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

Sinh Nguyen Phu, Terence Essomba

研究成果: 雜誌貢獻期刊論文同行評審

摘要

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.

原文???core.languages.en_GB???
頁(從 - 到)4059-4072
頁數14
期刊Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science
236
發行號8
DOIs
出版狀態已出版 - 4月 2022

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