Kinematic Design of a Six-Degrees of Freedom 3-RRPS Parallel Mechanism 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

1 引文 斯高帕斯(Scopus)

摘要

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.

原文???core.languages.en_GB???
頁(從 - 到)444-453
頁數10
期刊Mechanisms and Machine Science
78
DOIs
出版狀態已出版 - 2020

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