Development of a Testing Apparatus for Injury of the Knee Ligament Using Robotics. -Application of three Dimensional Displacement Transducer-

使用机器人技术开发膝关节韧带损伤测试装置。

基本信息

批准号：
63870061
负责人：
TSUKAMOTO Yukio
金额：
$ 10.05万
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 (B).
财政年份：
1988
资助国家：
日本
起止时间：
1988 至 1990
项目状态：
已结题

项目摘要

We have developed a new method of instrumented measurement for knee instability. The testing apparatus consisted of positioning supports for test limb and an articulated robot. The universal force moment sensor system (UFS system) was attached to the wrist of robot. The UFS system was not only useful for measuring precisely the force applied to lower leg but for positioning test knee in neutral position. The anterior-posterior displacement was measured with linear variable displacement transducer (LVDT). One sensor pad was placed in contact with the patella and the other pad was fixed to the support of lower leg. Anterior and posterior force of 60 N (6 kgf) and 80 N (8 kgf) were applied to lower leg through the robot. The test were performed 20 to 30 degrees of knee flexion. The characteristic feature of our apparatus was that it could detect directly and very sensitively the stiffness of test ligament. We represented the stiffness of ligament by the slope of terminal region of force-displacement curve (terminal stiffness index). The mean of anterior terminal stiffness indexes of normal knees was 28,500 N/m at a force of 60N and 28,500 N/m at a force of 80 N. The mean of posterior terminal stiffness indexes of normal knees was 33,600 N/m at a force of 60 N and 40,900 N/m at a force of 80 N. O) n the other hand, the anterior terminal stiffness indexes of the knee with rupture of anterior cruciate ligament were ranging from 5,600 to 9,300 N/m at forces of 60 N and 80 N.

我们开发了一种新的膝关节不稳定性仪器测量方法。测试装置由测试肢体的定位支架和关节式机器人组成。通用力矩传感器系统（UFS系统）安装在机器人的手腕上。 UFS 系统不仅可用于精确测量施加在小腿上的力，还可用于将测试膝盖定位在中立位置。使用线性可变位移传感器（LVDT）测量前后位移。将一个传感器垫与髌骨接触，另一垫固定在小腿的支撑物上。通过机器人对小腿施加 60 N (6 kgf) 和 80 N (8 kgf) 的前后力。测试是在膝关节弯曲 20 至 30 度的情况下进行的。我们的设备的特点是它可以直接且非常灵敏地检测测试韧带的硬度。我们用力-位移曲线末端区域的斜率（末端刚度指数）来表示韧带的刚度。正常膝关节前终僵硬指数在 60N 力下的平均值为 28,500 N/m，在力为 80N 时为 28,500 N/m。正常膝关节后终僵硬指数在力为 33,600 N/m 时均值在 80 N. O 的力下，分别为 60 N 和 40,900 N/m），另一方面，膝关节前末端刚度指数前十字韧带断裂时，在 60 N 和 80 N 的力下，其扭矩范围为 5,600 至 9,300 N/m。