A combined robotic/universal force sensor approach to determine in situ forces of knee ligaments

Rudy, T. W.<sup>1</sup>; Livesay, G. A.<sup>1</sup>; Woo, S. L-Y.<sup>1</sup>; Fu, F. H.<sup>1</sup>

Affiliations

¹Musculoskeletal Research Center Department of Orthopaedic Surgery The University of Pittsburgh, Pittsburgh, Pennsylvania, U.S.A.

Abstract

We developed a system that uses a 6-degree-of-freedom (6-DOF) robotic manipulator combined with a 6-DOF force-moment sensor and a control system. The system is used to find and record the passive knee flexion path for controlling the knee flexion positions. It is also used to strain a knee structure by finding a multiple-DOF path in response to specific joint loading, e.g. anterior-posterior tibial force application. It is additionally used to measure in-situ forces in ligaments by recording differences in forces and moments when repeating a prerecorded path, both before and after removal of the ligament of interest. Example applications are included in the study.

Links

DOI: 10.1016/0021-9290(96)00056-5

PubMed: 8884481

WoS: A1996VH06300012

History

Received: 1996-03-25

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Cited By (24)

Year	Entry
2003	Woo SL-Y, Abramowitch SD, Loh JC, Musahl V, Wang JH-C. Ligament healing: present status and the future of functional tissue engineering. In: Guilak F, Butler DL, Goldstein SA, Mooney DJ, eds. Functional Tissue Engineering. New York, NY: Inc., Springer-Verlag; 2003:17-34.
2000	Woo SL-Y, Debski RE, Zeminski J, Abramowitch SD, Chan Saw SS, Fenwick JA. Injury and repair of ligaments and tendons. Annu Rev Biomed Eng. 2000;2:83-118.
1999	Li G, Gil J, Kanamori A, Woo SL-Y. A validated three-dimensional computational model of a human knee joint. J Biomech Eng. December 1999;121(6):657-662.
2023	Winkler PW, Chan CK, Lucidi GA, Polamalu SK, Wagala NN, Hughes JD, Debski RE, Musahl V. Increasing the posterior tibial slope lowers in situ forces in the native ACL primarily at deep flexion angles. J Orthop Res. July 2023;41(7):1430-1438.
2020	Andreassen T. In Vivo Data Capture Using HSSR for Calibration of Computational Models [Master's thesis]. University of Denver; June 2020.
2019	Cone SG. Age-Dependent Changes in the Structure and Function of the Porcine Anterior Cruciate Ligament During Skeletal Growth [PhD thesis]. North Carolina State University; 2019.
2022	Howe D. Sex-Dependent Growth, Function, and Impact of Injury of the Porcine Anterior Cruciate Ligament [PhD thesis]. North Carolina State University; 2022.
1996	Livesay GA. Development of Homogenization Theory for Soft Tissues Undergoing Finite Elastic Deformation [PhD thesis]. University of Pittsburgh; 1996.
1997	Debski RE. A Combined Experimental and Computational Approach to Examine the Function of the Capsuloligamentous Structures At the Glenohumeral Joint [PhD thesis]. University of Pittsburgh; 1997.
1998	Pfaeffle HJ. Role of the Interosseous Ligament in Forearm Compressive Load Transfer [PhD thesis]. University of Pittsburgh; 1998.
2003	Costic RS. Functional Evaluation of the Intact, Injured and Reconstructed Acromioclavicular Joint [Master's thesis]. University of Pittsburgh; 2003.
2003	Darcy SP. Estimation of ACL Forces by Reproducing Average Knee Kinematics [Master's thesis]. University of Pittsburgh; 2003.
2006	Moore SM. Glenohumeral Capsule Should be Evaluated as a Sheet of Fibrous Tissue: A Study in Functional Anatomy [PhD thesis]. University of Pittsburgh; 2006.
2007	Wickwire AC. Development of Experimental and Computational Methodologies for Construction of a Subject-Specific Knee Finite Element Model [Master's thesis]. University of Pittsburgh; 2007.
2008	Drury NJ. Evaluating the Anterior Stability Provided by the Glenohumeral Capsule: A Finite Element Approach [Master's thesis]. University of Pittsburgh; 2008.
2008	Noorani SY. Double Bundle ACL Reconstruction: Evaluation of Knee Flexion Angles and Over-the-Top Techniques [Master's thesis]. University of Pittsburgh; 2008.
2010	Fisher MB. Functional Tissue Engineering of the Healing Anterior Cruciate Ligament: A Combined Experimental and Computational Approach [PhD thesis]. University of Pittsburgh; 2010.
2011	Voycheck CA. Characterizing the Effects of Simulated Injury on the Structure and Function of the Glenohumeral Capsule [PhD thesis]. University of Pittsburgh; 2011.
2013	Bell KM. Development of a Physiologic in-Vitro Testing Methodology for Assessment of Cervical Spine Kinematics [PhD thesis]. University of Pittsburgh; 2013.
2014	Kim KE. The Development of Biodegradable Metallic Screws and Suture Anchors for Soft Tissue Fixation in Orthopaedic Surgery [PhD thesis]. University of Pittsburgh; 2014.
2015	Farraro KF. Regeneration of the Anterior Cruciate Ligament Using Resorbable Metallic and Extracellular Matrix Bioscaffolds [PhD thesis]. University of Pittsburgh; 2015.
2000	Hsieh AH. Biomechanical Regulation of Gene Expression in Knee Ligaments [PhD thesis]. San Diego (UCSD), University of California; 2000.
2014	Hansen BC. Distal Femur Articular Cartilage Surface Topology: Health, Acute Injury, and Repair [PhD thesis]. San Diego (UCSD), University of California; 2014.
2002	Walker MRJ. Development of a General 6-DOF Parallel Robotic System: Load-Control Methodology for Spine Biomechanics Testing [Master's thesis]. University of Guelph; December 2002.