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.
The Wide-Open Three-Legged Parallel Robot for Long-Bone Fracture Reduction
Sharif University of Technology,
Tehran 11365-9567, Iran;
Tehran University of Medical Sciences,
Instituto Tecnológico de Celaya,
Celaya 38010, GTO, México
Manuscript received May 17, 2016; final manuscript received December 10, 2016; published online January 12, 2017. Assoc. Editor: Byung-Ju Yi.
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Abedinnasab, M. H., Farahmand, F., and Gallardo-Alvarado, J. (January 12, 2017). "The Wide-Open Three-Legged Parallel Robot for Long-Bone Fracture Reduction." ASME. J. Mechanisms Robotics. February 2017; 9(1): 015001. https://doi.org/10.1115/1.4035495
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