• The Journal of Korea Robotics Society
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• v.19 no.1
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• pp.1-7
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• 2024

This paper presents an under-actuated robotic hand inspired by the ligamentous structure of the human hand for a prosthetic application. The joint mechanisms are based on the concept of a tensegrity structure formed by elastic strings. These rigid bodies and elastic strings in the mechanism emulate the phalanx bones and primary ligaments found in human finger joints. As a result, the proposed hand inherently possesses compliant characteristics, ensuring robust adaptability during grasping and when interacting with physical environments. For the practical implementation of the tensegrity-based joint mechanism, we detail the installation of the strings and the routing of the driving tendon, which are related to extension and flexion, respectively. Additionally, we have designed the palm structure of the proposed hand to facilitate opposition and tripod grips between the fingers and thumb, taking into account the transverse arch of the human palm. In conclusion, we tested a prototype of the proposed hand to evaluate its motion and grasping capabilities.

• Journal of Biomedical Engineering Research
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• v.19 no.4
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• pp.403-416
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• 1998

Socket pressure distributions with gait analysis of a trnsfemoral and a transtibial prostheses were measured in order to assess an optimal socket fitting and function. Ankle joint was aligned by the neutral and the dorsi/plantar flexed positions. Compared to dorsi and plantar flexed positions of ankle joint, cadence and walking speed increased with the neutral ankle joint alignment. Other gait parameters were close to the normative data with the neutral ankle joint alignment. For the transfemoral amputee, dorsiflexed alignment of the ankle joint created high pressure on the lateral aspect of the socket, on the other hand, plantarflexed alignment resulted in increased pressure on the medial aspect of the socket. For the transtibial amputee, dorsiflexed alignment of the ankle resulted in high pressure on the antero-lateral aspect of the socket during mid-stance, but apltarflexion of the ankle joint showed slight increases in pressure at the same location in the socket. The present study clearly demonstarted that malalignment of a prosthesis results in localized increasesing pressure within the socket. Proper slignment of the prosthesis is required in order to acquire an appropriate socket-limb interface as well as the proper gait.

• Korean Journal of Computational Design and Engineering
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• v.13 no.3
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• pp.200-208
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• 2008

Total Hip Replacement(THR) is a surgical procedure that replaces a diseased hip joint with a prosthesis. A plastic or metal cup forms the socket, and the head of the femur is replaced by a metal ball on a stem placed inside the femur. Due to the various types and shapes of human hip joint of every individual, a selected commercial implant sometimes may not be the best-fit to a patient, or it cannot be applied because of its discrepancy. Hence extracting geometry parameters of hip joint is one of the most crucial processes in designing custom-made implants. This paper describes the framework of a methodology to extract the geometric parameters of the hip joint. The parameters include anatomical axis, femoral head, head offset length, femoral neck, neck shaft angle, anteversion, acetabulum, and canal flare index. The proposed system automatically recommends the size and shape of a custom-made hip implant with respect to the patient's individual anatomy from 3D models of hip structures. The proposed procedure creating these custom-made implants with some typical examples is precisely presented and discussed in this paper.

• The Journal of the Korean bone and joint tumor society
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• v.2 no.1
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• pp.8-17
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• 1996

