Experimental Evaluation of a 3-Armed 6-DOF Parallel Robot for Femur Fracture Surgery
| العنوان: | Experimental Evaluation of a 3-Armed 6-DOF Parallel Robot for Femur Fracture Surgery |
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| المؤلفون: | Fayez Alruwaili, Marzieh S. Saeedi-Hosseiny, Michael Clancy, Sean McMillan, Iulian I. Iordachita, Mohammad H. Abedin-Nasab |
| المصدر: | Journal of Medical Robotics Research. |
| بيانات النشر: | World Scientific Pub Co Pte Ltd, 2022. |
| سنة النشر: | 2022 |
| مصطلحات موضوعية: | Human-Computer Interaction, Artificial Intelligence, Applied Mathematics, Biomedical Engineering, Computer Science Applications |
| الوصف: | This paper presents the experimental position and force testing of a 3-armed 6-DOF Parallel Robot, Robossis, that is specifically designed for the application of long-bone femur fracture surgery. Current surgical techniques require a significant amount of time and effort to restore the fractured femur fragments’ length, alignment and rotation. To address these issues, the Robossis system will facilitate the femur fracture surgical procedure and oppose the large traction forces/torques of the muscle groups surrounding the femur. As such, Robossis would subsequently improve patient outcomes by eliminating intraoperative injuries, reducing radiation exposure from X-rays during surgery and decreasing the likelihood of follow-up operations. Specifically, in this paper, we study the accuracy of the Robossis system while moving in the operational workspace under free and simulated traction loads of ([Formula: see text]–1100[Formula: see text]N). Experimental testing in this study demonstrates that Robossis can reach the most extreme points in the workspace, as defined by the theoretical workspace, while maintaining minimal deviation from those points with an average deviation of 0.324[Formula: see text]mm. Furthermore, the force testing experiment shows that Robossis can counteract loads that are clinically relevant to restoring the fractured femur fragments’ length, alignment and rotation. In addition, we study the accuracy of Robossis motion while coupled with the master controller Sigma 7. The results show that Robossis can follow the desired trajectory in real-time with an average error of less than 1[Formula: see text]mm. To conclude, these results further establish the ability of the Robossis system to facilitate the femur fracture surgical procedure and eliminate limitations faced with the current surgical techniques. |
| تدمد: | 2424-9068 2424-905X |
| URL الوصول: | https://explore.openaire.eu/search/publication?articleId=doi_________::4d94804bd4814a9b9c44589f6065dd01 https://doi.org/10.1142/s2424905x22410094 |
| رقم الأكسشن: | edsair.doi...........4d94804bd4814a9b9c44589f6065dd01 |
| قاعدة البيانات: | OpenAIRE |
| تدمد: | 24249068 2424905X |
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