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The wide-open three-legged parallel robot for long-bone fracture reduction

Abedinnasab, M. H ; Sharif University of Technology | 2017

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  1. Type of Document: Article
  2. DOI: 10.1115/1.4035495
  3. Publisher: American Society of Mechanical Engineers (ASME) , 2017
  4. Abstract:
  5. Robotic reduction of long bones is associated with the need for considerable force and high precision. To balance the accuracy, payload, and workspace, we have designed a new six degrees-offreedom three-legged wide-open robotic system for long-bone fracture reduction. Thanks to the low number of legs and their nonsymmetrical configuration, the mechanism enjoys a unique architecture with a frontally open half-plane. This facilitates positioning the leg inside the mechanism and provides a large workspace for surgical maneuvers, as shown and compared to the well-known Gough-Stewart platform. The experimental tests on a phantom reveal that the mechanism is well capable of applying the desired reduction steps against the large muscular payloads with high accuracy. © 2017 by ASME
  6. Keywords:
  7. Robotics ; Experimental test ; Gough-Stewart platform ; High-accuracy ; High-precision ; Large workspace ; Long bone fractures ; Parallel robots ; Robotic systems ; Bone
  8. Source: Journal of Mechanisms and Robotics ; Volume 9, Issue 1 , 2017 ; 19424302 (ISSN)
  9. URL: http://mechanismsrobotics.asmedigitalcollection.asme.org/article.aspx?articleid=2594577