Application of robotics to palpation of injury of ligament-Development of a new method of knee instability test-

机器人技术在韧带损伤触诊中的应用-膝关节不稳定测试新方法的开发-

• 批准号: 62870062
• 负责人: YAMAMOTO Makoto
• 金额: $ 8.26万
• 依托单位: Kitasato University
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Developmental Scientific Research
• 财政年份: 1987
• 资助国家: 日本
• 起止时间: 1987 至 1988
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/en/grant/KAKENHI-PROJECT-62870062/
• 关键词: Robotics; Injury of ligament; 膝関節動揺性検査

The aim of this research project is an application of robotics to palpation of injury of ligament and development of a new method of knee instability test. First, in vitro experiments were conducted to evaluate the valgus-varus and anterior-posterior instability using some canine knee joints. The apparatus contains a robot hand on the market to compose a motion to give the tibia of the canine specimens. The correct position of the robot hand was measured by the displacement transducer. The load induced on the knee was measured by load transducer fixed in the device which contacts the canine tibia. The results of this experiments showed the capacity of loading of this robot is sufficient in the valgus-varus instability test but insufficient in the anterior-posterior instability test. Secondly an larger robot hand was designed and made. The scale of this robot hand was the same as that of human lower limb. The capacity of loading was 20kgf which is sufficient to human knee instability tests. The speed of the motion of the robot hand is about a few centimeter per second which is rather slower than other robot hand used in the factory generally. This slow speed is very useful for safety of the patients. Thirdly we tried the human knee instability tests using this new robot. The device of connection between the robot hand and the leg of patients was designed for special use. The results showed that the motion error of robot hand is small and the capacity of loading is sufficient in all kind of knee instability tests.

该研究项目的目的是将机器人技术应用于韧带损伤的触诊并开发一种膝关节不稳定性测试的新方法。首先，使用一些犬膝关节进行体外实验来评估外翻内翻和前后不稳定性。该装置包含市场上的机械手，用于做出动作以给出犬类标本的胫骨。机器人手的正确位置由位移传感器测量。通过固定在接触犬胫骨的装置中的负载传感器来测量在膝盖上引起的负载。实验结果表明，该机器人在外翻-内翻不稳定测试中负载能力足够，但在前后不稳定测试中负载能力不足。其次设计并制造了更大的机器人手。这种机械手的尺寸与人类下肢的尺寸相同。负载能力为20kgf，足以进行人体膝关节不稳定性测试。机械手的运动速度约为每秒几厘米，比工厂一般使用的其他机械手要慢得多。这种慢速对于患者的安全非常有用。第三，我们使用这个新机器人尝试了人体膝关节不稳定性测试。机器人手和患者腿之间的连接装置是专为特殊用途而设计的。结果表明，在各类膝关节失稳试验中，机械手运动误差较小，负载能力充足。

项目成果

Makoto,Yamamoto: Practical Handbook of Orthopedic Surgery. Nankodo, 423 (1987)

山本诚：骨科手术实用手册。

山本真: "整形外科診察ハンドブック" 南江堂, 423 (1987)

山本诚：《整形外科手册》Nankodo，423（1987）

山本真: 日本災害医学会会誌. 36. 623-631 (1988)

山本诚：日本灾害医学学会杂志 36. 623-631 (1988)。

Hiromichi,Hujie: "Application of Robotics to the knee instability test -Preliminary experiment of canine knee joints-" Proceeding of 1987 Annual Meeting of Japanese Society for Orthopaedic Biomechanics(J.S.O.B.). 9. 105-110 (1988)

弘道、胡杰：“机器人技术在膝关节不稳定试验中的应用-犬膝关节的初步实验-”日本骨科生物力学学会（J.S.O.B.）1987年年会论文集。

藤江裕道: 整形外科バイオメカニクス. 9. 105-110 (1988)

Hiromichi Fujie：骨科生物力学。9. 105-110 (1988)