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Article: A simple and novel hybrid robotic system for robot-assisted femur fracture reduction

TitleA simple and novel hybrid robotic system for robot-assisted femur fracture reduction
Authors
KeywordsComputer-aided orthopaedic surgery
Hybrid mechanism
Minimum invasive surgery
Robot kinematics
Surgical robot
Issue Date2012
PublisherTaylor & Francis Ltd.. The Journal's web site is located at http://www.brill.nl/default.aspx?partid=18&pid=9713
Citation
Advanced Robotics, 2012, v. 26 n. 1-2, p. 83-104 How to Cite?
AbstractWhen performing femur fracture reduction surgery, both the patient and surgeon are exposed to a great amount of radiation, which is harmful to their health. In order to reduce such radiation from the usage of an image intensifier, various robots have been proposed for femur fracture reduction surgery. Most of these robots are based on serial architecture. The low transportable load and poor accuracy are both inherent in serial robots, which makes them inappropriate for femur fracture reduction. Some parallel robots based on the 'Stewart platform' have also been developed for femur fracture reduction, but their restricted workspace limits their applicability and accessibility. To balance the accuracy, payload and workspace, a new robot system is reported in this paper. The proposed robot system consists of a 2-d.o.f. device and a 6-d.o.f. hybrid robot. The 2-d.o.f. device is used for distraction, which requires a very large force. The hybrid robot is used to manipulate a bone fragment for alignment and fixation purposes. The hybrid robot possesses the characteristic of a Cartesian coordinate robot; all the movements of the actuators are linear, which makes its motion smooth for low-speed fracture reduction procedures. The forward and inverse kinematics of the proposed robot are analyzed. The analysis is much simpler compared to traditional serial manipulators and parallel Stewart platform robots. A prototype of the proposed system is made using a rapid fabrication system called Objet. The positioning accuracy of the proposed system is measured using a coordinate-measuring machine. The results show that the algorithms presented in this paper for the control of the robot are accurate and robust. © Koninklijke Brill NV, Leiden and The Robotics Society of Japan.
Persistent Identifierhttp://hdl.handle.net/10722/164226
ISSN
2015 Impact Factor: 0.516
2015 SCImago Journal Rankings: 0.583
ISI Accession Number ID

 

DC FieldValueLanguage
dc.contributor.authorYe, Ren_US
dc.contributor.authorChen, YHen_US
dc.contributor.authorYau, WPen_US
dc.date.accessioned2012-09-20T07:56:43Z-
dc.date.available2012-09-20T07:56:43Z-
dc.date.issued2012en_US
dc.identifier.citationAdvanced Robotics, 2012, v. 26 n. 1-2, p. 83-104en_US
dc.identifier.issn0169-1864-
dc.identifier.urihttp://hdl.handle.net/10722/164226-
dc.description.abstractWhen performing femur fracture reduction surgery, both the patient and surgeon are exposed to a great amount of radiation, which is harmful to their health. In order to reduce such radiation from the usage of an image intensifier, various robots have been proposed for femur fracture reduction surgery. Most of these robots are based on serial architecture. The low transportable load and poor accuracy are both inherent in serial robots, which makes them inappropriate for femur fracture reduction. Some parallel robots based on the 'Stewart platform' have also been developed for femur fracture reduction, but their restricted workspace limits their applicability and accessibility. To balance the accuracy, payload and workspace, a new robot system is reported in this paper. The proposed robot system consists of a 2-d.o.f. device and a 6-d.o.f. hybrid robot. The 2-d.o.f. device is used for distraction, which requires a very large force. The hybrid robot is used to manipulate a bone fragment for alignment and fixation purposes. The hybrid robot possesses the characteristic of a Cartesian coordinate robot; all the movements of the actuators are linear, which makes its motion smooth for low-speed fracture reduction procedures. The forward and inverse kinematics of the proposed robot are analyzed. The analysis is much simpler compared to traditional serial manipulators and parallel Stewart platform robots. A prototype of the proposed system is made using a rapid fabrication system called Objet. The positioning accuracy of the proposed system is measured using a coordinate-measuring machine. The results show that the algorithms presented in this paper for the control of the robot are accurate and robust. © Koninklijke Brill NV, Leiden and The Robotics Society of Japan.-
dc.languageengen_US
dc.publisherTaylor & Francis Ltd.. The Journal's web site is located at http://www.brill.nl/default.aspx?partid=18&pid=9713-
dc.relation.ispartofAdvanced Roboticsen_US
dc.subjectComputer-aided orthopaedic surgery-
dc.subjectHybrid mechanism-
dc.subjectMinimum invasive surgery-
dc.subjectRobot kinematics-
dc.subjectSurgical robot-
dc.titleA simple and novel hybrid robotic system for robot-assisted femur fracture reductionen_US
dc.typeArticleen_US
dc.identifier.emailChen, YH: yhchen@hkucc.hku.hken_US
dc.identifier.emailYau, WP: peterwpy@hkucc.hku.hken_US
dc.identifier.authorityChen, YH=rp00099en_US
dc.identifier.authorityYau, WP=rp00500en_US
dc.description.naturelink_to_subscribed_fulltext-
dc.identifier.doi10.1163/016918611X607383-
dc.identifier.scopuseid_2-s2.0-84863258311-
dc.identifier.hkuros208280en_US
dc.identifier.volume26en_US
dc.identifier.issue1-2en_US
dc.identifier.spage83en_US
dc.identifier.epage104en_US
dc.identifier.isiWOS:000300037500005-
dc.publisher.placeUnited Kingdom-

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