Robotic hip joint testing: Development and experimental protocols

Daou, Hadi El; Ng, K. C. Geoffrey; Arkel, Richard J. van; Jeffers, Jonathan R.T.; Baena, Ferdinando Rodriguez y

doi:10.1016/j.medengphy.2018.10.006

Cited by 16 publications

(28 citation statements)

References 24 publications

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“…A similar procedure to our investigation was employed by El Daou et al [46] to ascertain the relationship between the femur and a robot end-effector. Both utilized an optically tracked intermediate rigid body to determine the end-effector/bone relationship, but El Daou et al employed a nonlinear parameter estimation solution.…”

Section: Plos Onementioning

confidence: 86%

“…Both algorithms optimized for the current pose of the humerus as attached to the robot, EE T H , i.e. the current tool frame of the humerus [32,46]. An additional 35 virtual tool frames were generated by programmatically rotating the humerus in 30˚increments while clamped within the cylindrical fixture at 3 positions:~1" distal to the humeral head,~1" proximal to the midpoint of the epicondyles, and at midshaft.…”

Section: Plos Onementioning

confidence: 99%

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Replicating dynamic humerus motion using an industrial robot

et al. 2020

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Transhumeral percutaneous osseointegrated prostheses provide upper-extremity amputees with increased range of motion, more natural movement patterns, and enhanced proprioception. However, direct skeletal attachment of the endoprosthesis elevates the risk of bone fracture, which could necessitate revision surgery or result in loss of the residual limb. Bone fracture loads are direction dependent, strain rate dependent, and load rate dependent. Furthermore, in vivo, bone experiences multiaxial loading. Yet, mechanical characterization of the bone-implant interface is still performed with simple uni- or bi-axial loading scenarios that do not replicate the dynamic multiaxial loading environment inherent in human motion. The objective of this investigation was to reproduce the dynamic multiaxial loading conditions that the humerus experiences in vivo by robotically replicating humeral kinematics of advanced activities of daily living typical of an active amputee population. Specifically, 115 jumping jack, 105 jogging, 15 jug lift, and 15 internal rotation trials—previously recorded via skin-marker motion capture—were replicated on an industrial robot and the resulting humeral trajectories were verified using an optical tracking system. To achieve this goal, a computational pipeline that accepts a motion capture trajectory as input and outputs a motion program for an industrial robot was implemented, validated, and made accessible via public code repositories. The industrial manipulator utilized in this study was able to robotically replicate over 95% of the aforementioned trials to within the characteristic error present in skin-marker derived motion capture datasets. This investigation demonstrates the ability to robotically replicate human motion that recapitulates the inertial forces and moments of high-speed, multiaxial activities for biomechanical and orthopaedic investigations. It also establishes a library of robotically replicated motions that can be utilized in future studies to characterize the interaction of prosthetic devices with the skeletal system, and introduces a computational pipeline for expanding this motion library.

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Section: Plos Onementioning

confidence: 86%

Section: Plos Onementioning

confidence: 99%

Replicating dynamic humerus motion using an industrial robot

et al. 2020

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“…Each specimen’s anatomic pelvic landmarks were digitized to establish a reference frame 28 by use of an optical tracking system (Polaris; Northern Digital Inc). Each specimen was then separated into 2 hemi-pelvises (sectioned at the sacroiliac and pubic symphysis joints) and ipsilateral hip joint, truncating the proximal third of the femur at the diaphysis.…”

Section: Methodsmentioning

confidence: 99%

“…Previous computational models also estimated the adverse loading mechanics attributed to cam FAI, although none of the models included the contributions of the capsular ligaments. More recently, increasing interest has turned to implementation of robotic testing platforms to examine soft tissue contributions and various implants on knee 4,27,41,81 and hip joint mechanics 28,34,62,72 ; however, the effects of surgical stages on hips with cam morphologic features have yet to be examined. Therefore, the purpose of our study was to quantify the contributions of the capsule and cam deformity to hip joint mechanics and investigate the influence of capsular repair during surgical intervention of FAI.…”

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confidence: 99%

Hip Joint Torsional Loading Before and After Cam Femoroacetabular Impingement Surgery

