Article
A Wide-Open 3-Legged Parallel Robot for Long Bone Fracture Reduction
Journal of Mechanisms and Robotics
(2017)
Abstract
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-of-freedom 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.
Disciplines
Publication Date
January, 2017
DOI
10.1115/1.4035495
Citation Information
Mohammad H Abedin-Nasab, Jaime Gallardo-Alvarado and Farzam Farahmand. "A Wide-Open 3-Legged Parallel Robot for Long Bone Fracture Reduction" Journal of Mechanisms and Robotics Vol. 9 Iss. 1 (2017) p. 015001 Available at: http://works.bepress.com/mohammad-abedin-nasab/1/