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Robotic reproduction of joint motion.

机译：机器人对关节运动的再现。

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摘要

The normal knee joint is an organ and a marvel of engineering design enabling functional use for the lifetime, at a rate of over 1 million cycles per year. The joint organs, like other organs of the body, can break down as a result of injury or disease. The research presented here will focus on one of the diseases of joints, which causes chronic pain and physical disability, Secondary Osteoarthritis. Joint tissues are interdependent and affected by the mechanical functioning, and biochemistry of each other as well as the body at large. Thus, the joint must be studied under conditions, which most closely simulate what occurs in a living system to enable the uncoupling of mechanical versus biological factors contributing to secondary osteoarthritis.;To study the response of joints to the in vivo mechanical environment, a state-of-the-art rigid testing system capable of reproducing in vivo motion was developed. This testing system is the first of its kind in the world, pushing the envelope of robotic and computational technology. This doctoral thesis validates the use of in vivo gait as a distinctly different motion from in vitro passive flexion-extension. Next an evaluation of the sensitivity of the motion reproduction error was needed. This knowledge was then used in the design of a rigid testing system capable of reproducing accurate in vivo motion. The resolution of the testing system was evaluated using in vivo motion captured with motion analysis cameras and reflective markers rigidly attached to the bones of the ovine joint. These system tests called for further improvements to the rigid frame and replacement of the robotic manipulator incorporated into the system as the active joint manipulator. To evaluate what is needed in the future to further improve this testing system a breakdown of the errors associated with motion reproduction was performed. Finally, improvements were made to the rigid frame, a new manipulator was validated, data acquisition and motion speed sensitivity assessed, and in vivo joint and ligament load data collected. Finally recommendations are made that allow for continued improvement to this in vivo motion reproduction system.
机译：正常的膝关节是工程设计的器官和奇迹，可以终身使用，每年超过一百万次循环。与身体其他器官一样，关节器官也可能由于受伤或疾病而崩溃。这里提出的研究将集中于引起慢性疼痛和身体残疾的关节疾病之一，继发性骨关节炎。关节组织相互依存，并受彼此以及整个身体的机械功能，生物化学影响。因此，必须在最能模拟生命系统中发生的情况的条件下研究关节，以使造成继发性骨关节炎的机械因素与生物因素脱钩。研究关节对体内机械环境的反应开发了能够再现体内运动的最先进的刚性测试系统。该测试系统是世界上第一个此类系统，它推动了机器人和计算技术的发展。该博士论文验证了体内步态的使用与体外被动屈伸运动的明显不同。接下来，需要对运动再现误差的灵敏度进行评估。这些知识随后被用于设计能够再现准确的体内运动的刚性测试系统。测试系统的分辨率是使用通过运动分析相机捕获的体内运动以及牢固地附着在绵羊关节骨骼上的反射标记来评估的。这些系统测试要求进一步改进刚性框架，并取代作为主动关节机械手并入系统的机械手。为了评估将来进一步改进该测试系统所需的内容，对与运动再现相关的错误进行了细分。最后，对刚性框架进行了改进，验证了新的操纵器，评估了数据采集和运动速度敏感性，并收集了体内关节和韧带负荷数据。最后提出建议，以允许对该体内运动再现系统的持续改进。

著录项

  • 作者

    Darcy, Shon P.;

  • 作者单位

    University of Calgary (Canada).;

  • 授予单位 University of Calgary (Canada).;
  • 学科 Engineering Biomedical.;Engineering Civil.
  • 学位 Ph.D.
  • 年度 2009
  • 页码 211 p.
  • 总页数 211
  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类 生物医学工程;建筑科学;
  • 关键词

  • 入库时间 2022-08-17 11:38:29

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