Force-measuring Robot for Evaluation of Anterior Cruciate Ligament Reconstruction
Aiming 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 robots 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 displacement and force of the mandrel,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 forced in lateral direction is valid.
Zero gravity Anterior cruciate ligament Force-measuring robot Operation evaluation Security
Yan Hu Jun Wei Lei Li Shi Li Xiju Zong
Control Science and Engineering Department,University of Jinan,Jinan,Shandong,China China Unicom Network Communications Co.,Ltd,Jinan,Shandong,China
国际会议
太原
英文
1418-1423
2012-01-13（万方平台首次上网日期，不代表论文的发表时间）