A three-degrees-of-freedom micromotion in-parallel actuated manipulator

Lee, K.-M.; Arjunan, S.

doi:10.1109/70.97875

Cited by 122 publications

(42 citation statements)

References 21 publications

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“…The structure of doubletriangle look-like the star composed two combinations of RPS manipulator introduced by K.M. Lee [14] and Triangular Planar-Parallel Robot (PRP) suggested by Daniali [15]. The concept design of this novelty robot shown in Figure 3.…”

Section: Robot-assisted Fracture Reduction (Rafr)mentioning

confidence: 99%

Integration of computer-assisted fracture reduction system and a hybrid 3-DOF-RPS mechanism for assisting the orthopedic surgery

Irwansyah

Phu

Lai³

et al. 2018

IOP Conf. Ser.: Mater. Sci. Eng.

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Abstract. In this paper, we present study to integrate virtual fracture bone reduction simulation tool with a novel hybrid 3-DOF-RPS external fixator to relocate back bone fragments into their anatomically original position. A 3D model of fractured bone was reconstructed and manipulated using 3D design and modeling software, PhysiGuide. The virtual reduction system was applied to reduce a bilateral femoral shaft fracture type 32-A3. Measurement data from fracture reduction and fixation stages were implemented to manipulate the manipulator pose in patient's clinical case. The experimental result presents that by merging both of those techniques will give more possibilities to reduce virtual bone reduction time, improve facial and shortest healing treatment. IntroductionUtilization the computer-assisted or robotic surgery technology for enhancing orthopedic procedure is still not mature yet. It needs more evident for patients and surgeons to improve the uncertainty and make them sure that those of assisted-technology can provide accurate, predictable and safe treatment. At least two decades research in Computer-Aided Orthopaedic Surgery (CAOS) and Orthopaedic Robotics (CAOR) have happened in design and development level but only a few of them are presently being allowed for clinical trials. In orthopedic clinical practice, complicated bone deformities treatment and unreduced fractures are always problematic issues. In this study, the combination of virtual fracture reduction with a robotic-assisted reduction is proposed to solve those problems. Currently, we have built an integrated preoperative simulation system for orthopedic surgery and have been used as preoperative planning tool for a surgeon to solve clinical cases of bone fracture reduction and implant placement. The system is operated in a PC based environment that integrates the virtual surgery tools in single computer program package, making it easy to implement in clinical applications [1][2]. The aims of our research to study integration of computer-assisted fracture reduction and robotic system. Even though computerassisted fracture reduction have been developed by several researchers with different level of accuracies, we explore beneficity merging both of cutting-edge-technology. A 3D model of fractured bone is generate directly from a stacks of CT images, segmented in multi region, and virtually reduce and stabilize. A computer-integrated orthopedic system, called FRACAS, was develop for deal with long bone fractures. It replace to use fluoroscopic images to virtual reality display of 3D bone models [3]. A 3D visualization tool was developed to generate a realistic model of the bone-fixator system. The visualization tool has improved the current software to provide a realistic depiction of the treatment procedure [4]. Integrating surgeon instructed, image-guided and robot-assisted applied to reposition long bone fracture. A robotic solution exists to solve the problems of manipulating and reducing long bone

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Section: Robot-assisted Fracture Reduction (Rafr)mentioning

confidence: 99%

Integration of computer-assisted fracture reduction system and a hybrid 3-DOF-RPS mechanism for assisting the orthopedic surgery

Irwansyah

Phu

Lai³

et al. 2018

IOP Conf. Ser.: Mater. Sci. Eng.

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“…Pernette [8] developed parallel robots in micro-robotics which could be used in locating on fiber negative. Hudgens and Tesar [9] presented a fully-parallel six degree-of-freedom (DOF) micro-manipulator with flexible joints which could be used in error compensation and force control. Lee [15] studied a micro-manipulator with 3-DOF parallel mechanism.…”

Section: Introductionmentioning

confidence: 99%

Design on Wrist and Gripper of manipulator Based on Kinematics Analysis

Zong¹,

Xiang²,

Li³

et al. 2016

Proceedings of the 2016 3rd International Conference on Materials Engineering, Manufacturing Technology and Control

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Abstract. Joint-manipulator installed on the intelligent wheelchair robot decides the whole system capability. The kinematics analysis and structure design about mechanical wrist and gripper for joint-manipulator are discussed in this paper. Based on the D-H coordinate method, the kinematic equation of joint-manipulator is determined firstly, and its correctness is verified by doing the MATLAB simulation experiment. Then, according to the experimental results, the BR wrist of the manipulator is chosen and the gripper which can clamp both cylindrical and box objects is designed. In addition, the corresponding analysis is made by ANSYS software.

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“…Moreover, they also have simpler inverse kinematics, which is an advantage for real-time control. Recently, parallel manipulators have been developed for applications in aircraft simulators [1,2], telescopes [3], positioning trackers [4], micro-motion [5][6][7], and machine tools [8][9][10][11][12][13][14]. However, because the theories and technologies for parallel manipulators are still in the early stages of development, most existing parallel manipulators are expensive devices that provide less accuracy than conventional machines.…”

Section: Introductionmentioning

confidence: 99%