Nesbitt Rebecca J, Bates Nathaniel A, Karkhanis Teja D, Schaffner Grant, Shearn Jason T
Department of Biomedical Engineering, University of Cincinnati, Cincinnati, USA.
Department of Orthopedic Surgery, Mayo Clinic, Rochester, USA.
Am J Biomed Eng. 2016;6(1):12-18.
Robotic testing offers researchers the opportunity to quantify native tissue loads for the structures of the knee joint during activities of daily living. These loads may then be translated into design requirements for future treatments and procedures to combat the early onset of knee degeneration following an injury. However, high knee loads during testing have the potential to deflect a robotic end effector and cause inaccuracies in the applied kinematics. Furthermore, bone bending could also induce kinematic change. This study aimed to quantify the effects of robotic compliance and bone bending on the accuracy of simulated in vivo kinematics in a KUKA KRC210 serial robotic system. Six (6) human cadaver knees were subjected to cyclic human gait motion while 6 DOF forces and torques were recorded at the joint. A Vicon T-Series camera system was used to independently record the applied kinematics. Periods of highest kinematic deviation occurred during instances of low joint loading, suggesting negligible levels of forced deflection for simulations of moderate levels of activity while results of this small study indicate that high physiologic loading poses low risk of deviation from target kinematics, further testing is necessary to confirm.
机器人测试为研究人员提供了一个机会，可在日常生活活动期间对膝关节结构的天然组织负荷进行量化。然后，这些负荷可转化为未来治疗和手术的设计要求，以对抗受伤后膝关节退变的早期发作。然而，测试期间的高膝关节负荷有可能使机器人末端执行器发生偏转，并导致所施加运动学的不准确。此外，骨骼弯曲也可能引起运动学变化。本研究旨在量化机器人顺应性和骨骼弯曲对库卡KRC210串联机器人系统中模拟体内运动学准确性的影响。对6具人类尸体膝关节施加周期性人类步态运动，同时在关节处记录6自由度的力和扭矩。使用Vicon T系列相机系统独立记录所施加的运动学。运动学偏差最高的时期出现在关节负荷较低的情况下，这表明在模拟中等活动水平时强制偏转水平可忽略不计，而这项小型研究的结果表明，高生理负荷导致偏离目标运动学的风险较低，但仍需进一步测试以确认。
