title: Robot-musculoskeletal dynamic biomechanical model in robot-assisted diaphyseal fracture reduction.
abstract: A number of issues that exist in common fracture reduction surgeries can be mitigated by robot-assisted fracture reduction. However, the safety of patients and the performance of the robot, which are closely related to the muscle forces, are important indexes that restrict the development of robots. Though researchers have done a great deal of work on the biomechanics of the musculoskeletal system, the dynamics of the musculoskeletal system, particularly the aspects related to the function of the robot, is not well understood. For this reason, we represent the complex biological system by establishing a dynamic biomechanical model based on the Hill muscle model and the Kane method for the robot that we have developed and the musculoskeletal system. We analyzed the relationship between the motion and force of the bone fragments and the robot during a simulation of a robot-assisted fracture reduction. The influence of the muscle force on the robot system was predicted and managed. The simulation results provide a basis for a fracture reduction path plan that ensures patient safety and a useful reference for the mechanical design of the robot.
authors.affiliation: School of Mechanical Engineering and Automation, Beihang University, Beijing, China.
authors.forename: Changsheng
authors.initials: C
authors.lastname: Li
authors.affiliation: School of Mechanical Engineering and Automation, Beihang University, Beijing, China.
authors.forename: Tianmiao
authors.initials: T
authors.lastname: Wang
authors.affiliation: School of Mechanical Engineering and Automation, Beihang University, Beijing, China.
authors.forename: Lei
authors.initials: L
authors.lastname: Hu
authors.affiliation: Department of Orthopaedics, Chinese PLA General Hospital, Beijing, China.
authors.forename: Lihai
authors.initials: L
authors.lastname: Zhang
authors.affiliation: Department of Orthopaedics, Chinese PLA General Hospital, Beijing, China.
authors.forename: Yanpeng
authors.initials: Y
authors.lastname: Zhao
authors.affiliation: Department of Orthopaedics, Chinese PLA General Hospital, Beijing, China.
authors.forename: Hailong
authors.initials: H
authors.lastname: Du
authors.affiliation: School of Mechanical Engineering and Automation, Beihang University, Beijing, China.
authors.forename: Lifeng
authors.initials: L
authors.lastname: Wang
authors.affiliation: Department of Orthopaedics, Chinese PLA General Hospital, Beijing, China.
authors.forename: Peifu
authors.initials: P
authors.lastname: Tang
mesh_terms: D003198:Computer Simulation; D050723:Fractures, Bone / Q000503:physiopathology* / Q000601:surgery*; D006801:Humans; D007596:Joints / Q000503:physiopathology* / Q000601:surgery; D008328:Man-Machine Systems; D008954:Models, Biological; D018482:Muscle, Skeletal / Q000503:physiopathology* / Q000601:surgery; D019637:Orthopedic Procedures / Q000379:methods*; D065287:Robotic Surgical Procedures
keywords: Robot-assisted diaphyseal fracture reduction; biomechanical model; musculoskeletal system; simulation analysis