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VIVO™ supports two virtual soft tissue models. VIVO™ introduces AMTIs exclusive, patent-pending multi-fiber ligament model, which can capture the 6-DOF inter-axis coupling typical of biological soft tissue systems. This major advance in soft tissue modeling capabilities opens new doors in research and equips VIVO™ to handle anticipated future test specifications.
VIVO™ also offers our patented heuristic constraint model. Upward-compatible with the soft tissue model used in our older simulators, in VIVO™ the heuristic constraint model has been enhanced and extended with greater flexibility and programmability.
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An independently-specified heuristic constraint model is available for every axis of the VIVO™ that is in force-control mode. VIVO™ is the worlds first simulator to fully support the Grood and Suntay joint coordinate system, accepted by ASTM, ISO and ISB as a standard for biomechanics joint testing. The user commands forces and motions with respect to software-defined joint-referenced axes, making it unnecessary to consider the complex, pose-dependent, compound-rotation kinematics of the machines physical actuators.
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The virtual coordinate system is also the key enabling element in VIVO™s exclusive new test setup system. VIVO™ can sense how the joint or implant is placed in the workspace and relocate the coordinate origin in software to match the installed pose of the joint.
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This capability accommodates mounting variations in the experimental setup. It relaxes the level of accuracy required when mounting joint specimens in the adapters that hold them in the machine.
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VIVO™ has a new, patent-pending iterative learning control system to improve the accuracy of the actual forces and positions generated by the simulator. Based on modern control theory, this feed-forward, self-tuning frequency-domain implementation requires less user configuration than ever before, yet provides the best stability and fastest convergence available in any AMTI simulator.
Capable of performing short-term kinematic and long-term durability evaluations, VIVO™ is a configurable system that may have from one to three joint test stations in a single frame. The stations operate independently of each other.
The VIVO™ user interface runs on a separate Windows computer host. The UI software provides one-click copying of setup and programming between stations for situations where the same test protocol is to be run on multiple stations. VivoSim is an optional software product that aids understanding by displaying an accurate 3-D model of the joint components and the multi-fiber ligament model as they move in space.
While VIVO™ by itself is a completely functional, stand-alone simulation system, VivoSim provides an enhanced ability to look inside the multi-fiber ligament model and examine the strain, tension, and resolved force components individually for each fiber. VivoSim also has a near-real-time stand-alone modeling capability.
VivoSim, sold separately, is described elsewhere on the website. VIVO™s unique combination of speed, range of motion and force capability, programmability and virtual soft tissue models enables testing of real-world implant failure modes, such as adverse edge loading conditions, micro-separation, stem and cup impingement, condylar liftoff, and joint subluxation.
VIVO™ system consists of one to three test stations assembled and shipped as a unit. Each station is equipped with six servo-hydraulic actuators. Acquisition and installation costs are optimized by sharing a single electrical power connection, realtime controller, hydraulic pressure supply, and hydraulic return for all stations in a frame.
Although there is a single realtime controller, it executes independent control loops for each of the stations. Therefore the stations are programmed and operate independently.
The unique actuator configuration on the lower stage provides a floating instant center of rotation. In combination with the software-defined virtual axes of the Grood and Suntay coordinate system, many of the joint alignment issues found in legacy test machine designs are eliminated.
Precision displacement sensors are co-located with the hydraulic actuators to generate position feedback for the control system. Each station has a six-axis force sensor, which measures the contact forces and moments for force feedback.
The lower part of the tested joint is mounted directly to the force sensor, achieving close coupling between joint contact interactions and the feedback sensor. Force disturbances arising from actuator nonlinearities or imperfections are included in the force feedback measurement and become correctable by the control system.
If desired, the mass and polar moment of inertia coupled to the force sensor may be entered so that the control system can cancel the effect of inertial body forces. Each station has a temperature-controlled serum containment and circulation system for tests that are conducted in a fluid environment.
The thermal plate can heat or cool the serum to achieve setpoints between approximately 10°C and 45°C. The stations in a multi-station VIVO™ frame operate independently. However, the VivoControl UI supports one-step copying of programs and setups between stations so that the same test protocol can be executed for multiple samples.
AMTIs extensive biomechanical simulation experience coupled with modern advances in control technology has culminated in the new VIVO™ control system. It is the most sophisticated robotic control system available today for joint motion simulation.
The control system provides two kinematic modes. Joint Coordinate System mode – implements the Grood and Suntay Joint Coordinate System (JCS). The Grood and Suntay joint coordinate system has been adopted by the International Society for Biomechanics, ASTM and ISO. In G S mode, control inputs and data outputs are resolved along joint-referenced axes that coincide with clinically-meaningful directions – medial lateral, posterior anterior and distraction compression translations, and flexion extension, abduction adduction, and internal external rotations.
The mapping function between actuator positions and Grood and Suntay coordinates is computed from a reference pose setup – the user identifies the Grood and Suntay coordinates of a defined joint pose, then produces that pose on the test sample installed in the machine, and selects command on the UI. There is also a pre-defined default mapping, which may be selected at any time. Once the kinematic mapping is defined, the control system updates the relationship between the physical actuator positions and Grood and Suntay coordinates 2000 times per second. This operation assures that the Grood and Suntay axes maintain their joint-referenced definitions for all machine poses within the physical workspace of the VIVO™. In G S mode the flexion extension axis has a range of motion of 110°. Using VIVO™s setup features, this physical range of motion can be associated to any 110° window of the virtual G S flexion coordinate, subject to limits of ±180° on the coordinate value.
In G S mode, every axis may operate in position-command or force-command mode. The command mode is independently selected for each axis and any combination is possible. Cartesian Coordinate System mode – for compatibility with traditional machines.