TY - JOUR
T1 - The wide-open three-legged parallel robot for long-bone fracture reduction
AU - Abedinnasab, Mohammad H.
AU - Farahmand, Farzam
AU - Gallardo-Alvarado, Jaime
N1 - Funding Information:
The authors would like to thank Dr. Tarvirdizadeh and Mr. Shadbakhsh for their efforts on fabrication and performing the experimental simulations. This work was supported in part by Iran National Science Foundation Grant No. 91002447.
Publisher Copyright:
© 2017 by ASME.
PY - 2017/2/1
Y1 - 2017/2/1
N2 - 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-offreedom 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.
AB - 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-offreedom 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.
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U2 - 10.1115/1.4035495
DO - 10.1115/1.4035495
M3 - Article
AN - SCOPUS:85009516238
SN - 1942-4302
VL - 9
JO - Journal of Mechanisms and Robotics
JF - Journal of Mechanisms and Robotics
IS - 1
M1 - 015001
ER -