scholarly journals The Robotic Lumbar Spine: Dynamics and Feedback Linearization Control

2013 ◽  
Vol 2013 ◽  
pp. 1-12 ◽  
Author(s):  
Ernur Karadogan ◽  
Robert L. Williams
Keyword(s):  
Lumbar Spine ◽  
Medical Students ◽  
Feedback Linearization ◽  
Lumbar Vertebrae ◽  
Professional Lives ◽  
Human Lumbar Spine ◽  
Flexion Extension ◽  
Hands On ◽  
Feedback Linearization Control

The robotic lumbar spine (RLS) is a 15 degree-of-freedom, fully cable-actuated robotic lumbar spine which can mimicin vivohuman lumbar spine movements to provide better hands-on training for medical students. The design incorporates five active lumbar vertebrae and the sacrum, with dimensions of an average adult human spine. It is actuated by 20 cables connected to electric motors. Every vertebra is connected to the neighboring vertebrae by spherical joints. Medical schools can benefit from a tool, system, or method that will help instructors train students and assess their tactile proficiency throughout their education. The robotic lumbar spine has the potential to satisfy these needs in palpatory diagnosis. Medical students will be given the opportunity to examine their own patient that can be programmed with many dysfunctions related to the lumbar spine before they start their professional lives as doctors. The robotic lumbar spine can be used to teach and test medical students in their capacity to be able to recognize normal and abnormal movement patterns of the human lumbar spine under flexion-extension, lateral bending, and axial torsion. This paper presents the dynamics and nonlinear control of the RLS. A new approach to solve for positive and nonzero cable tensions that are also continuous in time is introduced.

A Cable-Actuated Robotic Lumbar Spine for Palpatory Training of Medical Students

2010 ◽  
Author(s):  
Ernur Karadogan ◽  
Robert L. Williams
Keyword(s):  
Lumbar Spine ◽  
Medical Students ◽  
Lumbar Vertebrae ◽  
Lumbar Vertebra ◽  
Professional Lives ◽  
Human Lumbar Spine ◽  
Flexion Extension ◽  
Hands On ◽  
Spine Robot

This paper presents the kinematic and pseudostatic analyses of a fully cable-actuated robotic lumbar spine (RLS) which can mimic in vivo human lumbar spine movements to provide better hands-on training for medical students. The design incorporates five active lumbar vertebrae between the first lumbar vertebra and the sacrum, with dimensions of an average adult human spine. Medical schools can benefit from a tool, system, or method that will help instructors train students and assess their tactile proficiency throughout their education. The robotic lumbar spine has the potential to satisfy these needs in palpatory diagnosis. Medical students will be given the opportunity to examine their own patient that can be programmed with many dysfunctions related to the lumbar spine before they start their professional lives as doctors. The robotic lumbar spine can be used to teach and test medical students in their capacity to be able to recognize normal and abnormal movement patterns of the human lumbar spine under flexion-extension and lateral bending. This project focus is on palpation, but the spine robot could also benefit surgery training/planning and other related biomedical applications.

Dynamics and Control of the Robotic Lumbar Spine (RLS)

2012 ◽  
Author(s):  
Ernur Karadogan ◽  
Robert L. Williams
Keyword(s):  
Lumbar Spine ◽  
Lumbar Vertebrae ◽  
New Approach ◽  
Human Lumbar Spine ◽  
Hands On ◽  
Current Design ◽  
Dynamics And Control ◽  
And Control ◽  
Average Adult

This paper presents the dynamics and nonlinear control of the Robotic Lumbar Spine (RLS). The RLS is a 15 degree-of-freedom, fully cable-actuated robotic lumbar spine which can mimic in vivo human lumbar spine movements to provide better hands-on training for medical students. The current design includes five active lumbar vertebrae and the sacrum, with dimensions of an average adult human spine. It is actuated by 20 cables connected to electric motors. Every vertebra is connected to the neighboring vertebrae by spherical joints. Medical schools can benefit from a tool, system, or method that will help instructors train students and assess their tactile proficiency throughout their education. The robotic lumbar spine has the potential to satisfy these needs in palpatory diagnosis. Additionally, a new approach to solve for positive and nonzero cable tensions that are also continuous in time is introduced.

scholarly journals Force Analysis of Human Lumbar Spine Using a Forward Kinematics Model

