has been performedusing the developed system. We have found 1) force distribution in the anterior cruciate ligament depends on knee flexion angle, 2) the cruciate ligaments primarily resist to knee translation, while the menisci primarily resist to knee rotation, 3) the function of the menisci depends on both joint compressive force and cruciate ligaments injury, and 4) Bi-socket ACL reconstruction has an advantage in postoperative joint stability over traditional reconstruction methods. Finally, we have found that the system has the capability for the analysis of joint mechanical function.
(計測・解析) システムを用いて,ヒト,およびブタ膝関節を試験関節とし,外荷重作用時における膝の運動挙動,及び靭帯,半月の機能を調べた.その結果,1) 前十字靭帯内の張力分布が屈曲角度に依存し,伸展位及び軽度屈曲位では前内側部と後外側部が,屈曲位では後外側部が緊張していること,2) 膝への直動負荷に対しては主として十字靭帯が,回転負荷に対しては主として半月板が抗していること,3) 半月板の機能が,関接間力や十字靭帯損傷の影響を受けること,4) Bi-socket再建法による前十字靭帯再建術は,術後の膝安定性を良好に保つ方法であること,等が分かった. Less