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Design and Implementat of a Navigating Procedure for Robotic-assisted Fracture Reduction of Long Bones

Pourebrahim, Majid | 2016

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  1. Type of Document: M.Sc. Thesis
  2. Language: English
  3. Document No: 48775 (58)
  4. University: Sharif University of Technology, International Campus, Kish Island
  5. Department: Science and Engineering
  6. Advisor(s): Farahmand, Farzam
  7. Abstract:
  8. During femur fracture reduction surgery, both patients and surgeons are exposed to a great amount of radiation, which is harmful to their health. Computer-assisted orthopaedic surgery (CAOS) is a less invasive approach for its ability to reduce the usage of image intensifiers. Various robots have been developed for femur fracture reduction surgery. Most of these robots are based on serial architectures. Both low load-carrying capacity and poor accuracy are inherent to serial robots, which makes them inappropriate for femur fracture reduction. Some parallel robots using the “Stewart platform” have also been developed for femur fracture reduction, but their restricted workspace limits their performance and applicability. To balance the accuracy, payload and workspace requirements, in this thesis a newly designed robotic system is proposed which is a 3-legged, 6-DOF parallel mechanism with a frontally open half-plane architecture, enabling it to embrace and manipulate long bones for this purpose. This research proposes a novel procedure for repositioning femoral fractures and planning reduction paths in orthopaedic surgery by navigating a robotic system. An algorithm has been developed to implement the procedure and its efficacy will be evaluated in experimental studies on phantom with plastic bone models and anatomical specimen femur bone. This procedure is based on finding the relative spatial configuration of the bone fragments, using the CT data, and registering it into the robot coordination system, the positioning accuracy of the proposed system is measured using a Micron tracker camera. The inverse kinematics of the proposed robotic system is also analysed geometrically. The experimental and simulation results have shown that the algorithms presented in this thesis are accurate and robust
  9. Keywords:
  10. Fracture Reduction ; Parallel Robot ; Orthopedic Surgery ; Long Bone ; Serial Robot

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