Use of Robotic Manipulators to Study Diarthrodial Joint Function

2017 ◽  
Vol 139 (2) ◽  
Author(s):  
Richard E. Debski ◽  
Satoshi Yamakawa ◽  
Volker Musahl ◽  
Hiromichi Fujie
Keyword(s):  
Surrounding Tissue ◽  
External Loading ◽  
Loading Conditions ◽  
Joint Function ◽  
Diarthrodial Joint ◽  
Injury Mechanisms ◽  
Diarthrodial Joints ◽  
Robotic Testing

Diarthrodial joint function is mediated by a complex interaction between bones, ligaments, capsules, articular cartilage, and muscles. To gain a better understanding of injury mechanisms and to improve surgical procedures, an improved understanding of the structure and function of diarthrodial joints needs to be obtained. Thus, robotic testing systems have been developed to measure the resulting kinematics of diarthrodial joints as well as the in situ forces in ligaments and their replacement grafts in response to external loading conditions. These six degrees-of-freedom (DOF) testing systems can be controlled in either position or force modes to simulate physiological loading conditions or clinical exams. Recent advances allow kinematic, in situ force, and strain data to be measured continuously throughout the range of joint motion using velocity-impedance control, and in vivo kinematic data to be reproduced on cadaveric specimens to determine in situ forces during physiologic motions. The principle of superposition can also be used to determine the in situ forces carried by capsular tissue in the longitudinal direction after separation from the rest of the capsule as well as the interaction forces with the surrounding tissue. Finally, robotic testing systems can be used to simulate soft tissue injury mechanisms, and computational models can be validated using the kinematic and force data to help predict in vivo stresses and strains present in these tissues. The goal of these analyses is to help improve surgical repair procedures and postoperative rehabilitation protocols. In the future, more information is needed regarding the complex in vivo loads applied to diarthrodial joints during clinical exams and activities of daily living to serve as input to the robotic testing systems. Improving the capability to accurately reproduce in vivo kinematics with robotic testing systems should also be examined.

Experimental and Computational Modeling of Joint and Ligament Mechanics

2004 ◽  
Vol 20 (4) ◽  
pp. 450-474 ◽  
Author(s):  
Richard E. Debski ◽  
Shon P. Darcy ◽  
Savio L-Y. Woo
Keyword(s):  
Computational Models ◽  
Soft Tissues ◽  
Experimental Studies ◽  
Complex Loading ◽  
External Loading ◽  
Spring Model ◽  
Loading Conditions ◽  
Rehabilitation Protocols ◽  
Force Moment

Quantitative data on the mechanics of diarthrodial joints and the function of ligaments are needed to better understand injury mechanisms, improve surgical procedures, and develop improved rehabilitation protocols. Therefore, experimental and computational approaches have been developed to determine joint kinematics and the in-situ forces in ligaments and their replacement grafts using human cadaveric knee and shoulder joints. A robotic/universal force-moment sensor testing system is used in our research center for the evaluation of a wide variety of external loading conditions to study the function of ligaments and their replacements; it has the potential to reproduce in-vivo joint motions in a cadaver knee. Two types of computational models have also been developed: a rigid body spring model and a displacement controlled spring model. These computational models are designed to complement and enhance experimental studies so that more complex loading conditions can be examined and the stresses and strains in the soft tissues can be calculated. In the future, this combined approach will improve our understanding of these joints and soft tissues during in-vivo activities and serve as a tool to aid surgical planning and development of rehabilitation protocols.

scholarly journals Effect of Meniscal Ramp Repair on Knee Kinematics, ACL In Situ Force and Bony Contact Forces - A Biomechanical Study

2018 ◽  
Vol 6 (7_suppl4) ◽  
pp. 2325967118S0015 ◽  
Author(s):  
Thomas Rudolf Pfeiffer ◽  
Jan Hendrik Naendrup ◽  
Calvin Chan ◽  
Kanto Nagai ◽  
João V. Novaretti ◽  
...  
Keyword(s):  
Knee Kinematics ◽  
Contact Forces ◽  
Testing System ◽  
Loading Conditions ◽  
Ramp Lesion ◽  
Robotic Testing ◽  
Deficient Knee ◽  
Robotic Testing System ◽  
Intact Knee

