Although alterations in knee joint loading resulting from injury have been shown to influence the development of osteoarthritis, actual in vivo loading conditions of the joint remain unknown. A method for determining in vivo ligament loads by reproducing joint specific in vivo kinematics using a robotic testing apparatus is described. The in vivo kinematics of the ovine stifle joint during walking were measured with 3D optical motion analysis using markers rigidly affixed to the tibia and femur. An additional independent single degree of freedom measuring device was also used to record a measure of motion. Following sacrifice, the joint was mounted in a robotic/universal force sensor test apparatus and referenced using a coordinate measuring machine. A parallel robot configuration was chosen over the conventional serial manipulator because of its greater accuracy and stiffness. Median normal gait kinematics were applied to the joint and the resulting accuracy compared. The mean error in reproduction as determined by the motion analysis system varied between and and and for the two individual tests. The mean error measured by the independent device was found to be and for the two experiments, respectively. This study demonstrates the ability of this system to reproduce in vivo kinematics of the ovine stifle joint in vitro. The importance of system stiffness is discussed to ensure accurate reproduction of joint motion.
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e-mail: rhoward@imvprojects.com
e-mail: jmrosvol@ucalgary.ca
e-mail: sdarcy@ucalgary.ca
e-mail: corrd@rpi.edu
e-mail: shrive@ucalgary.ca
e-mail: janet.tapper@med.ucalgary.ca
e-mail: jlronsky@ucalgary.ca
e-mail: jill.beveridge@ucalgary.ca
e-mail: marchuk@ucalgary.ca
e-mail: cfrank@ucalgary.ca
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October 2007
Technical Papers
Reproduction of In Vivo Motion Using a Parallel Robot
Ryan A. Howard,
Ryan A. Howard
Department of Civil Engineering, Schulich School of Engineering,
e-mail: rhoward@imvprojects.com
University of Calgary
, c/o Joint Injury and Arthritis Research Group, 3330 Hospital Drive, Calgary, Alberta, Canada T2N 4N1
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Joshua M. Rosvold,
Joshua M. Rosvold
Research Associate
Department of Civil Engineering, Schulich School of Engineering,
e-mail: jmrosvol@ucalgary.ca
University of Calgary
, c/o Joint Injury and Arthritis Research Group, 3330 Hospital Drive, Calgary, Alberta, Canada T2N 4N1
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Shon P. Darcy,
Shon P. Darcy
Department of Civil Engineering, Schulich School of Engineering,
e-mail: sdarcy@ucalgary.ca
University of Calgary
, c/o Joint Injury and Arthritis Research Group, 3330 Hospital Drive, Calgary, Alberta, Canada T2N 4N1
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David T. Corr,
David T. Corr
Department of Civil Engineering, Schulich School of Engineering,
e-mail: corrd@rpi.edu
University of Calgary
, c/o Joint Injury and Arthritis Research Group, 3330 Hospital Drive, Calgary, Alberta, Canada T2N 4N1
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Nigel G. Shrive,
Nigel G. Shrive
Professor
Department of Civil Engineering, Schulich School of Engineering,
e-mail: shrive@ucalgary.ca
University of Calgary
, c/o Joint Injury and Arthritis Research Group, 3330 Hospital Drive, Calgary, Alberta, Canada T2N 4N1
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Janet E. Tapper,
Janet E. Tapper
Department of Mechanical and Manufacturing Engineering, Schulich School of Engineering,
e-mail: janet.tapper@med.ucalgary.ca
University of Calgary
, c/o Joint Injury and Arthritis Research Group, 3330 Hospital Drive, Calgary, Alberta, Canada T2N 4N1
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Janet L. Ronsky,
Janet L. Ronsky
Professor and CRC in Biomedical Engineering
Department of Mechanical and Manufacturing Engineering, Schulich School of Engineering,
