title: A combined robotic/universal force sensor approach to determine in situ forces of knee ligaments.
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.
authors.affiliation: Musculoskeletal Research Center Department of Orthopaedic Surgery, University of Pittsburgh, PA 15213, USA.
authors.forename: T W
authors.initials: TW
authors.lastname: Rudy
authors.forename: G A
authors.initials: GA
authors.lastname: Livesay
authors.forename: S L
authors.initials: SL
authors.lastname: Woo
authors.forename: F H
authors.initials: FH
authors.lastname: Fu
mesh_terms: D000818:Animals; D004548:Elasticity; D004867:Equipment Design; D066298:In Vitro Techniques; D007719:Knee Joint / Q000502:physiology* / Q000601:surgery; D008023:Ligaments, Articular / Q000502:physiology* / Q000637:transplantation; D009983:Orthopedic Equipment; D015203:Reproducibility of Results; D012371:Robotics; D013552:Swine; D013718:Tensile Strength / Q000502:physiology; D014783:Viscosity