Analysis on muscle force and injured femoral reduction force based on new muscle tendon model_Journal of Biomedical Engineering

Authors：

ZHAI Yuyi , YU Lin , CHEN Dongdong , CUI Ze ,  LEI Jingtao

School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200444, P.R.China;

Corresponding?author：

LEI Jingtao, Email: jtlei2000@163.com

Keywords：

injured femoral; musculoskeletal model; musculoskeletal force; reduction force

DOI：

10.7507/1001-5515.202009016

Video：

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Robot-assisted fracture reduction usually involves fixing the proximal end of the fracture and driving the distal end of the fracture to the proximal end in a planned reduction path. In order to improve the accuracy and safety of reduction surgery, it is necessary to know the changing rule of muscle force and reduction force during reduction. Fracture reduction force was analyzed based on the muscle force of femoral. In this paper, a femoral skeletal muscle model named as PA-MTM was presented based on the four elements of skeletal muscle model. With this, pinnate angle of the skeletal muscle was considered, which had an effect on muscle force properties. Here, the muscle force of skeletal muscles in different muscle models was compared and analyzed. The muscle force and the change of the reduction force under different reduction paths were compared and simulated. The results showed that the greater the pinnate angle was, the greater the influence of muscle strength was. The biceps femoris short head played a major role in the femoral fracture reduction; the force in the z direction contributed the majority to the resulting force with maximums of 472.18 N and 497.28 N for z and resultant, respectively, and the rationality of the new musculoskeletal model was verified.

Citation： ZHAI Yuyi, YU Lin, CHEN Dongdong, CUI Ze, LEI Jingtao. Analysis on muscle force and injured femoral reduction force based on new muscle tendon model. Journal of Biomedical Engineering, 2021, 38(4): 732-741, 752. doi: 10.7507/1001-5515.202009016 Copy

