Real-Time Robotic Tracking for Precise and Reliable Knee Rehabilitation Tasks Following TKA

The chapter introduces a novel robotic system designed for precise and reliable knee rehabilitation tasks following Total Knee Arthroplasty (TKA). The system uses real-time tracking to monitor anatomical segments, ensuring optimal orientation of the shank relative to the thigh. Initial trials focus on passive tasks to assess feasibility, with plans to incorporate active rehabilitation tasks. The system's innovation lies in its precise control of segment trajectories and monitoring of forces between the robotic arm and the patient's leg. The experimental protocol involves calibration, digitalization of anatomical segments, and execution of robotic tasks while recording poses and forces. Results show successful trajectory generation and correlation between AA torque and displacement, despite some slippage. The system demonstrates controlled AA and FE movements and the potential for implementing specific rehabilitation tasks with accurate position and force control. Future steps include developing non-invasive patient anatomy registration and tracking methods, and different control strategies for active rehabilitation with variable loads.