The purpose of this study is a comparative evaluation of range motion, especially extension deficit between the group of total patellectomy and that of intact patella, after reconstruction of the patellar tendon in the prosthetic replacement of a proximal tibia. Between 1990 and 1994, 15 patients who had a primary malignancy on proximal tibia were operated on. All patients were evaluated clinically and radiographically. Two patients were excluded because one had a deep infection treated with arthrodesis of the knee and the other was a composite allograft. The mean follow-up of the 13 patients was 27 months(15-47), including 10 osteosarcomas, 1 chondrosarcoma, 1 malignant fibrous histiocytoma and 1 malignant giant cell tumor. Eleven patients had a resection of the proximal tibia and 2 had an extracapsular total knee resection with distal femur. Reconstruction of the defect was done in 8 cases with a custom-made Link Endo-Model Total Rotation Knee Joint Prosthesis, and in 5 with How Medica Modular Resection System (HMRS). We used two methods to reconstruct the ligamentum patellae. Fixation of the patellar tendon to the prosthesis only with suturing and/or stapling(group SS) was done in 7. Transposition of gastrocnemius muscle to enhance fixation and to cover the prosthesis(group TG) was done in 6. Regardless of fixation methods, total patellectomy was done in 5 either to lengthen the patellar tendon or to make primary skin closure easier or for both. In 8 cases, patella was left intact or resurfaced with polyethylene prosthesis. Active extension was measured while the patient was in a sitting position. There is no statistically meaningful difference in terms of extension deficit (Wilcoxon rank test, p=0.8800) between patellectomy group and intact patella group, and between group of fixation only with suturing and that of gastrocnemius transposition. Two cases of extension deficit over 30 degree were seen in group SS and in the group of intact patella. Conclusively, total patellectomy could be an option without increasing the risk of extension deficit when primary skin closure is difficult or patellar tendon is a little bit short to be fixed. There is no rating in the Enneking system of functional evaluation that this finding into consideration.

• The Journal of the Korean bone and joint tumor society
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• v.13 no.2
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• pp.96-104
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• 2007

Purpose: The authors investigated whether 35 flexible nail-rotating hinge composite reconstructions around knee joint minimize junctional osteolysis of host bone. Material and Method: The reconstructive technique was as follows: 1) en bloc tumor resection, 2) filling of the host bone marrow cavity with multiple Ender nails, 3) assembling the Ender nails and an Endo-Link type total knee component with wire and bone cement. Result: Mean follow-up was 53 months (ranged 30~79). At final follow-up, 29 patients retained a mobile joint. Resection of more than 40% of bone showed a positive relationship with junctional hypertrophy (p=0.028). Eight patients showed nail breakage and eight prostheses were removed due to early or late infection. The cumulative prosthetic survival rate was 33% at 6 year. Average functional score according to the MSTS criteria was 26.8. Conclusion: Mid-term evaluations showed that results were fair. The revision process was straightforward. Junctional hypertrophy observed appears to give some clues as to how to minimize osteolysis at the prosthesis-host junction after modular prosthesis fixation.

• Journal of Dental Rehabilitation and Applied Science
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• v.21 no.2
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• pp.113-132
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• 2005

The purpose of this study was to assess the stress-induced pattern at the supporting bone, the implant fixture, the abutment and the abutment screw according to a friction-fit joint (Astra; Model 1) or slip- fit joint (Frialit-2; Model 2) in the internal connection system under vertical and inclined loading using finite element analysis. In conclusion, in the internal connection system of the implant and the abutment connection methods, the stress-induced pattern at the supporting bone, the implant fixture, the abutment and the abutment screw according to the abutment connection form had difference among them, and the stress distribution pattern usually had a widely distributed tendency along the inner surface of the implant fixture contacting the abutment post. The magnitude of the stress distributed in the supporting bone, the implant fixture, the abutment and the abutment screw was higher in the friction-fit joint than in the slip-fit joint. But it is considered that the further study is necessary about how this difference in the magnitude of the stress have an effect on the practical clinic.

• Journal of the Korean Society for Precision Engineering
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• v.24 no.7 s.196
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• pp.133-138
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• 2007

It is important to understand the characteristics of amputee gait to develop more advanced prostheses. The aim of this study was quantitatively to analyze the stair climbing task for the above-knee amputee with a prosthesis and to predict muscle forces and joint moments at musculoskeletal joints by dynamic analysis. The three-dimensional musculoskeletal model of lower extremities was constructed by gait analysis and transformation software for one above-knee amputee and ten healthy people. The measured ground reaction forces and kinematical data of each joint by gait analysis were used as input data during inverse dynamic analysis. Lastly, dynamic analysis of above-knee amputee during stair climbing were performed using musculoskeletal models. The results showed that summed muscle farces of hip extensor of amputated leg were greater than those of sound leg but the opposite results were revealed at hip abductor and knee flexor of amputated leg. We could also find that the higher moments at hip and knee joint of sound leg were needed to overcome the flexion moment caused by body weight and amputated leg. In conclusion, dynamic analysis using musculoskeletal models may be a useful mean to predict muscle forces and joint moments for specific motion tasks related to rehacilitation therapy..