Objectives: While recent studies showed that all inside meniscal ramp repair is able to restore knee kinematics, the effects of ramp repairs on ACL in-situ forces (ISF) and bony contact forces is still unclear. Therefore, the purpose of this study is to determine the effect of ramp lesion repair on knee kinematics, the ACL-ISF and bony contact forces using a 6-degree-of-freedom (DOF) robotic testing system. It was hypothesized that ramp repair will restore kinematics, ACL-ISF and bony contact forces comparably to the forces of the intact knee. Methods: 5 fresh-frozen human cadaveric knee specimens were tested using a 6-DOF robotic testing system (FRS2010) to continuously flex the knee from 0° to 90° and apply continuous loading conditions: 134 N anterior load + 200 N compressive load (CL), 4 Nm internal torque + 200 N CL, 4 Nm external torque + 200 N CL. Loading conditions were applied to the: 1) Intact knee 2) Arthroscopically induced 25 mm ramp lesion via posteromedial portal 3) All inside ramp repair 4) ACL deficient knee + ramp repair 5) soft tissue removal 6) Transection of the lateral condyle. To mimic an ideal ACL reconstruction the native ACL was kept intact. By replaying kinematics, ACL-ISF and bony contact forces were determined. Repeated measure ANOVAs were performed to compare knee states at each flexion angle (p<0.05). Results: Ramp repair significantly reduced anterior translation compared to the ramp deficient knee in high flexion under anterior load and CL (mean diff. -0.8 mm, range 0.6-0.9 mm) and at all flexions angles while applying internal torque and CL (mean diff. -2.3 mm, range 1.8-3.3 mm). Increased medial translation and valgus position were observed in all loading conditions at all flexion angles. Both ACL-ISF and medial bony contact forces were not significantly altered by the ramp lesion and repair under any applied loading and flexion angle. In contrast, ramp repair significantly increased lateral bony contact forces by under external torque and CL at 60° and 70° flexion compared to the ramp deficient knee, 32 N and 37 N respectively. No significant differences between intact and ramp deficient knee were detected with respect to kinematics, ACL-ISF and bony contact forces. Conclusion: In this study ramp repair decreased anterior translation, increased valgus rotation, and increased bony contact forces in the lateral compartment, disproving the hypothesis under study. The data from this study puts into question potential overconstraint when repairing ramp lesions utilizing all inside devices in 10 degrees of knee flexion. Contrasting previous literature that showed the restoration of the intact state, the results might be attributable to added CL forces and missing influence of the ACL reconstructions. The findings of this study also imply that untreated ramp lesion might not affect ACL-ISF. Future research is needed to better understand the influence of different techniques for repair of ramp lesions and the effect of chronicity on ramp lesions in patients.

The Effect of Position and Path Repeatability on Biomechanical Testing of Diarthrodial Joints

2003 ◽  
Author(s):  
Shon P. Darcy ◽  
Jorge E. Gil ◽  
Savio L.-Y. Woo ◽  
Richard E. Debski
Keyword(s):  
Cruciate Ligament ◽  
Biomechanical Testing ◽  
Robotic Manipulators ◽  
Contact Forces ◽  
External Loading ◽  
Diarthrodial Joints ◽  
Payload Capacity ◽  
Joint Contact ◽  
High Payload

To improve surgical procedures and rehabilitation protocols for injuries to the anterior cruciate ligament (ACL), the function of the ACL and ACL graft during in vivo activities must be understood. Robotic manipulators with a payload less than 500 N (low-payload) have been used to study joint and ligament function during application of external loading conditions (Fujie, 1993; Fujie, 2000). Robotic manipulators with a payload capacity of at least 1500 N (high-payload) will be needed to simulate high joint contact forces that have been estimated to be between 2 to 5 times body weight (Morrison, 1970; Escamilla, 1998). However, there is a trade-off between payload capacity and position and path repeatability. The objective of this study was to determine the effect of position and path repeatability of two high-payload robotic manipulators, (KUKA™ KR210 and FANUC™ S900W) used to apply external loads to diarthrodial joints and determine the corresponding joint kinematics and forces in the soft tissue structures.

Modeling of a Dynamic Knee Simulator With Advanced PID Controller to Evaluate Joint Loading Conditions

2014 ◽  
Author(s):  
Fallon Fitzwater ◽  
Amber Lenz ◽  
Lorin Maletsky
Keyword(s):  
Computational Models ◽  
Total Joint Replacement ◽  
External Loading ◽  
Loading Conditions ◽  
Dynamic Simulations ◽  
Knee Simulator ◽  
Joint Loads ◽  
External Loads

In-vitro dynamic knee simulators allow researchers to investigate changes in natural knee biomechanics due to pathologies, injuries or total joint replacement. The advent of the instrumented tibia, which directly measures knee loads in-vivo, has provided a wealth data for various activities that in-vitro studies now aim to replicate [1, 2]. Dynamic knee simulators, such as the Kansas Knee Simulator (KKS), achieve these physiological loads at the joint by applying external loads to either bone ends or musculature. Determining the external loading conditions necessary to replicate activity specific joint loads, obtained from instrumented tibia data, during dynamic simulations are calculated using computational models.

