面向前交叉韧带重建术后评估的测力机器人

Force-measuring Robot for Evaluation of ACL Reconstruction

针对膝关节前交叉韧带(ACL)重建手术后缺乏及时有效的效果评估、手术缺乏安全性等问题,研制了一种基于零重力的膝关节ACL测力机器人,测定其重建前后的张紧力.首先,对ACL的手术环境进行了分析,提出了对手术机器人结构和控制的要求.然后,建立了ACL侧向受力的数学模型.接着,详细介绍了膝关节ACL测力机器人的机械结构设计和控制系统设计.最后,对该机器人进行顶杆位移和力的测试精度实验,并进行了羊骨的测试和术后评估实验,证明该机器人可以用于ACL重建手术的评估,ACL侧向受力数学模型是正确的.

Aimed at the problems of the anterior cruciate ligament （ACL） reconstruction in knee joint, such as deficiency in effective effect evaluation and insufficiency in operation safety, a zero gravity based force-measuring robot is developed to measure the pre- and post-operative tension of the knee joint ACL. The requirements for the robot＇s configuration and control are analyzed with regard to the ACL operation environment. Then the mathematical model of the ACL lateral force is deduced. The mechanical configuration and the control system design of the force-measuring robot for knee joint ACL are presented in detail. Lastly, experiments on measuring precision of the mandril displacement and force, and the post-operation evaluation on the ovine bone, are implemented. The results show that the robot is effective for ACL reconstruction evaluation and the mathematics model of ACL force in lateral direction is valid.