Three-Dimensional Static Modeling of the Lumbar Spine

2012 ◽  
Vol 134 (8) ◽  
Author(s):  
Ernur Karadogan ◽  
Robert L. Williams

This paper presents three-dimensional static modeling of the human lumbar spine to be used in the formation of anatomically-correct movement patterns for a fully cable-actuated robotic lumbar spine which can mimic in vivo human lumbar spine movements to provide better hands-on training for medical students. The mathematical model incorporates five lumbar vertebrae between the first lumbar vertebra and the sacrum, with dimensions of an average adult human spine. The vertebrae are connected to each other by elastic elements, torsional springs and a spherical joint located at the inferoposterior corner in the mid-sagittal plane of the vertebral body. Elastic elements represent the ligaments that surround the facet joints and the torsional springs represent the collective effect of intervertebral disc which plays a major role in balancing torsional load during upper body motion and the remaining ligaments that support the spinal column. The elastic elements and torsional springs are considered to be nonlinear. The nonlinear stiffness constants for six motion types were solved using a multiobjective optimization technique. The quantitative comparison between the angles of rotations predicted by the proposed model and in the experimental data confirmed that the model yields angles of rotation close to the experimental data. The main contribution is that the new model can be used for all motions while the experimental data was only obtained at discrete measurement points.

2013 ◽  
Vol 136 (1) ◽  
Author(s):  
Ameet K. Aiyangar ◽  
Liying Zheng ◽  
Scott Tashman ◽  
William J. Anderst ◽  
Xudong Zhang

Availability of accurate three-dimensional (3D) kinematics of lumbar vertebrae is necessary to understand normal and pathological biomechanics of the lumbar spine. Due to the technical challenges of imaging the lumbar spine motion in vivo, it has been difficult to obtain comprehensive, 3D lumbar kinematics during dynamic functional tasks. The present study demonstrates a recently developed technique to acquire true 3D lumbar vertebral kinematics, in vivo, during a functional load-lifting task. The technique uses a high-speed dynamic stereo-radiography (DSX) system coupled with a volumetric model-based bone tracking procedure. Eight asymptomatic male participants performed weight-lifting tasks, while dynamic X-ray images of their lumbar spines were acquired at 30 fps. A custom-designed radiation attenuator reduced the radiation white-out effect and enhanced the image quality. High resolution CT scans of participants' lumbar spines were obtained to create 3D bone models, which were used to track the X-ray images via a volumetric bone tracking procedure. Continuous 3D intervertebral kinematics from the second lumbar vertebra (L2) to the sacrum (S1) were derived. Results revealed motions occurring simultaneously in all the segments. Differences in contributions to overall lumbar motion from individual segments, particularly L2–L3, L3–L4, and L4–L5, were not statistically significant. However, a reduced contribution from the L5–S1 segment was observed. Segmental extension was nominally linear in the middle range (20%–80%) of motion during the lifting task, but exhibited nonlinear behavior at the beginning and end of the motion. L5–S1 extension exhibited the greatest nonlinearity and variability across participants. Substantial AP translations occurred in all segments (5.0 ± 0.3 mm) and exhibited more scatter and deviation from a nominally linear path compared to segmental extension. Maximum out-of-plane rotations (<1.91 deg) and translations (<0.94 mm) were small compared to the dominant motion in the sagittal plane. The demonstrated success in capturing continuous 3D in vivo lumbar intervertebral kinematics during functional tasks affords the possibility to create a baseline data set for evaluating the lumbar spinal function. The technique can be used to address the gaps in knowledge of lumbar kinematics, to improve the accuracy of the kinematic input into biomechanical models, and to support development of new disk replacement designs more closely replicating the natural lumbar biomechanics.


Author(s):  
Ernur Karadogan ◽  
Robert L. Williams

This paper presents the kinematic and pseudostatic analyses of a fully cable-actuated robotic lumbar spine (RLS) which can mimic in vivo human lumbar spine movements to provide better hands-on training for medical students. The design incorporates five active lumbar vertebrae between the first lumbar vertebra and the sacrum, with dimensions of an average adult human spine. Medical schools can benefit from a tool, system, or method that will help instructors train students and assess their tactile proficiency throughout their education. The robotic lumbar spine has the potential to satisfy these needs in palpatory diagnosis. Medical students will be given the opportunity to examine their own patient that can be programmed with many dysfunctions related to the lumbar spine before they start their professional lives as doctors. The robotic lumbar spine can be used to teach and test medical students in their capacity to be able to recognize normal and abnormal movement patterns of the human lumbar spine under flexion-extension and lateral bending. This project focus is on palpation, but the spine robot could also benefit surgery training/planning and other related biomedical applications.


