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Kinematic Design of a Parallel Robot in Reduction of Femoral Shaft

Kazemirad, Siavash | 2009

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 39465 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Zohoor, Hassan; Farahmand, Farzam
  7. Abstract:
  8. The goal of fracture reduction in orthopedic surgery is to reposition the bone fragments in their anatomical orientation (alignment), and the fracture ends closed to each other (apposition). Reduction of long bone fractures is became an interesting subject in the field of robotic aided surgery in pervious decade. Nowadays reduction of femur is carried out by surgeons and medical staff in surgery. Due to the large holding forces necessary, exact positioning is difficult and time consuming. What is needed is an automated system whereby the fractured ends of the bone may be precisely positioned without the need for multiple docking attempts. The fragments need to be held in place as long as necessary while the osteosynthesis is performed in exactly the correct alignment. Utilizing robotic aided surgery in femoral shaft reduction operation is a new filed of study, which most studies were about simulation and proving of feasibility of this method. So, in this project first a novel 3-PRRS parallel mechanism with six degrees of freedom is proposed for reduction of femoral shaft fractures based on existent requirements of long bone fracture reduction. The inverse kinematic problem of the mechanism is solved geometrically. Also, its direct kinematic solution is presented both analytical using Bezout’s elimination method, and computational using Newton-Raphson iterative method. Reachable workspace of given mechanism are calculated considering geometrical and mechanical constraints. A novel generic algorithm for finding boundary points of workspace is described and implemented to better illustration of workspace. The singularity points of parallel manipulators are determined. A plan for implementing the platform on bone fragments is introduced and a step by step strategy for performing the reduction procedure, based on the system’s inverse kinematic solution, is proposed. The efficacy of the system is evaluated in a case study and it is shown that it can be locked to act as an external fixator
  9. Keywords:
  10. Asistant Surgury Robot ; Bone Reduction ; Kinematics ; Workspace ; Femur

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