Daou

Bankes

et al. 2018

Am J Sports Med

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Background:Surgical management of cam femoroacetabular impingement (FAI) aims to preserve the native hip and restore joint function, although it is unclear how the capsulotomy, cam deformity, and capsular repair influence joint mechanics to balance functional mobility.Purpose:To examine the contributions of the capsule and cam deformity to hip joint mechanics. Using in vitro, cadaveric methods, we examined the individual effects of the surgical capsulotomy, cam resection, and capsular repair on passive range of motion and resistance of applied torque.Study Design:Descriptive laboratory study.Methods:Twelve cadaveric hips with cam deformities were skeletonized to the capsule and mounted onto a robotic testing platform. The robot positioned each intact hip in multiple testing positions: (1) extension, (2) neutral 0°, (3) flexion 30°, (4) flexion 90°, (5) flexion-adduction and internal rotation (FADIR), and (6) flexion-abduction and external rotation. Then the robot performed applicable internal and external rotations, recording the neutral path of motion until a 5-N·m of torque was reached in each rotational direction. Each hip then underwent a series of surgical stages (T-capsulotomy, cam resection, capsular repair) and was retested to reach 5 N·m of internal and external torque again after each stage. During the capsulotomy and cam resection stages, the initial intact hip’s recorded path of motion was replayed to measure changes in resisted torque.Results:Regarding changes in motion, external rotation increased substantially after capsulotomies, but internal rotation only further increased at flexion 90° (change +32%, P = .001, d = 0.58) and FADIR (change +33%, P < .001, d = 0.51) after cam resections. Capsular repair provided marginal restraint for internal rotation but restrained the external rotation compared with the capsulotomy stage. Regarding changes in torque, both internal and external torque resistance decreased after capsulotomy. Compared with the capsulotomy stage, cam resection further reduced internal torque resistance during flexion 90° (change −45%, P < .001, d = 0.98) and FADIR (change −37%, P = .003, d = 1.0), where the cam deformity accounted for 21% of the intact hip’s torsional resistance in flexion 90° and 27% in FADIR.Conclusion:Although the capsule played a predominant role in joint constraint, the cam deformity provided 21% to 27% of the intact hip’s resistance to torsional load in flexion and internal rotation. Resecting the cam deformity would remove this loading on the chondrolabral junction.Clinical Relevance:These findings are the first to quantify the contribution of the cam deformity to resisting hip joint torsional loads and thus quantify the reduced loading on the chondrolabral complex that can be achieved after cam resection.

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“…The study examined how the capsulotomy, cam resection, and capsular repair affected passive range of motion and torque loading (Fig. 5 ), using a 6-degrees-of-freedom robotic testing platform 66 . The study quantified the contribution of the cam deformity, which accounted for 21% to 27% of the torsional loading of the intact hip in deep flexion and internal rotation (Fig.…”

Section: Surgical Managementmentioning

confidence: 99%

Hip Joint Capsular Anatomy, Mechanics, and Surgical Management

Jeffers

Beaulé

2019

The Journal of Bone and Joint Surgery

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ä Hip joint capsular ligaments (iliofemoral, ischiofemoral, and pubofemoral) play a predominant role in functional mobility and joint stability. ä The zona orbicularis resists joint distraction (during neutral positions), and its aperture mechanism stabilizes the hip from adverse edge-loading (during extreme hip flexion-extension). ä To preserve joint function and stability, it is important to minimize capsulotomy size and avoid disrupting the zona orbicularis, preserve the femoral head size and neck length, and only repair when or as necessary without altering capsular tensions. ä It is not fully understood what the role of capsular tightness is in patients who have cam femoroacetabular impingement and if partial capsular release could be beneficial and/or therapeutic. ä During arthroplasty surgery, a femoral head implant that is nearly equivalent to the native head size with an optimal neck-length offset can optimize capsular tension and decrease dislocation risk where an intact posterior hip capsule plays a critical role in maintaining hip stability. Characteristics Anatomy Human ligaments consist of predominantly type-I collagen (85%) and combinations of type III, V, VI, XI, and XIV (15%) 21,22. Within the hip joint, higher ratios of type-III collagen in the ligamentous capsule are associated with hip instability 23,24 , whereas elevated levels in the cartilage are associated with Disclosure: The authors indicated grant support from the Engineering and Physical Sciences Research Council (EPSRC) (EP/K027549/1 and EP/ N006267/1) and the Wellcome Trust (088844/Z/09/Z), during the conduct of the study. On the Disclosure of Potential Conflicts of Interest forms, which are provided with the online version of the article, one or more of the authors checked "yes" to indicate that the author had a relevant financial relationship in the biomedical arena outside the submitted work (http://links.lww.com/JBJS/F511).

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Robotic hip joint testing: Development and experimental protocols

Cited by 16 publications

References 24 publications

Replicating dynamic humerus motion using an industrial robot

Replicating dynamic humerus motion using an industrial robot

Hip Joint Torsional Loading Before and After Cam Femoroacetabular Impingement Surgery

Hip Joint Capsular Anatomy, Mechanics, and Surgical Management

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