Skip to main content
Springer Nature Link
Log in

Development and preclinical trials of a wire-driven end effector device for frozen shoulder treatment

  • Original Article
  • Published:
Medical & Biological Engineering & Computing Aims and scope Submit manuscript

Abstract

Several different flexible end effectors have been developed to solve the problem of approaching the lesion in a minimally invasive surgery. In this paper, we developed a wire-driven end effector device to treat frozen shoulder. Since the device is for capsular release surgery, it has a suitable bend radius for the surgery. It is a cylindrical cannula that can fit various surgical tools and can be sterilized after use. The end effector is made of an elastic material called PAI (polyamide-imide) with its outer diameter and total length being 4 and 19 mm. It is controlled by wires that are connected to a motor. Through quantitative evaluation, we confirmed that the end effector can bend up to 90° in an upward or downward direction. Through qualitative evaluation, we confirmed that the device can easier access all regions of the glenoid in a shoulder model than conventional electrocautery. An experiment on a cadaver followed, which allowed us to discuss the real life performance, operation, and areas of improvement of the device with surgeons. From the experiments, we confirmed that our target region, the IGHL (inferior glenohumeral ligament), is within the reach of our device. The surgeon also evaluated that the control of the device caused no inconvenience.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Subscribe and save

Springer+ Basic
$34.99 /Month
  • Get 10 units per month
  • Download Article/Chapter or eBook
  • 1 Unit = 1 Article or 1 Chapter
  • Cancel anytime
Subscribe now

Buy Now

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Fig. 1
Fig. 2
Fig. 3
Fig. 4
Fig. 5
Fig. 6
Fig. 7
Fig. 8
Fig. 9
Fig. 10
Fig. 11
Fig. 12
Fig. 13
Fig. 14
Fig. 15
Fig. 16

Similar content being viewed by others

References

  1. Zuckerman JD, Rokito A (2011) Frozen shoulder: a consensus definition. J Shoulder Elbow Surg 20:322–325

    Article  PubMed  Google Scholar 

  2. Simmods FA (1949) Shoulder pain, with particular reference to the “frozen” shoulder. J Bone Joint Surg Br 31:426–432

    Article  Google Scholar 

  3. Kelley MJ, Mcclure PW, Leggin BG (2009) Frozen shoulder: evidence and a proposed model guiding rehabilitation. J Orthop Sport Phys 39:135–148

    Article  Google Scholar 

  4. Fuchs KH (2002) Minimally invasive surgery. Endoscopy 34:154–159

    Article  PubMed  CAS  Google Scholar 

  5. Andrews JR, Carson WG, Ortega K (1984) Arthroscopy of the shoulder: technique and normal anatomy. Am J Sports Med 12:1–7

    Article  PubMed  CAS  Google Scholar 

  6. Gerber C, Espinosa N, Perren TG (2001) Arthroscopic treatment of shoulder stiffeness. Clin Orthop Relat R 390:119–128

    Article  Google Scholar 

  7. Jerosch J (2001) 360° arthroscopic capsular release in patients with adhesive capsulitis of the glenohumeral joint-indication, surgical technique, results. Knee Surg Sports Traumatol Arthrosc 9:178–186

    Article  PubMed  CAS  Google Scholar 

  8. Pollock RG, Duralde XA, Flatow EL, Bigliani LU (1994) The use of arthroscopy in the treatment of resistant frozen shoulder. Clin Orthop 304:30–36

    Google Scholar 

  9. Burkhead WZ, Scheinberg RR, Box G (1992) Surgical anatomy of the axillary nerve. J Shoulder Elbow Surg 1:31–36

    Article  PubMed  Google Scholar 

  10. Dario P, Carrozza MC, Marcacci M, D’Attanasio S, Magnami B, Tonet O, Megali G (2000) A novel mechatronic tool for computer-assisted arthroscopy. IEEE Trans Inf Technol Biomed 4:15–29

