Knee tensioner-balancer and method
A method of evaluating a human knee joint including a femur bone, a tibia bone, and ligaments. The method includes: inserting into the joint a tensioner-balancer that includes at least one force sensor; providing an electronic receiving device; moving the knee joint through at least a portion of its range of motion; using the electronic receiving device to collect data from the at least one force sensor; processing the collected force data to produce a digital geometric model of the knee joint, wherein the data includes: a medial spline representing a locus of points of contact of a medial condyle of the femur F with the tensioner-balancer, over a range of knee flexion angles; and a lateral spline representing the locus of points of contact of the femur F with the tensioner-balancer, over a range of knee flexion angles; and storing the digital geometric model for further use.
1. A apparatus for evaluating a human knee joint, comprising:
a tensioner-balancer, including:
a baseplate;
a top plate defining a femoral interface surface, wherein the top plate includes a lateral cantilevered pad and a medial cantilevered pad, wherein each cantilevered pad is provided with two or more spaced-apart strain gages at the intersection between the respective cantilevered pad and a stationary portion of the top plate;
a distracting mechanism interconnecting the baseplate and the top plate and operable to move the tensioner-balancer between retracted and extended positions; and
wherein the top plate is pivotally connected to the distracting mechanism so as to be able to freely pivot about a pivot axis.
2. The apparatus of claim 1 , further comprising an actuating instrument coupled to the tensioner-balancer and including a powered actuator operable to apply actuation force to the distracting mechanism.
3. The apparatus of claim 2 , further comprising:
two or more tracking markers, at least one of which is coupled to the tensioner-balancer; and
an electronic receiving device, wherein the receiving device is operable in combination with the tracking markers to determine a position and orientation of each of the tracking markers relative to the electronic receiving device.
4. The apparatus of claim 3 , wherein at least one of the tracking markers is contained in the actuating instrument.
5. The apparatus of claim 2 , further comprising a robot arm having a plurality of arm segments interconnected with actuators operable to move the arm segments in response to command signals, the robot arm having a proximal end configured to be coupled to the baseplate of the tensioner-balancer and a distal end configured for holding and manipulating an attachment.
6. The apparatus of claim 5 , further comprising a cable saw coupled to the distal end of the robot arm.
7. The apparatus of claim 5 , further comprising a cutting guide coupled to the distal end of the robot arm.
8. The apparatus of claim 5 , wherein the cable saw comprises:
a beam extending between first and second ends, wherein the first end is coupled to the distal end of the robot arm;
a drive pulley disposed at the first end and coupled to a driving element operable to rotate the drive pulley;
an idler pulley disposed at the second end; and
a cutting cable disposed in a closed loop around the pulleys.
9. The apparatus of claim 8 , wherein the beam is configured so that it can adjust a distance between the two pulleys.