Application of robotic technology in biomechanics to study joint laxity

Abstract

Primary objective: To evaluate whether in vitro joint testing using a robot with six degrees of freedom is useful for evaluating changes in joint laxity as a result of chronic osteoarthritis (OA).

Research design: Repeated measures.

Methods: Broyden's method of solving nonlinear systems of equations drove a hybrid method of load and position robotic control. Sheep stifles (knee joints) were loaded between 3 Nm of internal load through to 3 Nm of external load in 1 Nm increments. Kinematic and morphologic data from five healthy ovine stifles were compared to the chronic OA effects in four surgically destabilized stifles.

Results: Stifles with chronic OA showed increases in stiffness while range of motion decreased. Gross morphologic changes included osteophytes and cartilage fibrillation.

Discussion: Robotic testing proved useful for evaluating changes in joint mechanics as a result of chronic OA. We observed morphological changes and associated increases in joint stiffness and decreased laxity.

Keywords:

• Biomechanics
• Robotics
• Knee joint
• Laxity
• Osteoarthritis
• Osteophyte

Acknowledgements

This research was funded by the Canadian Arthritis Network, CIHR grant # QNT 67822 and NSERC. The authors would like to thank Dr Karen Gordon, Natasha Lee Shee, Karen Lowerison, and Nicole Kudo for their assistance with this project.