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, 赵燕鹏, 娄盛涵, 等. 计算机辅助股骨干骨折治疗研究进展. 中国数字医学, 2017, 12(2): 24-27, 33.
3.	孙小刚. 股骨干骨折复位辅助机器人系统研制. 南京: 东南大学, 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. 人体骨骼肌生物力学建模与仿真. 哈尔滨: 哈尔滨理工大学, 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.	Mörl F, Siebert T, Schmitt S, et al. Electro-mechanical delay in Hill-type muscle models. J Mech Med Biol, 2012, 12(5): 1250085.
17.	刘瑞东, 李庆. 激活后增强效应的生理机制、影响因素与应用策略. 成都体育学院学报, 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.	朱庆. 柔性驱动股骨干骨折复位机器人系统研究. 南京: 东南大学, 2018.
23.	安贤俊. 人体肌肉组织的生物力学建模及其有限元仿真. 哈尔滨: 哈尔滨理工大学, 2015.
24.	Warwic R, Willems P L. Gray's Anatomy. 35th Ed. Edinburgh: Longman Group Ltd, 1973.
25.	李永胜, 陈维毅. 单羽状骨骼肌平面模型的修正. 医用生物力学, 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. 实用解剖学图谱下肢分册. 上海: 上海科学技术出版社, 2004: 63-67.
28.	单大卯. 人体下肢肌肉功能模型及其应用的研究. 上海: 上海体育学院, 2003.
29.	程利亚. 骨创伤复位机器人设计及复位路径规划. 上海: 上海大学, 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. 韩巍, 刘文勇, 王军强, 等. 计算机辅助股骨干骨折复位技术研究进展. 北京生物医学工程, 2013, 32(1): 101-105.
2. 曹延祥, 赵燕鹏, 娄盛涵, 等. 计算机辅助股骨干骨折治疗研究进展. 中国数字医学, 2017, 12(2): 24-27, 33.
3. 孙小刚. 股骨干骨折复位辅助机器人系统研制. 南京: 东南大学, 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. 人体骨骼肌生物力学建模与仿真. 哈尔滨: 哈尔滨理工大学, 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. Mörl F, Siebert T, Schmitt S, et al. Electro-mechanical delay in Hill-type muscle models. J Mech Med Biol, 2012, 12(5): 1250085.
17. 刘瑞东, 李庆. 激活后增强效应的生理机制、影响因素与应用策略. 成都体育学院学报, 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. 朱庆. 柔性驱动股骨干骨折复位机器人系统研究. 南京: 东南大学, 2018.
23. 安贤俊. 人体肌肉组织的生物力学建模及其有限元仿真. 哈尔滨: 哈尔滨理工大学, 2015.
24. Warwic R, Willems P L. Gray's Anatomy. 35th Ed. Edinburgh: Longman Group Ltd, 1973.
25. 李永胜, 陈维毅. 单羽状骨骼肌平面模型的修正. 医用生物力学, 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. 实用解剖学图谱下肢分册. 上海: 上海科学技术出版社, 2004: 63-67.
28. 单大卯. 人体下肢肌肉功能模型及其应用的研究. 上海: 上海体育学院, 2003.
29. 程利亚. 骨创伤复位机器人设计及复位路径规划. 上海: 上海大学, 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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