Kinematic analysis of an augmented 3-RPSP tripod mechanism with six degrees of freedom for bone reduction surgery

Sinh Nguyen Phu, Terence Essomba

Research output: Contribution to journalArticlepeer-review

1 Scopus citations

Abstract

Robotic-assisted bone reduction surgery consists in using robots to reconnect patients’ bone fragments prior to fracture healing. The goal of this study is to propose a novel augmented 3-RPSP tripod mechanism with six degree of freedom for longitudinal bone reduction surgery. Its inverse kinematic model is studied and its forward kinematic model is solved by establishing the constraint equations, applying Sylvester’s dialytic method and finding the solutions of the resulting polynomial equation. The velocity model is calculated and its Jacobian matrix is used to identify its singular configurations. In comparison to the Stewart–Gough platform that is a typical mechanism used in this application, the proposed mechanism offers larger reachable workspace which is an important aspect in the femoral shaft bone reduction. A Physiguide and Msc Adams software are used to carry out a simulation of a real femur fracture reduction using the proposed mechanism to validate its suitability. A robotic prototype has been designed and manufactured in order to test its capability of performing diaphyseal femur reduction surgery.

Original languageEnglish
Pages (from-to)4059-4072
Number of pages14
JournalProceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science
Volume236
Issue number8
DOIs
StatePublished - Apr 2022

Keywords

  • Tripod mechanism
  • bone reduction surgery
  • kinematics analysis
  • workspace comparison

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