Analysis of Forces and Torques during Knee Arthroscopy Subtasks

K.P.Sherman, J.Ward, D.P.M.Wills
Department of Computer Science, The University of Hull

The following data was obtained during diagnostic arthroscopy on fresh butcher’s specimen pig knees.  An instrumented arthroscopic probe was used (Figure 1.)

Figure 1.  Instrumented probe (assembled).  F/T sensor indicated with an arrow

Histogram Analysis of Forces and Torques

The following histograms show the forces and torques obtained during various subtasks of a diagnostic arthroscopy. The histograms are based on the summated data for a group of surgeons using a cadaveric pig knee (with the probe in the lateral portal). For each subtask the histograms are presented in the order: Fxy, Fz, Txy and Tz.

Applying Traction to Posterior Horn of Medial Meniscus

Figure 2. Fxy Histogram: traction to posterior horn of medial meniscus

Figure 3. Fz Histogram: traction to posterior horn of medial meniscus

Figure 4. Txy Histogram: traction to posterior horn of medial meniscus

Figure 5. Tz Histogram: traction to posterior horn of medial meniscus

Probing the Lower Surface of the Medial Meniscus

Figure 6. Fxy Histogram: probing the under surface of medial meniscus

Figure 7. Fz Histogram: probing the under surface of medial meniscus

Figure 8. Txy Histogram: probing the under surface of medial meniscus

Figure 9. Tz Histogram: probing the under surface of medial meniscus

Probing the Medial Tibial Plateau

Figure 10. Fxy Histogram: probing medial tibial plateau

Figure 11. Fz Histogram: probing medial tibial plateau

Figure 12. Txy Histogram: probing medial tibial plateau

Figure 13. Tz Histogram: probing medial tibial plateau

Probing the Medial Femoral Condyle

Figure 14. Fxy Histogram: probing medial femoral condyle

Figure 15. Fz Histogram: probing medial femoral condyle

Figure 16. Txy Histogram: probing medial femoral condyle

Figure 17. Tz Histogram: probing medial femoral condyle

Applying Traction to Posterior Horn of Medial Meniscus

Figure 18. Fxy when applying traction to Posterior Horn of Medial Meniscus

Figure 19. Fz when applying traction to posterior horn of medial meniscus

Figure 20. Txy when applying traction to posterior horn of medial meniscus

Figure 21. Tz when applying traction to posterior horn of medial meniscus

Force/Torque Signatures

Figure 22. Force and torque when applying traction to the posterior horn of the medial meniscus

Figure 23. Torque xy and z – maximum xy torque 450 mNm.
Arrow demonstrates torque around z axis as probe is rolled over the posterior rim of the meniscus

Figure 24. Forces probing the under surface of the medial meniscus

Figure 25. Torques during probing of the under surface of the medial meniscus

Figure 26. Forces during probing of the medial tibial plateau

Figure 27. Torques during probing of the medial tibial plateau

Figure 28. Forces during probing the medial femoral condyle

Figure 29. Torques during probing of the medial femoral condyle

References

The development of an arthroscopic surgical simulator with haptic feedback. Ward J.W., Wills D.P.M., Sherman K.P., Mohsen A.M.M.A. Future Generation Computer Systems, Elsevier, 1998; 550: 1 – 9

The Acquisition of Force Feedback Data For a Virtual Environment Knee Arthroscopy Training System. Ward J.,  Sherman K.,  Wills D., Mohsen A.M.M.A., Crawshaw M. Proc. Industrial & Business Simulation Symposium "1999 Advanced Simulation Technologies Conference" San Diego, April 1999: 87 – 92. ISBN: 1-56555-167-2

Surgical Trainee Assessment using a VE Knee Arthroscopy Training System (VE-KATS): Experimental results. Sherman K.P., Ward J.W., Wills D.P.M., Sherman V.J., Mohsen A.M.M.A. Medicine Meets Virtual Reality 2001, J.D.Westwood et al. (Eds), IOS Press, Amsterdam, 2001; p 465 – 470. ISBN 1 58603 143 0