1981 ◽  
Vol 103 (4) ◽  
pp. 299-300 ◽  
Author(s):  
J. M. Laborde ◽  
A. H. Burstein ◽  
K. Song ◽  
R. H. Brown ◽  
E. Bahniuk

2009 ◽  
Vol 29 (1) ◽  
pp. 165 ◽  
Author(s):  
Adam Rozumalski ◽  
Michael H. Schwartz ◽  
Roy Wervey ◽  
Andrew Swanson ◽  
Daryll C. Dykes ◽  
...  

2021 ◽  
Vol 3 (12) ◽  
Author(s):  
Da-Ping Qin ◽  
Xiao-Gang Zhang ◽  
Ming Son ◽  
Hua Zhang ◽  
Lin-Zhong Cao ◽  
...  

AbstractIn this study, we compared stress changes and quantity effect relationships from 3D finite element models of normal and degenerative lumbar segments. We further defined the mechanisms causing alterations in mechanical stability the control of normal and degenerative lumbar segments using traditional Chinese medicine. The characteristics of the stress change and the quantity effect relationships of the three-dimensional finite element model of normal and degenerative lumbar segments were compared. The mechanism(s) leading to changes in mechanical stability and the intervention and balance between normal and degenerative lumbar segments of the traditional Chinese medicine was analyzed. The change trend of stress and strain was compared with the three dimensional finite element model under different motion states of normal lumbar vertebrae. A 3D-FEM of degenerative lumbar segments L4 ~ 5 of the human spine was established to simulate the physiological and pathological changes of the lumbar spine in response to flexion, extension, lateral bending and torsion. The stress changes in the normal and degenerative lumbar vertebrae were assessed through external force interventions and the response to TCM. Stress in the degenerative lumbar vertebrae changed according the external load. Stress and strain were compared in the FEM model under a range of motion states. Components of the human lumbar vertebrae including the cortical vertebrae, cancellous bone, endplates, fibrous rings, and facet articular processes were investigated. The elastic modulus of the nerve roots and the posterior marginal structures of the vertebral body increased with lumbar degeneration. Under stress trends in normal lumbar and different degrees of degenerative lumbar structures including cortical bone, loose bone, terminal plate, fiber ring, nucleus, small articular processes, nerve roots and posterior structures. In normal lumbar spine, 20%, 50%, 70% lumbar degeneration, 106 different lumbar anterior flexion 30 and posterior extension with different external forces showed that ANOVA F was between 3.623 and 11.381 and P changed between 0.001 and 0.05.It is clear that in the lumbar movement segments under different pressure intervention, the changes in the degree of degeneration are significantly different from each constituent structure, among which the trend of expected change between the constituent structures of the lumbar anterior flexion 30 is particularly obvious. The stress distribution in the intervertebral discs were influenced by TCM, and the space in the spinal canal enlarged so that nerve root stress decreased, vertebral body stress increased, and facet processes and pedicle stress in the posterior regions exceeded those of the anterior flexion position. The internal stress of the intervertebral disc increased in the flexion compared to the extension position, gradually increasing from top to bottom. The stress concentration point of the degenerative lumbar disc is significantly greater than the stress in the normal lumbar disc stress distribution area, and increases with the degree of degeneration. Compared with the load capacity of normal lumbar and mild (15% reduction), moderate (40% reduction) lumbar disc protrusion model in bending, extension, axial rotation, lateral bending, the results found that the load transmission of lumbar disc degeneration model to different degrees has also changed, so its compression stiffness, strain distribution and size are also different. TCM can improve and treat lumbar disc disease through its ability to regulate the mechanical environment of degenerative lumbar vertebrae. Compared to the FEM models of the lumbar vertebrae, lumbar degenerative changes could be assessed in response to alterations in the biomechanical environment. These findings provide a scientific basis for the popularization and application of TCM to prevent and treat spinal degenerative disease.


