Robotic reduction of long bones is associated with the need for considerable force and high precision. To balance accuracy, payload, workspace, we have designed a new six degrees-of-freedom three-legged wide-open robotic system long-bone fracture reduction. Thanks to low number legs their nonsymmetrical configuration, mechanism enjoys unique architecture frontally open half-plane. This facilitates positioning leg inside provides large workspace surgical maneuvers, as shown compared...

In this paper, we design, develop, and validate a surgical robotic system, entitled Robossis, to assist long-bone fracture reduction, i.e., alignment, surgeries. Unlike traditional surgeries, Robossis enables the surgeon precisely align fractured bone in presence of large traction forces torques. The proposed system includes novel 3-armed robot, bone-gripping mechanism, master controller. 6-DOF wide-open parallel robot has unique architecture, which facilitates positioning inside providing...

This letter presents Robossis, a surgical robotic system for automated femur fracture alignment. Robossis is the integration of an optical tracking with 6-degree-of-freedom (6-DOF) 3-armed parallel robot that satisfies clinical and mechanical design requirements alignment surgery. In real-time, obtains spatial position distal proximal parts fractured femur. Then, auto-alignment algorithm uses this data to guide automatically accurately align bone fragments while overcoming muscle payload...

SUMMARY In this paper, we study the kinematic effects of number legs in 6-DOF UPS parallel manipulators. A group 3-, 4-, and 6-legged mechanisms are evaluated terms performance indices, workspace, singular configurations, forward solutions. Results show that optimum varies due to priorities measures different applications. The non-symmetric Wide-Open mechanism enjoys largest while well-known Gough–Stewart (3–3) platform retains highest dexterity. Especially, redundantly actuated 4-legged has...

This work is devoted to simplify the inverse–forward kinematics of a parallel manipulator generator 3T1R motion. The closure equations displacement analysis are formulated based on coordinates two points embedded in moving platform. Afterward, five quadratic solved by means novel method Gröbner bases endowed with first-order perturbation and local stability parameters. Meanwhile, input–output velocity acceleration systematically obtained resorting reciprocal-screw theory. In that concern,...

Femur fractures are prevalent in the general population and require complex surgical intervention. A significant amount of time effort is spent restoring alignment femur fractures, which called reduction step. This particular step would benefit greatly from a robot-assisted mechanism, where majority increased stress operating room occurs. To address this issue, we propose Wide-Open 3-armed parallel robot, entitled Robossis, that facilitates fracture reduction. Robossis system aims to improve...

The nonlinear equation of motion for pre-stretched Euler–Bernoulli beams is derived. effect pre-tension and pre-compression in studied. It shown that compressive strain affects the bending stiffness much more than tensile strain. Based on derived equation, dynamic model bimorph piezo-actuated beams, which accurate, yet simple, then developed. Afterwards, critical voltage, makes microbeam unstable, numerically investigated. centerline proportional to beam’s aspect ratio squared. Results show...

Summary In this work a simple method to solve the kinematics of 5-R $\underbar{P}$ UR parallel manipulator is introduced. Dealing with displacement analysis, kinematic constraint equations required address forward–inverse analysis are established according linear combinations two vectors attached moving platform. Then, besides solution inverse strategies proposed in order forward position analysis. Finally, input–output velocity and acceleration systematically obtained by resorting...

Using Hamilton’s principle, exact equations of motion for non-linear planar and spatial Euler–Bernoulli beams are derived. In the existing beam formulations, some elastic terms dropped by differentiation from incomplete Green–Lagrange strain tensor followed negligible deformations cross-sectional frame. On other hand, in this article, field concerning considerable frame is used as a source differentiations. As result, achieved closed-form more accurate than formerly reported literature....

Abstract Robot-assisted femur repair has been of increased interest in recent literature due to the success robot-assisted surgeries and current reoperation rates for fracture surgeries. The limitation surgery is lack large force generation sufficient workspace size traditional mechanisms. To address these challenges, our group created a 3-RRPS parallel mechanism, Robossis, which maintains strength mechanisms while improving translational rotational volume. In this paper, an optimal design...

This paper presents the experimental position and force testing of a 3-armed 6-DOF Parallel Robot, Robossis, that is specifically designed for application long-bone femur fracture surgery. Current surgical techniques require significant amount time effort to restore fractured fragments’ length, alignment rotation. To address these issues, Robossis system will facilitate procedure oppose large traction forces/torques muscle groups surrounding femur. As such, would subsequently improve patient...

Femur fractures due to traumatic forces often require surgical intervention. Such surgeries alignment of the femur in presence large muscular up 500 N. Currently, orthopedic surgeons perform this manually before fixation, leading extra soft tissue damage and inaccurate alignment. One limitations femoral fracture surgery is limited vision two-dimensional nature X-ray images, which typically guide surgeon diagnosing position femur. Other include lack precise intraoperative planning process...