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首页> 外文会议>Asia Pacific conference on biomechanics;International conference on biomedical engineering;ICBME;APBiomech;World congress of biomechanics;WCB 2010 >A New Combined Optical and Robotic Testing System to Evaluate Multisegmental Spinal Kinematics
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A New Combined Optical and Robotic Testing System to Evaluate Multisegmental Spinal Kinematics

机译：一种新的光学和机器人组合测试系统，用于评估多节段脊柱运动学

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摘要

A testing system was developed with the aim of evaluating in vitro kinematics of multisegmental spine specimens. This includes a robot (KUKA-KR125) and an optical tracking system (NDI, Optotrak-Certus) measuring the three-dimensional kinematics of each vertebral body simultaneously. The robot has the option of saving kinematic and force/torque (F/T) data for repeating a prerecorded motion path. It can apply unconstrained physiologic movement. In a first evaluation study the robots' F/T control unit was conducted using a linear rod with a second F/T load cell in-line. Kinematic accuracy of the tracked optical data and the calculation software was determined. The study was complemented by testing six four-segmental lumbar calf specimens (L2-6). Three cycles of pure unconstrained moments (7.25±0.05Nm) were applied to each specimen in flexion-extension. Robot data and optical system records were synchronized using a self-developed software algorithm. For each spinal segment load-displacement data were analyzed for range of motion (ROM), neutral zone (NZ) and elastic zone (EZ). In addition the finite helical axes (FHA) for spinal segment motions were calculated. For each level ROM was compared to literature values from monosegmental studies matching with 102±17.6% for L2-3 to 101±15.7% for L5-6 of used reference. Segmental stiffness ranged from 0.3±0.14 to 0.7±0.14Nm/° for NZ and from 2.7±0.55 to 4.9±1.79Nm/° for EZ. Position and orientation of the inter-segmental FHA varied significantly for each segment and specimen. In general, the precision of the robot system seems to be adequate and the results are consistent with intact monosegmental data from literature. Therefore the testing system can be used to investigate adjacent level effects including coupled motion in a multisegmental specimen in future experiments.
机译：开发了一个测试系统，旨在评估多节段脊柱标本的体外运动学。其中包括一个机器人（KUKA-KR125）和一个光学跟踪系统（NDI，Optotrak-Certus），可同时测量每个椎体的三维运动学。机器人可以选择保存运动学和力/转矩（F / T）数据，以重复预先记录的运动路径。它可以应用不受约束的生理运动。在第一个评估研究中，机器人的F / T控制单元是使用带有第二个F / T称重传感器的线性杆进行控制的。确定跟踪的光学数据的运动精度和计算软件。通过测试六个四节段腰小腿标本（L2-6）对研究进行了补充。将三个周期的纯自由约束力矩（7.25±0.05Nm）施加于每个标本的屈伸状态。机器人数据和光学系统记录使用自行开发的软件算法进行同步。对于每个脊柱节段，分析位移范围数据的运动范围（ROM），中性区（NZ）和弹性区（EZ）。此外，还计算了脊柱节段运动的有限螺旋轴（FHA）。对于每个级别，将ROM与单段研究的文献值进行比较，L2-3的102±17.6％与L5-6的101±15.7％匹配。 NZ的段刚度为0.3±0.14至0.7±0.14Nm /°，EZ的段刚性为2.7±0.55至4.9±1.79Nm /°。对于每个节段和标本，节间FHA的位置和方向都存在显着差异。通常，机器人系统的精度似乎是足够的，其结果与文献中完整的单段数据一致。因此，在将来的实验中，该测试系统可用于研究相邻水平影响，包括多段试样中的耦合运动。

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