Kinematic Design of a Six-Degrees of Freedom 3-RRPS Parallel Mechanism for Bone Reduction Surgery

In orthopedic surgery, bone reduction surgery consists in relocating the broken bones to their initial position while insuring a correct alignment. In the traditional method, orthopedic surgeons have to manually manipulate the fixator to re-position the fragments. With the advancements of robotics in the medical field in the last few years, robots have also been applied to the field of precision fracture reduction surgery. It assists orthopedic surgeons in re-positioning the broken bones back into their proper place. In this paper, a 3-RRPS parallel robot is proposed to perform bone reduction surgery. The kinematic analysis and velocity model are presented in this paper. A series of simulation on Adams and Matlab have been carried out to validate the kinematic and velocity model of the mechanism. A simulated bone reduction procedure using the 3-RRPS parallel robot is also performed in Adams software. The simulated result shows the suitability of the present mechanism with bone reduction surgery.