Development of a six degree of freedom (DOF) hybrid robot for femur shaft fracture reduction

Ye, Ruihua; Chen, Yonghua

doi:10.1109/robio.2009.4913021

Cited by 5 publications

(4 citation statements)

References 10 publications

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“…Where () IK T is the inverse kinematics transformation matrix, details of the deduction of Eqn. (2.1) and (2.2) could be found in [17].…”

Section: Kinematicsmentioning

confidence: 90%

“…Robots can perform many surgical operations, such as position and reposition surgical tools with great accuracy, applying precisely calibrated and controlled forces, reducing the physiologic tremor of human hands and scaling the magnitudes of forces and motions [16]. Various robots have been developed for femur fracture reduction surgeries and generally are classified into two architectures, serial robot and parallel robot [17]. Most of the serial surgical robots are modified from the industry articulated robot arms, they have the advantages of large workspace, high dexterity and maneuverability, but their disadvantages are obvious.…”

Section: Introductionmentioning

confidence: 99%

“…Parallel robots using the stewart platform have high payload to weight ratio, high stiffness and position accuracy. The major drawback of parallel robots is limited workspace [17]. In our project, we are required to develop a compact robot with high payload, good position accuracy and relative large workspace, especially for the angular rotation.…”

Section: Introductionmentioning

confidence: 99%

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Rapid Prototyping for Large-Scale and Complex Assemblies

Chang

Long

2011

Computer-Aided Design and Applications

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Femur fracture is a frequently occurred injury and usually treated by surgeries. However, the treatment of femur fracture exhibits many problems such as excessive radiation exposure to both surgeons and patients and mal-alignment in reduction. In order to overcome these problems, robot-assisted reduction surgery has been researched in recent years. One hybrid robot is introduced in this paper for femur fracture reduction. In order to train the surgeon for pre-operative planning or for intra-operative manipulation, we developed a tele-operation and simulation system for the newly developed hybrid robot. In this system, we construct the virtual hybrid robot by V-Realm Builder 2.0 based on VRML language, use MATLAB Simulink and the virtual reality toolbox to build the simulation model, and tele-operation of the virtual hybrid robot is implemented using the Phantom haptic interface. The virtual system presented in this paper creates a realistic environment for demonstration and provides facilities for good quality rendering. The tele-operation system shows that it is convenient and powerful in defining a 3D path. The approach utilized in this paper can also be used to study other types of robot.

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“…Where () IK T is the inverse kinematics transformation matrix, details of the deduction of Eqn. (2.1) and (2.2) could be found in [17].…”

Section: Kinematicsmentioning

confidence: 90%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Rapid Prototyping for Large-Scale and Complex Assemblies

Chang

Long

2011

Computer-Aided Design and Applications

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“…Westphal et al [7] developed a robot-assisted fracture reduction system. Ruihua and Yonghua [8] developed a six degrees of freedom (DOF) hybrid robot for femur shaft fracture reduction. Most current surgical robots were adapted from industrial robots with a series structure.…”

Section: Introductionmentioning

confidence: 99%

A novel master–slave teleoperation robot system for diaphyseal fracture reduction: a preliminary study

Wang

et al. 2016

Computer Assisted Surgery

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We developed a novel master-slave teleoperation robot system for diaphyseal fracture reduction. This paper details the mechanical design and the control system as a preliminary study. The fracture reduction accuracy and the performance of the control system are experimentally tested. The mean error in the axial and lateral displacements was below 3 mm; the mean side angle and inward turn errors were below 4. As a preliminary study, the feasibility of the novel master-slave teleoperation robot system for diaphyseal fracture reduction is verified. The robot system fulfills the reduction requirements in accuracy and operating performance.

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Evolution and Current Applications of Robot-Assisted Fracture Reduction: A Comprehensive Review

Zhao

Ren

et al. 2019

Ann Biomed Eng

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Development of a six degree of freedom (DOF) hybrid robot for femur shaft fracture reduction

Cited by 5 publications

References 10 publications

Rapid Prototyping for Large-Scale and Complex Assemblies

Rapid Prototyping for Large-Scale and Complex Assemblies

A novel master–slave teleoperation robot system for diaphyseal fracture reduction: a preliminary study

Evolution and Current Applications of Robot-Assisted Fracture Reduction: A Comprehensive Review

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