title: A removable hybrid robot system for long bone fracture reduction.
abstract: In traditional long bone fracture reduction surgery, there are some drawbacks such as low accuracy, high radiation for surgeons and a risk of infection. To overcome these disadvantages, a removable hybrid robot system is developed, which integrates a removable series-parallel mechanism with a motor-double cylinder (MDC) driven mode. This paper describes the mechanism in detail, analyses the principle and the method of the fracture reduction, presents the surgical procedure, and verifies the reduction accuracy by experiments with bone models. The results are shown as follows. The mean deviations of the axial displacement and lateral displacement are 1.60mm and 1.26 mm respectively. The standard deviations are 0.69 mm and 0.30 mm. The mean deviations of the side angle and turn inward are 2.06° and 2.22° respectively. The standard deviations are 0.50° and 0.99°. This minimally invasive robot features high accuracy and zero radiation for surgeons, and is able to conduct fracture reduction for long bones.
authors.affiliation: School of Mechanical Engineering and Automation, Beihang University, Beijing, China.
authors.forename: Tianmiao
authors.initials: T
authors.lastname: Wang
authors.forename: Changsheng
authors.initials: C
authors.lastname: Li
authors.forename: Lei
authors.initials: L
authors.lastname: Hu
authors.forename: Peifu
authors.initials: P
authors.lastname: Tang
authors.forename: Lihai
authors.initials: L
authors.lastname: Zhang
authors.forename: Hailong
authors.initials: H
authors.lastname: Du
authors.forename: Sheng
authors.initials: S
authors.lastname: Luan
authors.forename: Lifeng
authors.initials: L
authors.lastname: Wang
authors.forename: Yiming
authors.initials: Y
authors.lastname: Tan
authors.forename: Cheng
authors.initials: C
authors.lastname: Peng
mesh_terms: D004867:Equipment Design; D005269:Femur / Q000473:pathology*; D005592:Fracture Fixation / Q000379:methods*; D050723:Fractures, Bone / Q000601:surgery*; D006801:Humans; D011857:Radiographic Image Interpretation, Computer-Assisted; D015203:Reproducibility of Results; D012371:Robotics; D012815:Signal Processing, Computer-Assisted; D012984:Software; D014057:Tomography, X-Ray Computed
keywords: Hybrid robot; fracture reduction; long bone; surgical robot