2021 ◽  
Author(s):  
Krunal Patel
Keyword(s):  
Lumbar Spine ◽  
In Vivo Studies ◽  
Forward Kinematics ◽  
Compression Force ◽  
Trunk Flexion ◽  
Kinematics Model ◽  
In Vivo Measurement ◽  
Human Lumbar Spine ◽  
Flexion Extension

The purpose of this study is to present a forward kinematics model of the human lumbar spine and to compare the internal loads and trunk flexion extension with existing literature. The forward kinematics model of lumbar spine with 30 DOF was designed using Solidworks and used Matlab to simulate the results for different postures. The forward kinematics model predicted similar trend for trunk flexion extension, compression force, shear forces and moment as described in literature for in vivo studies. The comparison between the proposed model and in vivo measurement showed a pressure difference of less than 15% on the disc L4-L5 for all activities whereas the compression force and moment differed by ~17% on the disc L5-S1. The modeling methodology presented in this thesis provides a more accurate representation of compression forces and moments of the human lumbar spine since the model makes no assumptions regarding muscle force and does not rely on any other software for kinematics data.

scholarly journals Force Analysis of Human Lumbar Spine Using a Forward Kinematics Model

2021 ◽  
Author(s):  
Krunal Patel
Keyword(s):  
Lumbar Spine ◽  
In Vivo Studies ◽  
Forward Kinematics ◽  
Compression Force ◽  
Trunk Flexion ◽  
Kinematics Model ◽  
In Vivo Measurement ◽  
Human Lumbar Spine ◽  
Flexion Extension

The purpose of this study is to present a forward kinematics model of the human lumbar spine and to compare the internal loads and trunk flexion extension with existing literature. The forward kinematics model of lumbar spine with 30 DOF was designed using Solidworks and used Matlab to simulate the results for different postures. The forward kinematics model predicted similar trend for trunk flexion extension, compression force, shear forces and moment as described in literature for in vivo studies. The comparison between the proposed model and in vivo measurement showed a pressure difference of less than 15% on the disc L4-L5 for all activities whereas the compression force and moment differed by ~17% on the disc L5-S1. The modeling methodology presented in this thesis provides a more accurate representation of compression forces and moments of the human lumbar spine since the model makes no assumptions regarding muscle force and does not rely on any other software for kinematics data.

Mechanical Properties of Human Lumbar Spine Motion Segments—Part I: Responses in Flexion, Extension, Lateral Bending, and Torsion

1979 ◽  
Vol 101 (1) ◽  
pp. 46-52 ◽  
Author(s):  
A. B. Schultz ◽  
D. N. Warwick ◽  
M. H. Berkson ◽  
A. L. Nachemson
Keyword(s):  
Mechanical Properties ◽  
Lumbar Spine ◽  
Mechanical Behavior ◽  
Human Cadaver ◽  
Lateral Bending ◽  
Human Lumbar Spine ◽  
Flexion Extension ◽  
Spine Motion ◽  
Pressure Changes ◽  
Posterior Elements

In this first part of a three-part report, the mechanical behavior of 42 fresh human cadaver lumbar motion segments in flexion, extension, lateral bending, and torsion is examined. Motions and intradiskal pressure changes that occurred in response to these loads, with posterior elements both intact and excised, are reported.

Corrigendum to “The in vivo three-dimensional motion of the human lumbar spine during gait” [Gait & Posture (2008) 378–384]

2009 ◽  
Vol 29 (1) ◽  
pp. 165 ◽  
Author(s):  
Adam Rozumalski ◽  
Michael H. Schwartz ◽  
Roy Wervey ◽  
Andrew Swanson ◽  
Daryll C. Dykes ◽  
...  
Keyword(s):  
Lumbar Spine ◽  
Three Dimensional ◽  
Human Lumbar Spine ◽  
Gait Posture

scholarly journals Effect of compressive follower preload on the flexion–extension response of the human lumbar spine

2003 ◽  
Vol 21 (3) ◽  
pp. 540-546 ◽  
Author(s):  
Avinash G. Patwardhan ◽  
Robert M. Havey ◽  
Gerard Carandang ◽  
James Simonds ◽  
Leonard I. Voronov ◽  
...  
Keyword(s):  
Lumbar Spine ◽  
Human Lumbar Spine ◽  
Flexion Extension

scholarly journals Preclinical Evaluation of a Novel 3D-Printed Movable Lumbar Vertebral Complex for Replacement: In Vivo and Biomechanical Evaluation of Goat Model