    Article  PubMed  CAS  Google Scholar 

  11. Simaan N, Taylor R, Flint P (2004) A dexterous system for laryngeal surgery. IEEE Int Conf Robot Autom 1:351–357

    Google Scholar 

  12. Simaan N, Taylor R, Flint P (2004) High dexterity snake-like robotic slaves for minimally invasive telesurgery of the upper airway. Med Image Comput Comput Assist Interv 3217:17–24

    Google Scholar 

  13. Kapoor A, Xu K, Wei W, Simaan N, Taylor RH (2006) Telemanipulation of snake-like robots for minimally invasive surgery of the upper airway. In Proc. MICCAI Med. Robot. Workshop, Copenhagen, Denmark:17–25

  14. Yoon HS, Oh SM, Jeong JH, Lee SH, Tae K, Koh KC, Yi BJ (2011) Active bending endoscope robot system for navigation through sinus area. In proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), San Francisco, CA, USA:967–972

  15. Yoon HS, Cha HJ, Chung J, Yi BJ (2013) Compact design of a dual master-slave system for maxillary sinus surgery. In proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Tokyo, Japan:5027–5032

  16. Payne CJ, Gras G, Hughes M, Nathwani D, Yang G-Z (2015) A hand-held flexible mechatronic device for arthroscopy. In proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg, Germany:817–823

  17. Kwon SI, Kim SM, Choi DE, Lee WS, Kang SC, Jeon IH, Kim KR (2015) Design and performance evaluation of a wire-driven end-effector to relieve frozen shoulder. Korean Society for Precision Engineering 2015(5):433–434

    Google Scholar 

  18. Strauss EJ, Roche C, Flurin P-H, Wright T, Zuckerman JD (2009) The glenoid in shoulder arthroplasty. J Shoulder Elbow Surg 18:819–833

    Article  PubMed  Google Scholar 

Download references

Acknowledgements

This research was supported by the KIST Institutional Program (2E26700).

Author information

Authors and Affiliations

  1. Department of Mechanical Engineering, Korea University, Seoul, Republic of Korea

    Chul Min Park & Shinsuk Park

  2. Robotics and Media Research Institute, Korea Institute of Science and Technology (KIST), 5 Hwarang-ro 14-gil, Sungbuk-gu, Seoul, 136-791, Republic of Korea

    Chul Min Park, Seong-il Kwon, Sungchul Kang & Keri Kim

  3. Department of Biomedical Engineering, Korea University of Science and Technology (UST), Daejeon, Republic of Korea

    Seong-il Kwon & Keri Kim

  4. Asan Medical Center, Ulsan University School of Medicine, Seoul, Republic of Korea

    Hanpyo Hong & In-Ho Jeon

Authors
  1. Chul Min Park
    View author publications

    You can also search for this author inPubMed Google Scholar

  2. Seong-il Kwon
    View author publications

    You can also search for this author inPubMed Google Scholar

  3. Hanpyo Hong
    View author publications

    You can also search for this author inPubMed Google Scholar

  4. Sungchul Kang
    View author publications

    You can also search for this author inPubMed Google Scholar

  5. In-Ho Jeon
    View author publications

    You can also search for this author inPubMed Google Scholar

  6. Shinsuk Park
    View author publications

    You can also search for this author inPubMed Google Scholar

  7. Keri Kim
    View author publications

    You can also search for this author inPubMed Google Scholar

Corresponding author

Correspondence to Keri Kim.

Ethics declarations

Conflict of interest

The authors declare that they have no conflict of interest.

Ethical approval

All procedures performed in studies involving a human cadaver were in accordance with the ethical standards of the institution or practice at which the studies were conducted.

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Park, C.M., Kwon, Si., Hong, H. et al. Development and preclinical trials of a wire-driven end effector device for frozen shoulder treatment. Med Biol Eng Comput 56, 1149–1160 (2018). https://doi.org/10.1007/s11517-017-1759-y

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s11517-017-1759-y

Keywords