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2.	曹延祥, 趙燕鵬, 婁盛涵, 等. 計算機輔助股骨干骨折治療研究進展. 中國數字醫學, 2017, 12(2): 24-27, 33.
3.	孫小剛. 股骨干骨折復位輔助機器人系統研制. 南京: 東南大學, 2016.
4.	Li Changsheng, Wang Tianmiao, Hu Lei, et al. A visual servo-based teleoperation robot system for closed diaphyseal fracture reduction. Proc Inst Mech Eng H, 2015, 229(9): 629-637.
5.	Abedinnasab M H, Farahmand F, Gallardo-Alvarado J. The wide-open three-legged parallel robot for long-bone fracture reduction. J Mech Robot, 2017, 9(1): 015001.
6.	Kim W Y, Ko S Y. Hands-on robot-assisted facture reduction system guided by a linear guidance constraints controller using a pre-operatively planned goal pose. Int J Med Robot Comput Assist Surg, 2019, 15(2): e1967.
7.	Buschbaum J, Fremd R, Pohlemann T, et al. Computer-assisted fracture reduction: A new approach for repositioning femoral fractures and planning reduction paths. Int J Comput Assist Radiol Surg, 2015, 10(2): 149-159.
8.	Buschbaum J, Fremd R, Pohlemann T, et al. Introduction of a computer-based method for automated planning of reduction paths under consideration of simulated muscular forces. Int J Comput Assist Radiol Surg, 2017, 12(8): 1369-1381.
9.	耿慧玉. 人體骨骼肌生物力學建模與仿真. 哈爾濱: 哈爾濱理工大學, 2019.
10.	Hill A V. The heat of shortening and the dynamic constants of muscle. Proc Roy Soc B, 1938, 126(843): 136-195.
11.	Zajac F E. Muscle and tendon: properties, models, scaling, and application to biomechanics and motor control. Crit Rev Biomed Eng, 1989, 17(4): 359-411.
12.	Günther M, Schmitt S, Wank V. High-frequency oscillations as a consequence of neglected serial damping in Hill-type muscle models. Biol Cyber, 2007, 97(1): 63-79.
13.	Millard M, Uchida T, Seth A, et al. Flexing computational muscle: modeling and simulation of musculotendon dynamics. J Biomech Eng, 2013, 135(2): 021005.
14.	Haeufle D F B, Günther M, Bayer A, et al. Hill-type muscle model with serial damping and eccentric force-velocity relation. J Biomech, 2014, 47(6): 1531-1536.
15.	Van Soest A J, Bobbert M F. The contribution of muscle properties in the control of explosive movements. Biol Cyber, 1993, 69(3): 195-204.
16.	M?rl F, Siebert T, Schmitt S, et al. Electro-mechanical delay in Hill-type muscle models. J Mech Med Biol, 2012, 12(5): 1250085.
17.	劉瑞東, 李慶. 激活后增強效應的生理機制、影響因素與應用策略. 成都體育學院學報, 2017, 43(6): 58-64.
18.	Folland J P, Williams A G. Morphological and neurological contributions to increased strength. Sports Med, 2007, 37(2): 145-168.
19.	Graham A E, Xie S Q, Aw K C, et al. Bone-muscle interaction of the fractured femur. Orthop Res, 2008, 26(8): 1159-1165.
20.	Joung S, Shikh S S, Kobayashi E, et al. Musculoskeletal model of hip fracture for safety assurance of reduction path in robot-assisted fracture reduction// 5th Kuala Lumpur International Conference on Biomedical Engineering. Berlin: Heidelberg, 2011: 116-120.
21.	Li Changsheng, Wang Tianmiao, Hu Lei, et al. Robot-musculoskeletal dynamic biomechanical model in robot-assisted diaphyseal fracture reduction. Biomed Mater Eng, 2015, 26(S1): 365-374.
22.	朱慶. 柔性驅動股骨干骨折復位機器人系統研究. 南京: 東南大學, 2018.
23.	安賢俊. 人體肌肉組織的生物力學建模及其有限元仿真. 哈爾濱: 哈爾濱理工大學, 2015.
24.	Warwic R, Willems P L. Gray's Anatomy. 35th Ed. Edinburgh: Longman Group Ltd, 1973.
25.	李永勝, 陳維毅. 單羽狀骨骼肌平面模型的修正. 醫用生物力學, 2007, 22(3): 277-281.
26.	Arnold E M, Ward S R, Lieber R L, et al. A model of the lower limb for analysis of human movement. Ann Biomed Eng, 2010, 38(2): 269-279.
27.	高士濂. 實用解剖學圖譜下肢分冊. 上海: 上海科學技術出版社, 2004: 63-67.
28.	單大卯. 人體下肢肌肉功能模型及其應用的研究. 上海: 上海體育學院, 2003.
29.	程利亞. 骨創傷復位機器人設計及復位路徑規劃. 上海: 上海大學, 2019.
30.	Zhu Qing, Liang Bin, Wang Xingsong, et al. Force–torque intraoperative measurements for femoral shaft fracture reduction. Comput Assist Surg, 2016, 21(sup1): 37-44.

