Abstract
Abstract. In severe fracture cases, a bone can be separated into two fragments and it is mandatory to reposition the bone fragments together. This type of surgery is called “bone reduction surgery”. Originally, the operation consisted in manipulating the bones fragments by hand in open surgery. The most advanced technique relies on robotic manipulators providing higher precision and stability. A new mechanical architecture is proposed based on a 3-RPS tripod parallel mechanism combined with a Double Triangular Planar parallel mechanism. Its kinematic and velocity models are calculated and the parasitic motion generated by the tripod mechanism is considered in the final result. The workspace it can generate is compared to the Stewart manipulator, which is a classical mechanism for the targeted application. The use of a robotic manipulator is due to be part of an entire surgical procedure involving a pre-operative simulation software dedicated to pre-planning reduction surgery, namely PhysiGuide. It is used to measure the kinematic associated with bone fragments manipulation and transfer it to the robot during the intra-operative phase. Simulations are then performed based on a real patient's fracture images showing the suitability of the present mechanism with bone reduction surgery.
Highlights
In Human anatomy, limb bones are more exposed to potential fractures due to their location and due to their longitudinal geometry
The objective of the present study is to propose a manipulator dedicated to bone reduction surgery, based on a new mechanical architecture
The surgeon has no concern about numerical coordinates, the use of the kinematic data measured from PhysiGuide allows to verify the suitability of the proposed mechanism for bone reduction surgery
Summary
In Human anatomy, limb bones are more exposed to potential fractures due to their location and due to their longitudinal geometry. Some cases of broken bones require a specific type of surgery before recovering: the bone reduction surgery. In most critical cases the bone is fractured but its two pieces can be separated by a certain distance. The bone reduction surgery consists in relocating the different pieces of the same bone in their original position. During this surgical procedure, the patient’s anatomy must be “opened” to allow a physical access to the bone pieces. The surgeons can displace the bones to their original configuration. Because of the natural recall force applied by the patient’s anatomy (muscular tissues and tendons), the surgeons have to use a considerable amount of physical strength to relocate to bones
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