Biomechanical Properties of Abdominal Organs In Vivo and Postmortem Under Compression Loads

2008 ◽  
Vol 130 (2) ◽  
Author(s):  
Jacob Rosen ◽  
Jeffrey D. Brown ◽  
Smita De ◽  
Mika Sinanan ◽  
Blake Hannaford
Keyword(s):  
Surgical Procedures ◽  
Biomechanical Properties ◽  
Model Parameters ◽  
Loading Conditions ◽  
Tissue Properties ◽  
Surgical Simulators ◽  
Surgical Tools ◽  
Abdominal Organs

Accurate knowledge of biomechanical characteristics of tissues is essential for developing realistic computer-based surgical simulators incorporating haptic feedback, as well as for the design of surgical robots and tools. As simulation technologies continue to be capable of modeling more complex behavior, an in vivo tissue property database is needed. Most past and current biomechanical research is focused on soft and hard anatomical structures that are subject to physiological loading, testing the organs in situ. Internal organs are different in that respect since they are not subject to extensive loads as part of their regular physiological function. However, during surgery, a different set of loading conditions are imposed on these organs as a result of the interaction with the surgical tools. Following previous research studying the kinematics and dynamics of tool/tissue interaction in real surgical procedures, the focus of the current study was to obtain the structural biomechanical properties (engineering stress-strain and stress relaxation) of seven abdominal organs, including bladder, gallbladder, large and small intestines, liver, spleen, and stomach, using a porcine animal model. The organs were tested in vivo, in situ, and ex corpus (the latter two conditions being postmortem) under cyclical and step strain compressions using a motorized endoscopic grasper and a universal-testing machine. The tissues were tested with the same loading conditions commonly applied by surgeons during minimally invasive surgical procedures. Phenomenological models were developed for the various organs, testing conditions, and experimental devices. A property database—unique to the literature—has been created that contains the average elastic and relaxation model parameters measured for these tissues in vivo and postmortem. The results quantitatively indicate the significant differences between tissue properties measured in vivo and postmortem. A quantitative understanding of how the unconditioned tissue properties and model parameters are influenced by time postmortem and loading condition has been obtained. The results provide the material property foundations for developing science-based haptic surgical simulators, as well as surgical tools for manual and robotic systems.

Effects of skeletal muscle fiber deformation on lymphatic volumes

1990 ◽  
Vol 259 (6) ◽  
pp. H1860-H1868 ◽  
Author(s):  
M. C. Mazzoni ◽  
T. C. Skalak ◽  
G. W. Schmid-Schonbein
Keyword(s):  
Skeletal Muscle ◽  
Muscle Fibers ◽  
Lymphatic Vessels ◽  
Underlying Mechanism ◽  
Surrounding Tissue ◽  
Cross Sectional ◽  
In Situ Preparation ◽  
Muscle Fascia

Because lymphatics in skeletal muscle have no smooth muscle, they are expanded and compressed solely by stresses in the surrounding tissue. Whole organ experiments have indicated that lymph flow is significantly elevated during muscle activity, yet the underlying mechanism for lymph formation has not been identified. To investigate this mechanism, specimens of the rat spinotrapezius muscle were fixed in situ at the undeformed in vivo length, and also in the stretched and contracted states, for histological examination. Cross-sectional areas of lymphatic vessels, skeletal muscle fibers, blood vessels, and interstitial space were measured using a stereological technique. The in situ preparation with intact muscle fascia was essential for preservation of interstitial volume. The lymphatic cross-sectional areas and muscle stretch ratios from 20 rats showed that lymphatic volume increased by 57% for a 20% stretch, and decreased by 45% for a 20% contraction. Deformation of the incompressible muscle fibers appears to inversely affect surrounding tissue structures; e.g., decreased fiber cross-sectional area during stretch increases interstitial spacing between fibers, which in turn expands lymphatics.

In vitro and in vivo polysaccharides assembly: ultrastructural and cytochemical study of growing plant cell wall components.

