Kinematic Design of a Hybrid Mechanism for Bone Reduction Surgery

Terence Essomba, Sinh Nguyen Phu

研究成果: 書貢獻/報告類型會議論文篇章同行評審

摘要

In severe fracture cases, a bone can be completely separated into two fragments. In order to guarantee a re-ossification of the bone, it is mandatory to reposition the bone fragment together. This process requires a delicate surgery called “bone reduction surgery”. The most advanced technique relies on the use of a robots to manipulate the bone fragments with higher precision and stability. The present work introduces the kinematic design of a new hybrid mechanical architecture to perform this task. It is made of one 3-PRP planar mechanism and one 3-RPS tripod mechanism. Its kinematic model is resolved while taking account the tripod parasitic motion. The workspace of this mechanism is then compared to the standard hexapod mechanism that is widely used in bone reduction surgery. It reveals that the proposed mechanism benefits from a larger workspace.

原文???core.languages.en_GB???
主出版物標題Advances in Service and Industrial Robotics - Proceedings of the 28th International Conference on Robotics in Alpe-Adria-Danube Region RAAD 2019
編輯Daniel Görges, Karsten Berns
發行者Springer Verlag
頁面365-373
頁數9
ISBN(列印)9783030196479
DOIs
出版狀態已出版 - 2020
事件28th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2019 - Kaiserslautern, Germany
持續時間: 19 6月 201921 6月 2019

出版系列

名字Advances in Intelligent Systems and Computing
980
ISSN(列印)2194-5357
ISSN(電子)2194-5365

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???event.eventtypes.event.conference???28th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2019
國家/地區Germany
城市Kaiserslautern
期間19/06/1921/06/19

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