Design of a Parallel Long Bone Fracture Reduction Robot with Planning Treatment Tool

Abstract

The principals and procedure of long bone surgery are presented and the need for robotic assistance is established. Existing problems include radiation exposure from fluoroscopy, mental strain from reconstructing 3-dimensional images and physical fatigue from overcoming fracture deforming forces. These problems are addressed by a proposed fracture reduction robot which aids in treatment planning and reduction of the fracture. A flexible parallel robot (FleP) with an active force/position controller is designed to perform the operation. A computer-aided planning treatment tool (CAPTT) provides image analysis, path planning and simulation. An advanced human machine interface (AHMI) attempts to provide a companion feeling between robot and surgeon by using human forms of communication. The result is a reduction in radiation exposure, removal of the need to reconstruct images mentally and there is no longer any physical strain