Shoulder biomechanics International Shoulder （肩膀上的生物力学国际）.ppt

Shoulder biomechanics Ed Chadwick Frans van der Helm Man-Machine Systems Control group Dept. of Mechanical Engineering Delft University of Technology, Delft Inverse dynamic simulations Functional analysis Testing hypotheses, what-if questions Contents General introduction Kinematics Degrees of Freedom Segment motions and joint motions Motion recording Visualisation Dynamics Inverse dynamic model Motion equations Muscle dynamics Inverse/Forward dynamic optimization Applications in Computer Assisted Surgery Scapula fracture GH endoprosthesis Serratus tendon transfer Latissimus dorsi and teres major transfer Inverse endoprosthesis Shoulder bones Joint Degrees-of-Freedom # Degrees of Freedom joint depends on: Shape of articular surface Number of ligaments Model Choice !! Small translations rotations are neglected Ball-and-socket joint Hinge joint Degrees-of-Freedom Shoulder Elbow Thorax w.r.t. Global: 6 DOF Sternoclavicular joint: 3 DOF Acromioclavicular joint: 3 DOF Scapulothoracic gliding plane: -2 DOF Conoid ligament: -1 DOF Glenohumeral joint: 3 DOF Humero-ulnar joint: 1 DOF Ulno-radial joint: 1 DOF Wrist: 3 DOF Total 17 DOF Kinematic (net moments) 9 DOF Dynamic (optimized muscle forces) 8 DOF Input motions 3 thorax rotations 3 thorax positions 3 DOF shoulder girdle (~ rotations AC/SC joints) 3 glenohumeral rotations 1 elbow flexion/extension 1 forearm pro/supination 3 wrist rotations (~ hand position) Kinematicsrelatively large subcutaneous movements Kinematicsproblems with surface markers Kinematicsmeasurement procedures I Initial measurements relationship between technical markers and anatomical landmarks estimation of rotation center of humerus (= proximal marker) IHA calculations regression equations spherical fit experiment data processing segment rotations thorax relative to global coordinate system humerus relative to thorax coordinate system ulna relative to humerus radius relative to ulna Kinemat