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 - 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 -