Design, Kinematics and Manipulability Analyses of a Serial-Link Robot for Minimally Invasive Treatment in Femoral Shaft Fractures

Abstract

The application of robot in orthopedic clinical surgery is more and more accepted. A femoral fracture reduction robot is described in the paper. The mechanism of the manipulator comprises a six-DOF serial-link robot, referred to as a 3P3R robot, with three prismatic joints and three rotational joints (including one for the knee). The manipulability of the system was analyzed, and its operability over the entire whole work space was verified. In addition, the existence of an inverse kinematic solution of the system was established, and the same was analytically implemented with physical meaningfulness. The kinematic analysis and investigation of the workspace confirmed the feasibility of the mechanism for the given design parameters. The joint displacements and rotation angles required to achieve the desired posture of the end-effector of the mechanism were also determined. The results of simulation substantiated the effectiveness of the developed robotic system, and its prospect for practical application through further research.

Development of a robot-assisted reduction and rehabilitation system for distal radius fractures

“…Zhu et al designed and kinematically analyzed a femoral fracture reduction robot, which comprises a six-degree-of-freedom serial-link robot with three prismatic and three rotational joints. The proposed system has the potential for practical application in orthopedic clinical surgery ( Zhu et al, 2022 ). Dagnino et al designed a six-degree-of-freedom parallel robotic system for fracture manipulation, which allows for remote control in automatic mode and intra-operative adaptation for better reduction accuracy (root mean square error of 1.18 ± 1.14 mm [translations] and 1.85° ± 1.54° [rotations]) ( Dagnino et al, 2015 ).…”

Manipulability Analysis of a Tree Type Humanoid Upper-Body Robot with Dual Redundant Arms

“…The singular configurations were verified based on the values of condition number and manipulability measurement. Zhu et al [23] illustrated about the design and manipulability analysis of a 6 dof manipulator used for surgical applications. Manipulability measurements and singularity of the arm were analysed based on monte Carlo method.…”