Evaluation of a robot-assisted testing system for multisegmental spine specimens

摘要

Mono- and multi-segmental testing methods are required to identify segmental motion patterns and evaluate the biomechanical behaviour of the spine. This study aimed to evaluate a new testing system for multisegmental specimens using a robot combined with an optical motion analysis system. After validation of the robotic system for accuracy, two groups of calf specimens (six monosegmental vs. six multisegmental) were mounted and the functional unit L3-4 was observed. Using rigid body markers, range of motion (ROM), elastic zone (EZ) and neutral zone (NZ), as well as stiffness properties of each functional spine unit (FSU) was acquired by an optical motion capture system. Finite helical axes (FHA) were calculated to analyse segmental movements. Both groups were tested in flexion and extension. A pure torque of 7.5. Nm was applied. Statistical analyses were performed using the Mann-Whitney U-test. Repeatability of robot positioning was -0.001±0.018. mm and -0.025±0.023° for translations and rotations, respectively. The accuracy of the optical system for the proposed set-up was 0.001±0.034. mm for translations and 0.075±0.12° for rotations. No significant differences in mean values and standard deviations of ROM for L3-4 compared to literature data were found. A robot-based facility for testing multisegmental spine units combined with a motion analysis system was proposed and the reliability and reproducibility of all system components were evaluated and validated. The proposed set-up delivered ROM results for mono- and multi-segmental testing that agreed with those reported in the literature. Representing the FHA via piercing points determined from ROM was the first attempt showing a relationship between ROM and FHA, which could facilitate the interpretation of spine motion patterns in the future.