2019 ◽  
Author(s):  
Yonghui Zhao ◽  
Jinlong Liang ◽  
Haotian Luo ◽  
Yulong Ma ◽  
Taibang Chen ◽  
...  

Abstract Objective: To investigate the feasibility of using the cortical bone trajectory (CBT) screw in revision surgery for lumbar adjacent segment degeneration (LASD) and to provide a reference for clinical practice.Methods:The computed tomography (CT) scans of the lumbar spine of 40 patients in our hospital were used. Three-dimensional (3D) reconstruction was performed using Mimics 19.0 software, screws with appropriate sizes were selected for the L1 to L5 vertebral segments, and the traditional pedicle (TP) screws were placed using the standard method. After the completion of screw placement, the simulated placement of CBT screws with appropriate sizes was performed separately. During screw placement, the site and the direction were adjusted accordingly to complete the screw placement as much as possible. Under the premise of safe and feasible placement, penetration of the screw through the CBT and overlap between the TP and CBT screws should be avoided. If these requirements are met, screw placement is considered successful. Otherwise, the screw placement is considered failed. After all simulated screw placements were complete, the success rate of the screw placement in each segment of the lumbar vertebra was calculated from the statistical results. Finally, the pedicle trajectory reference width (TRW) was used for grouping to investigate the correlation between the TRW and sucess rate of screw placement. Results: Four hundred simulated screw placements (80 in each pedicle) were performed in the L1-L5 pedicles. The overall success rate of CBT screw placement in the lumbar spine was 57.00%. The success rates in the L1 to L5 segments were 47.50%, 62.50%, 57.50%, 70.00%, and 47.50%, respectively. The success rate in L4 was greater than in L2 and L3, while the lowest success rates were observed in L1 and L5. The groups were established based on the TRW. The success rate of CBT screw placement increased as the TRW increased.Conclusions: CBT screws are not suitable treatments for all cases of LASD. The success rate of screw placement varies in different lumbar segments. A preoperative measurement of TRW has important reference value for evaluating the feasibility of CBT screw placement in revision surgery for LASD.


2008 ◽  
Vol 28 (3) ◽  
pp. 378-384 ◽  
Author(s):  
Adam Rozumalski ◽  
Michael H. Schwartz ◽  
Roy Wervey ◽  
Andrew Swanson ◽  
Daryll C. Dykes ◽  
...  

2014 ◽  
Vol 988 ◽  
pp. 449-452
Author(s):  
Bo Zhang ◽  
Heng Zhi Cai ◽  
Gang Zhou ◽  
Ya Jun Zhang ◽  
Jian Zhuang

According to the spinal anatomy data, three-dimensional geometric model of human lumbar spine L3-L5 segment is established in this paper. In the model, the vertebra is divided into cortical bone, cancellous bone, endplate and other structures. The connection between the vertebrae and intervertebral disc is simulated as contact joint. The material properties of lumbar parts of the structure are not the same, the elastic modulus is changing in the analysis. Based on the model, the deformation of the lumbar spine under different size of axial force and lateral torque is simulated. The simulation result shows the variation regularity of the deformation of vertebrae and intervertebral disc under the condition of different pressure. This research provides a quantitative reference for spinal bio-mechanics. The human spine model with a gradient change sets the foundation for processing field of artificial joint using the 3D printing technology.


Author(s):  
Ernur Karadogan ◽  
Robert L. Williams

This paper presents the dynamics and nonlinear control of the Robotic Lumbar Spine (RLS). The RLS is a 15 degree-of-freedom, fully cable-actuated robotic lumbar spine which can mimic in vivo human lumbar spine movements to provide better hands-on training for medical students. The current design includes five active lumbar vertebrae and the sacrum, with dimensions of an average adult human spine. It is actuated by 20 cables connected to electric motors. Every vertebra is connected to the neighboring vertebrae by spherical joints. Medical schools can benefit from a tool, system, or method that will help instructors train students and assess their tactile proficiency throughout their education. The robotic lumbar spine has the potential to satisfy these needs in palpatory diagnosis. Additionally, a new approach to solve for positive and nonzero cable tensions that are also continuous in time is introduced.


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