1. 韓巍, 劉文勇, 王軍強, 等. 計算機輔助股骨干骨折復位技術研究進展. 北京生物醫學工程, 2013, 32(1): 101-105.
2. 曹延祥, 趙燕鵬, 婁盛涵, 等. 計算機輔助股骨干骨折治療研究進展. 中國數字醫學, 2017, 12(2): 24-27, 33.
3. 孫小剛. 股骨干骨折復位輔助機器人系統研制. 南京: 東南大學, 2016.
4. Li Changsheng, Wang Tianmiao, Hu Lei, et al. A visual servo-based teleoperation robot system for closed diaphyseal fracture reduction. Proc Inst Mech Eng H, 2015, 229(9): 629-637.
5. Abedinnasab M H, Farahmand F, Gallardo-Alvarado J. The wide-open three-legged parallel robot for long-bone fracture reduction. J Mech Robot, 2017, 9(1): 015001.
6. Kim W Y, Ko S Y. Hands-on robot-assisted facture reduction system guided by a linear guidance constraints controller using a pre-operatively planned goal pose. Int J Med Robot Comput Assist Surg, 2019, 15(2): e1967.
7. Buschbaum J, Fremd R, Pohlemann T, et al. Computer-assisted fracture reduction: A new approach for repositioning femoral fractures and planning reduction paths. Int J Comput Assist Radiol Surg, 2015, 10(2): 149-159.
8. Buschbaum J, Fremd R, Pohlemann T, et al. Introduction of a computer-based method for automated planning of reduction paths under consideration of simulated muscular forces. Int J Comput Assist Radiol Surg, 2017, 12(8): 1369-1381.
9. 耿慧玉. 人體骨骼肌生物力學建模與仿真. 哈爾濱: 哈爾濱理工大學, 2019.
10. Hill A V. The heat of shortening and the dynamic constants of muscle. Proc Roy Soc B, 1938, 126(843): 136-195.
11. Zajac F E. Muscle and tendon: properties, models, scaling, and application to biomechanics and motor control. Crit Rev Biomed Eng, 1989, 17(4): 359-411.
12. Günther M, Schmitt S, Wank V. High-frequency oscillations as a consequence of neglected serial damping in Hill-type muscle models. Biol Cyber, 2007, 97(1): 63-79.
13. Millard M, Uchida T, Seth A, et al. Flexing computational muscle: modeling and simulation of musculotendon dynamics. J Biomech Eng, 2013, 135(2): 021005.
14. Haeufle D F B, Günther M, Bayer A, et al. Hill-type muscle model with serial damping and eccentric force-velocity relation. J Biomech, 2014, 47(6): 1531-1536.
15. Van Soest A J, Bobbert M F. The contribution of muscle properties in the control of explosive movements. Biol Cyber, 1993, 69(3): 195-204.
16. M?rl F, Siebert T, Schmitt S, et al. Electro-mechanical delay in Hill-type muscle models. J Mech Med Biol, 2012, 12(5): 1250085.
17. 劉瑞東, 李慶. 激活后增強效應的生理機制、影響因素與應用策略. 成都體育學院學報, 2017, 43(6): 58-64.
18. Folland J P, Williams A G. Morphological and neurological contributions to increased strength. Sports Med, 2007, 37(2): 145-168.
19. Graham A E, Xie S Q, Aw K C, et al. Bone-muscle interaction of the fractured femur. Orthop Res, 2008, 26(8): 1159-1165.
20. Joung S, Shikh S S, Kobayashi E, et al. Musculoskeletal model of hip fracture for safety assurance of reduction path in robot-assisted fracture reduction// 5th Kuala Lumpur International Conference on Biomedical Engineering. Berlin: Heidelberg, 2011: 116-120.
21. Li Changsheng, Wang Tianmiao, Hu Lei, et al. Robot-musculoskeletal dynamic biomechanical model in robot-assisted diaphyseal fracture reduction. Biomed Mater Eng, 2015, 26(S1): 365-374.
22. 朱慶. 柔性驅動股骨干骨折復位機器人系統研究. 南京: 東南大學, 2018.
23. 安賢俊. 人體肌肉組織的生物力學建模及其有限元仿真. 哈爾濱: 哈爾濱理工大學, 2015.
24. Warwic R, Willems P L. Gray's Anatomy. 35th Ed. Edinburgh: Longman Group Ltd, 1973.
25. 李永勝, 陳維毅. 單羽狀骨骼肌平面模型的修正. 醫用生物力學, 2007, 22(3): 277-281.
26. Arnold E M, Ward S R, Lieber R L, et al. A model of the lower limb for analysis of human movement. Ann Biomed Eng, 2010, 38(2): 269-279.
27. 高士濂. 實用解剖學圖譜下肢分冊. 上海: 上海科學技術出版社, 2004: 63-67.
28. 單大卯. 人體下肢肌肉功能模型及其應用的研究. 上海: 上海體育學院, 2003.
29. 程利亞. 骨創傷復位機器人設計及復位路徑規劃. 上海: 上海大學, 2019.
30. Zhu Qing, Liang Bin, Wang Xingsong, et al. Force–torque intraoperative measurements for femoral shaft fracture reduction. Comput Assist Surg, 2016, 21(sup1): 37-44.

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