e-mail: jlronsky@ucalgary.ca
University of Calgary
, c/o Joint Injury and Arthritis Research Group, 3330 Hospital Drive, Calgary, Alberta, Canada T2N 4N1
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Jillian E. Beveridge,
Jillian E. Beveridge
Department of Surgery,
e-mail: jill.beveridge@ucalgary.ca
University of Calgary
, c/o Joint Injury and Arthritis Research Group, 3330 Hospital Drive, Calgary, Alberta, Canada T2N 4N1
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Linda L. Marchuk,
Linda L. Marchuk
Research Associate
Department of Surgery,
e-mail: marchuk@ucalgary.ca
University of Calgary
, c/o Joint Injury and Arthritis Research Group, 3330 Hospital Drive, Calgary, Alberta, Canada T2N 4N1
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Cyril B. Frank
Cyril B. Frank
Professor and Division Head, Orthopaedic Surgery
Department of Surgery,
e-mail: cfrank@ucalgary.ca
University of Calgary
, c/o Joint Injury and Arthritis Research Group, 3330 Hospital Drive, Calgary, Alberta, Canada T2N 4N1
Search for other works by this author on:
Ryan A. Howard
Department of Civil Engineering, Schulich School of Engineering,
University of Calgary
, c/o Joint Injury and Arthritis Research Group, 3330 Hospital Drive, Calgary, Alberta, Canada T2N 4N1e-mail: rhoward@imvprojects.com
Joshua M. Rosvold
Research Associate
Department of Civil Engineering, Schulich School of Engineering,
University of Calgary
, c/o Joint Injury and Arthritis Research Group, 3330 Hospital Drive, Calgary, Alberta, Canada T2N 4N1e-mail: jmrosvol@ucalgary.ca
Shon P. Darcy
Department of Civil Engineering, Schulich School of Engineering,
University of Calgary
, c/o Joint Injury and Arthritis Research Group, 3330 Hospital Drive, Calgary, Alberta, Canada T2N 4N1e-mail: sdarcy@ucalgary.ca
David T. Corr
Department of Civil Engineering, Schulich School of Engineering,
University of Calgary
, c/o Joint Injury and Arthritis Research Group, 3330 Hospital Drive, Calgary, Alberta, Canada T2N 4N1e-mail: corrd@rpi.edu
Nigel G. Shrive
Professor
Department of Civil Engineering, Schulich School of Engineering,
University of Calgary
, c/o Joint Injury and Arthritis Research Group, 3330 Hospital Drive, Calgary, Alberta, Canada T2N 4N1e-mail: shrive@ucalgary.ca
Janet E. Tapper
Department of Mechanical and Manufacturing Engineering, Schulich School of Engineering,
University of Calgary
, c/o Joint Injury and Arthritis Research Group, 3330 Hospital Drive, Calgary, Alberta, Canada T2N 4N1e-mail: janet.tapper@med.ucalgary.ca
Janet L. Ronsky
Professor and CRC in Biomedical Engineering
Department of Mechanical and Manufacturing Engineering, Schulich School of Engineering,
University of Calgary
, c/o Joint Injury and Arthritis Research Group, 3330 Hospital Drive, Calgary, Alberta, Canada T2N 4N1e-mail: jlronsky@ucalgary.ca
Jillian E. Beveridge
Department of Surgery,
University of Calgary
, c/o Joint Injury and Arthritis Research Group, 3330 Hospital Drive, Calgary, Alberta, Canada T2N 4N1e-mail: jill.beveridge@ucalgary.ca
Linda L. Marchuk
Research Associate
Department of Surgery,
University of Calgary
, c/o Joint Injury and Arthritis Research Group, 3330 Hospital Drive, Calgary, Alberta, Canada T2N 4N1e-mail: marchuk@ucalgary.ca
Cyril B. Frank
Professor and Division Head, Orthopaedic Surgery
Department of Surgery,
University of Calgary
, c/o Joint Injury and Arthritis Research Group, 3330 Hospital Drive, Calgary, Alberta, Canada T2N 4N1e-mail: cfrank@ucalgary.ca
J Biomech Eng. Oct 2007, 129(5): 743-749 (7 pages)
Published Online: May 1, 2007
Article history
Received:
August 5, 2005
Revised:
May 1, 2007
Citation
Howard, R. A., Rosvold, J. M., Darcy, S. P., Corr, D. T., Shrive, N. G., Tapper, J. E., Ronsky, J. L., Beveridge, J. E., Marchuk, L. L., and Frank, C. B. (May 1, 2007). "Reproduction of In Vivo Motion Using a Parallel Robot." ASME. J Biomech Eng. October 2007; 129(5): 743–749. https://doi.org/10.1115/1.2768983
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