2021 ◽  
Vol 2021 ◽  
pp. 1-12
Author(s):  
Feng Zhang ◽  
Jiantao Liu ◽  
Xijing He ◽  
Rui Wang ◽  
Teng Lu ◽  
...  
Keyword(s):  
Ct Scan ◽  
Statistical Significance ◽  
Lumbar Vertebrae ◽  
Lateral Bending ◽  
Intervertebral Space ◽  
Intact Group ◽  
Lumbar Vertebral Body ◽  
Imaging Results ◽  
Flexion Extension

Purpose. This was an in vivo study to develop a novel movable lumbar artificial vertebral complex (MLVC) in a goat model. The purpose of this study was to evaluate clinical and biomechanical characteristics of MLVC and to provide preclinical data for a clinical trial in the future. Methods. According to the preoperative X-ray and CT scan data of the lumbar vertebrae, 3D printing of a MLVC was designed and implanted in goats. The animals were randomly divided into three groups: intact, fusion, and nonfusion. In the intact group, only the lumbar vertebrae and intervertebral discs were exposed during surgery. Both the fusion and nonfusion groups underwent resection of the lumbar vertebral body and the adjacent intervertebral disc. Titanium cages and lateral plates were implanted in the fusion group. MLVC was implanted in the nonfusion group. All groups were evaluated by CT scan and micro-CT to observe the spinal fusion and tested using the mechanical tester at 6 months after operation. Results. The imaging results showed that with the centrum, the artificial endplates of the titanium cage and MLVC formed compact bone trabeculae. In the in vitro biomechanical test, the average ROM of L3-4 and L4-5 for the nonfusion group was found to be similar to that of the intact group and significantly higher in comparison to that of the fusion group ( P < 0.05 ). The average ROM of flexion, extension, lateral bending, and rotation in the L2-3 intervertebral space significantly increased in the fusion group compared with the intact group and the nonfusion group ( P < 0.001 ). There were no significant differences in flexion, extension, lateral bending, and rotation between the nonfusion and intact groups ( P > 0.05 ). The average ROM of flexion, extension, lateral bending, and rotation in the L2-5 intervertebral space was not significantly different between the intact group, the fusion group, and the nonfusion group, and there was no statistical significance ( P > 0.05 ). HE staining results did not find any metal and polyethylene debris caused by abrasion. Conclusion. In vivo MLVC can not only reconstruct the height and stability of the centrum of the operative segment but also retain the movement of the corresponding segment.

scholarly journals Experimental evaluation of precision and accuracy of RSA in the lumbar spine

2020 ◽  
Author(s):  
Marie Christina Keller ◽  
Christof Hurschler ◽  
Michael Schwarze
Keyword(s):  
Lumbar Spine ◽  
Focal Spot ◽  
Lateral Bending ◽  
Flexion Extension ◽  
Hip And Knee Arthroplasty ◽  
Spinal Region ◽  
Precision And Accuracy ◽  
Bone Structures

Abstract Purpose Roentgen stereophotogrammetric analysis is a technique to make accurate assessments of the relative position and orientation of bone structures and implants in vivo. While the precision and accuracy of stereophotogrammetry for hip and knee arthroplasty is well documented, there is insufficient knowledge of the technique’s precision and, especially accuracy when applied to rotational movements in the spinal region. Methods The motion of one cadaver lumbar spine segment (L3/L4) was analyzed in flexion–extension, lateral bending and internal rotation. The specific aim of this study was to examine the precision and accuracy of stereophotogrammetry in a controlled in vitro setting, taking the surrounding soft tissue into account. The second objective of this study was to investigate the effect of different focal spot values of X-ray tubes. Results Overall, the precision of flexion–extension measurements was found to be better when using a 0.6 mm focal spot value rather than 1.2 mm (± 0.056° and ± 0.153°; respectively), and accuracy was also slightly better for the 0.6 mm focal spot value compared to 1.2 mm (− 0.137° and − 0.170°; respectively). The best values for precision and accuracy were obtained in lateral bending for both 0.6 mm and 1.2 mm focal spot values (precision: ± 0.019° and ± 0.015°, respectively; accuracy: − 0.041° and − 0.035°). Conclusion In summary, the results suggest stereophotogrammetry to be a highly precise method to analyze motion of the lumbar spine. Since precision and accuracy are better than 0.2° for both focal spot values, the choice between these is of minor clinical relevance.

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