A Robotic Clamped-Kinematic System to Study Knee Ligament Injury.

IF 3 2区 医学 Q3 ENGINEERING, BIOMEDICAL Annals of Biomedical Engineering Pub Date : 2024-10-02 DOI:10.1007/s10439-024-03624-8
Ophelie M Herve, Will Flanagan, Jake Kanetis, Bailey Mooney, Thomas J Kremen, David R McAllister, Tyler R Clites
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Abstract

Knee ligament injury is among the most common sports injuries and is associated with long recovery periods and low return-to-sport rates. Unfortunately, the mechanics of ligament injury are difficult to study in vivo, and computational studies provide limited insight. The objective of this study was to implement and validate a robotic system capable of reproducing natural six degree-of-freedom clamped-kinematic trajectories on human cadaver knees (meaning that positions and orientations are rigidly controlled and resultant loads are measured). To accomplish this, we leveraged the field's recent access to high-fidelity bone kinematics from dynamic biplanar radiography (DBR), and implemented these kinematics in a coordinate frame built around the knee's natural flexion-extension axis. We assessed our system's capabilities in the context of ACL injury, by moving seven cadaveric knee specimens through kinematics derived from walking, running, drop jump, and ACL injury. We then used robotically simulated clinical stability tests to evaluate the hypothesis that knee stability would be only reduced by the motions intended to injure the knee. Our results show that the structural integrity of the knee was not compromised by non-injurious motions, while the injury motion produced a clinically relevant ACL injury with characteristic anterior and valgus instability. We also demonstrated that our robotic system can provide direct measurements of reaction loads during a variety of motions, and facilitate gross evaluation of ligament failure mechanisms. Clamped-kinematic robotic evaluation of cadaver knees has the potential to deepen understanding of the mechanics of knee ligament injury.

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研究膝关节韧带损伤的机器人钳夹肌动系统
膝关节韧带损伤是最常见的运动损伤之一,恢复期长,重返赛场率低。遗憾的是,韧带损伤的力学原理很难在体内进行研究,计算研究也只能提供有限的见解。本研究的目的是实施并验证一个机器人系统,该系统能够在人体尸体膝盖上再现自然的六自由度夹紧运动轨迹(这意味着位置和方向受到刚性控制,并对结果载荷进行测量)。为了实现这一目标,我们利用了该领域最近从动态双平面放射摄影(DBR)中获得的高保真骨骼运动学数据,并在围绕膝关节自然屈伸轴建立的坐标框架中实现了这些运动学数据。我们评估了系统在前交叉韧带损伤情况下的能力,通过移动七具尸体膝关节标本,对行走、跑步、落跳和前交叉韧带损伤进行运动学分析。然后,我们使用机器人模拟临床稳定性测试,对膝关节稳定性仅会因旨在损伤膝关节的运动而降低这一假设进行评估。我们的结果表明,膝关节的结构完整性不会因非损伤性运动而受到损害,而损伤性运动则会产生与临床相关的前交叉韧带损伤,并伴有特征性的前外翻不稳定性。我们还证明,我们的机器人系统可以在各种运动中直接测量反作用力负荷,并有助于对韧带破坏机制进行粗略评估。对尸体膝关节进行钳夹运动学机器人评估有可能加深对膝关节韧带损伤力学的理解。
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来源期刊
Annals of Biomedical Engineering
Annals of Biomedical Engineering 工程技术-工程:生物医学
CiteScore
7.50
自引率
15.80%
发文量
212
审稿时长
3 months
期刊介绍: Annals of Biomedical Engineering is an official journal of the Biomedical Engineering Society, publishing original articles in the major fields of bioengineering and biomedical engineering. The Annals is an interdisciplinary and international journal with the aim to highlight integrated approaches to the solutions of biological and biomedical problems.
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