1978 ◽  
Vol 36 (2) ◽  
pp. 434-435
Author(s):  
D. Reis ◽  
B. Vian ◽  
J. C. Roland
Keyword(s):  
Cell Wall ◽  
Self Assembly ◽  
Plant Cell Wall ◽  
Higher Plants ◽  
Three Dimensional ◽  
Cytochemical Study ◽  
Wall Components

Wall morphogenesis in higher plants is a problem still open to controversy. Until now the possibility of a transmembrane control and the involvement of microtubules were mostly envisaged. Self-assembly processes have been observed in the case of walls of Chlamydomonas and bacteria. Spontaneous gelling interactions between xanthan and galactomannan from Ceratonia have been analyzed very recently. The present work provides indications that some processes of spontaneous aggregation could occur in higher plants during the formation and expansion of cell wall.Observations were performed on hypocotyl of mung bean (Phaseolus aureus) for which growth characteristics and wall composition have been previously defined.In situ, the walls of actively growing cells (primary walls) show an ordered three-dimensional organization (fig. 1). The wall is typically polylamellate with multifibrillar layers alternately transverse and longitudinal. Between these layers intermediate strata exist in which the orientation of microfibrils progressively rotates. Thus a progressive change in the morphogenetic activity occurs.

Three-Dimensional Subcellular Organization of Hepatocytes in Intact Liver: Simultaneous Visualization of Cytoskeletal and Membrane Markers by Confocal Microscopy

1996 ◽  
Vol 54 ◽  
pp. 288-289
Author(s):  
Greg V. Martin ◽  
Ann L. Hubbard
Keyword(s):  
Three Dimensional ◽  
Integral Membrane Proteins ◽  
Polarized Secretion ◽  
Microscope Images ◽  
Computer Aided ◽  
Intracellular Organelles ◽  
Cytoskeletal Elements ◽  
Simultaneous Visualization

The microtubule (MT) cytoskeleton is necessary for many of the polarized functions of hepatocytes. Among the functions dependent on the MT-based cytoskeleton are polarized secretion of proteins, delivery of endocytosed material to lysosomes, and transcytosis of integral plasma membrane (PM) proteins. Although microtubules have been shown to be crucial to the establishment and maintenance of functional and structural polarization in the hepatocyte, little is known about the architecture of the hepatocyte MT cytoskeleton in vivo, particularly with regard to its relationship to PM domains and membranous organelles. Using an in situ extraction technique that preserves both microtubules and cellular membranes, we have developed a protocol for immunofluorescent co-localization of cytoskeletal elements and integral membrane proteins within 20 µm cryosections of fixed rat liver. Computer-aided 3D reconstruction of multi-spectral confocal microscope images was used to visualize the spatial relationships among the MT cytoskeleton, PM domains and intracellular organelles.

Nanorobots Sense Local Physiochemical Heterogeneities of Tumor Matrisome

2020 ◽  
Author(s):  
Debayan Dasgupta ◽  
Dharma Pally ◽  
Deepak K. Saini ◽  
Ramray Bhat ◽  
Ambarish Ghosh
Keyword(s):  
Cell Lines ◽  
Cancer Cell ◽  
Cancer Cell Lines ◽  
Adhesive Force ◽  
Surrounding Tissue ◽  
Quantitative Measurements ◽  
Malignant Breast Tumor ◽  
Malignant Breast ◽  
Cancer Dissemination

The dissemination of cancer is brought about by continuous interaction of malignant cells with their surrounding tissue microenvironment. Understanding and quantifying the remodeling of local extracellular matrix (ECM) by invading cells can therefore provide fundamental insights into the dynamics of cancer dissemination. In this paper, we use an active and untethered nanomechanical tool, realized as magnetically driven nanorobots, to locally probe a 3D tissue culture microenvironment consisting of cancerous and non-cancerous epithelia, embedded within reconstituted basement membrane (rBM) matrix. Our assay is designed to mimic the in vivo histopathological milieu of a malignant breast tumor. We find that nanorobots preferentially adhere to the ECM near cancer cells: this is due to the distinct charge conditions of the cancer-remodeled ECM. Surprisingly, quantitative measurements estimate that the adhesive force increases with the metastatic ability of cancer cell lines, while the spatial extent of the remodeled ECM was measured to be approximately 40 μm for all cancer cell lines studied here. We hypothesized and experimentally confirmed that specific sialic acid linkages specific to cancer-secreted ECM may be a major contributing factor in determining this adhesive behavior. The findings reported here can lead to promising applications in cancer diagnosis, quantification of cancer aggression, in vivo drug delivery applications, and establishes the tremendous potential of magnetic nanorobots for fundamental studies of cancer biomechanics.

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