title: Simulation of in vivo dynamics during robot assisted joint movement.
abstract: BACKGROUND
  Robots are very useful tools in orthopedic research. They can provide force/torque controlled specimen motion with high repeatability and precision. A method to analyze dissipative energy outcome in an entire joint was developed in our group. In a previous study, a sheep knee was flexed while axial load remained constant during the measurement of dissipated energy. We intend to apply this method for the investigation of osteoarthritis. Additionally, the method should be improved by simulation of in vivo knee dynamics. Thus, a new biomechanical testing tool will be developed for analyzing in vitro joint properties after different treatments.
  
  
  METHODS
  Discretization of passive knee flexion was used to construct a complex flexion movement by a robot and simulate altering axial load similar to in vivo sheep knee dynamics described in a previous experimental study.
  
  
  RESULTS
  The robot applied an in vivo like axial force profile with high reproducibility during the corresponding knee flexion (total standard deviation of 0.025 body weight (BW)). A total residual error between the in vivo and simulated axial force was 0.16 BW. Posterior-anterior and medio-lateral forces were detected by the robot as a backlash of joint structures. Their curve forms were similar to curve forms of corresponding in vivo measured forces, but in contrast to the axial force, they showed higher total standard deviation of 0.118 and 0.203 BW and higher total residual error of 0.79 and 0.21 BW for posterior-anterior and medio-lateral forces respectively.
  
  
  CONCLUSIONS
  We developed and evaluated an algorithm for the robotic simulation of complex in vivo joint dynamics using a joint specimen. This should be a new biomechanical testing tool for analyzing joint properties after different treatments.
authors.affiliation: Department of Orthopaedic Surgery, Biomechanics Laboratory, University Hospital Tübingen, 72076 Tübingen, Germany. Evgenij.Bobrowitsch@med.uni-tuebingen.de.
authors.forename: Evgenij
authors.initials: E
authors.lastname: Bobrowitsch
authors.forename: Andrea
authors.initials: A
authors.lastname: Lorenz
authors.forename: Nikolaus
authors.initials: N
authors.lastname: Wülker
authors.forename: Christian
authors.initials: C
authors.lastname: Walter
mesh_terms: D000465:Algorithms; D000818:Animals; D001696:Biomechanical Phenomena; D001835:Body Weight; D003198:Computer Simulation; D006614:Hindlimb / Q000473:pathology; D007596:Joints / Q000502:physiology*; D009068:Movement / Q000502:physiology*; D010003:Osteoarthritis / Q000503:physiopathology*; D015203:Reproducibility of Results; D012371:Robotics; D012756:Sheep; D019415:Torque