• Proceedings of the IEEK Conference
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• 2002.06e
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• pp.281-284
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• 2002

대부분의 보조기 및 의족은 기계식이 주류이며 환자가 착용시 정상보행은 부드럽지 못하고 원활한 보행을 위해서는 장기간 동안 훈련이 요구된다. 따라서 대퇴의족에서 발생하는 이러한 문제점을 개선하기 위해 본 연구에서는 대퇴절단자(transfermoral amputee)의 보행을 정상보행에 일치하는 보행 능력을 복원하기 위해 근전도 신호와 인공신경망을 이용하여 적응 PID제어기를 설계하였고 그 제어 결과를 제시하였다.

• Journal of the Korean Orthopaedic Association
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• v.56 no.2
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• pp.103-116
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• 2021

The use of 3-dimensional (3D) printing is becoming more common, and its use is increasing in the orthopedic surgery. Currently, there are four major methods of using 3D printing technology in orthopedic surgery. First, surgical planning simulation using 3D printing model; second, patient-specific surgical instruments; third, production of customized prosthesis using 3D printing technique; fourth, patient-specific prosthesis produced by 3D printing. The areas of orthopedic surgery where 3D printing technology can be used are shoulder joint, spine, hip and pelvis, knee joints, ankle joint, and tumors. Since the diseases and characteristics handled by each area are different, the method of using 3D printing technology is also slightly different in each area. However, using 3D printing technology in all areas can increase the efficiency of surgery, shorten the surgery time, and reduce radiation exposure intraoperatively. 3D printing technology can be of great help in treating patients with particularly complex and difficult orthopedic diseases or fractures. Therefore, the orthopedic surgeon should make the most of the benefits of the 3D printing technology so that patient can be treated effectively.

• The Journal of the Korean bone and joint tumor society
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• v.17 no.2
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• pp.79-86
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• 2011

Purpose: Modular tumor prosthesis is the most popular recontructive modality after resection of malignat tumor in extremity. Complications and survival of tumor prosthesis reconstruction are well-known. however, reports on the long-term outcome of tumor prosthesis in osteosarcoma patientss are scarece. Materials and Methods: In 158 cases as diagnosed as osteosarcoma from feburary 1989 to December 2006 in a single cancer center. We retrospectively reviewd 48 osteosarcoma patients who under went tumor prosthetic reconstruction. Mean follow up preiod was 75.6 months (range; 60 to 179 months). There were 28 males, 20 females and mean age was 22.4 years (range; 11-71). Pathologic subtypes were conventional central osteosarcoma in 46 cases and periosteal in 2 cases. The location of the tumor was proximal tibia (26 cases), distal femor (20 cases), femor diaphysis (1 case), and tibia diaphysis (1 case). In 41 cases built-up-type tumor prosthesis have been used and 7 cases expansion-type tumor prosthesis have been used. We used Musculoskeletal tumor society (MSTS) grading system to asses post operation function, and we analyzed survival rate of patient and tumor prosthesis and complication. Results: The overall survival rate was 77.7% and disease free survival rate was 68.9%. The survival rate of tumor prosthesis was 73%, in last follow up tumor prosthesis has been removed in 12 cases. All of them, 17 complications occurred, which included infection in 16 cases, Periprosthetic Fracture and Loosening of tumor prosthesis in 4 cases, articular instability in 4 cases. MSTS functional score was 74.1% in post operation. Conclusion: In long term follow up result, Primary tumor prosthesis -a reconstruction method after a wide extensional resecion of a bone tumor- can be a effective treatment method in asepect of survival rate, functional assesment and complication.