Abstract
Introduction: Despite a wide range of applications of robotics in medical sciences, the role of medical robotics in orthopedic surgeries is of great importance. Methods: In the present study, the transformation, spatial description, and movement of the Yaskawa Motoman MH5 robot were compared with two improved types of this robot. In type A, a rotational joint is replaced with the prismatic joint, and in type B, beside a rotational joint, a prismatic joint is added to the mechanism of the original robot. Results: The results demonstrated that despite the fact that type A used less distance, it had a stronger possibility than type B for workspaces feasibility spatial movement. The results also indicated that the first, second, and third joints must be involved to create a static balance in type A robot, and for type B, in the same conditions, the first, second, third, and fourth joints must be involved. This means that the type A robot needs a higher power to make the balance, and the error potential in the type B robot is higher than that of type A. Discussion: The internal loading that the joints of type A robot must tolerate maintaining a static balance is greater than that of type B, which causes more wear out of type A robot. From workspaces and movements points of view, the efficiency of the type B MH5 robot is greater than in other cases.
Highlights
Despite a wide range of applications of robotics in medical sciences, the role of medical robotics in orthopedic surgeries is of great importance
Its main task is to follow a predetermined path in order to move the drill or the probe in a certain direction. Because it does not have a prismatic joint in its end effector, it needs to use several joints simultaneously to perform the operation, which results in reduced efficiency of the robot
This means that the first, second and third joints must be involved to create a static balance in type A robot, and for type B, in the same conditions, the first, second, third, and fourth joints must be involved
Summary
Despite a wide range of applications of robotics in medical sciences, the role of medical robotics in orthopedic surgeries is of great importance. Using robots in surgeries dates back to the mid-1980s [1]. The robotic was applied in a wide range of biological and medical sciences such as clinical medicine [2,3,4,5], neuroscience [6,7,8,9,10,11,12,13,14,15], cardiovascular [16,17,18,19,20], dentofacial [21,22], and cellular and molecular life sciences [23,24]. Orthopedic robots are much more widely used and complex in medical engineering sciences [25]. Current fields of orthopedic robotics focus on a variety of hip joint surgeries such as femur preparation, acetabulum
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