Femoral fracture reduction with a parallel manipulator robot on a traction table

International Journal of Medical Robotics and Computer Assisted Surgery

Volumn 9, Issue 4, 2013, Pages 464-471

  Wang, Junqiang ^a   Han, Wei ^a   Lin, Hong ^b  

^a Beijing Jishuitan Hospital   (China)

^b TINAVI Medical Technologies   (China)

Author keywords

Computer assisted orthopaedic surgery; External fixation; Femoral fracture reduction; Parallel manipulator robot; Traction table

Indexed keywords

BONE; FRACTURE; MANIPULATORS; ROBOTS;

CIRCULAR RING; COMPUTER-ASSISTED ORTHOPAEDIC SURGERY; EXTERNAL FIXATION; FEMORAL FRACTURE REDUCTION; FEMORAL FRACTURES; FRACTURE REDUCTION; MANIPULATORS ROBOT; PARALLEL MANIPULATOR ROBOT; PARALLEL MANIPULATORS; TRACTION TABLE;

DEGREES OF FREEDOM (MECHANICS);

ANALYTICAL ERROR; ARTICLE; CADAVER; COMPUTER INTERFACE; COMPUTER MODEL; FEMUR SHAFT FRACTURE; FRACTURE REDUCTION; HUMAN; KINEMATICS; LOAD CARRYING CAPACITY; MATHEMATICAL MODEL; OPERATING ROOM; ORTHOPEDIC EQUIPMENT; PARALLEL MANIPULATOR ROBOT; RADIATION EXPOSURE; ROBOTICS; SIMULATOR; SURGEON; TRACTION TABLE; TREATMENT PLANNING;

COMPUTER-ASSISTED ORTHOPAEDIC SURGERY; EXTERNAL FIXATION; FEMORAL FRACTURE REDUCTION; PARALLEL MANIPULATOR ROBOT; TRACTION TABLE;

COMPUTER-AIDED DESIGN; EQUIPMENT DESIGN; EQUIPMENT FAILURE ANALYSIS; FEMORAL FRACTURES; HUMANS; OSTEOTOMY; REPRODUCIBILITY OF RESULTS; ROBOTICS; SENSITIVITY AND SPECIFICITY; SURGERY, COMPUTER-ASSISTED; TRACTION;

EID: 84890436749     PISSN: 14785951     EISSN: 1478596X     Source Type: Journal    
DOI: 10.1002/rcs.1550     Document Type: Article

References (36)

1. Taljanovic MS, Jones MD, Ruth JT, et al. Fract Fixat Radiogr 2003; 23(6): 1569-1590.
2. Stover M. Distal femoral fractures: current treatment, results and problems. Injury 2001; 32(suppl 3): SC3-SC13.
3. Althausen PL, Hak DJ. Lower extremity traction pin: indications, technique and complications. Am J Orthop 2002; 31: 43-47.
4. Joskowicz L, Milgrom C, Shoham M. Robot-guided Long Bone Intramedullary Distal Locking: Concept and Preliminary Results. Hebrew University of Jerusalem, Hadassah University Hospital: Jerusalem, Israel, 2003.
5. Hofstetter R, Slomczykowski M, Sati M. Fluoroscopy as an imaging means for computer assisted surgical navigation. Comput Aid Surg 1999; 4: 65-76.
6. Stryker, Grosse & Kempf Locking Nail System Operative Technique. Stryker Trauma GmbH: Germany, 2005.
7. Braten M, Terjesen T, Rossvoll I. Femoral shaft fractures treated by intramedullary nailing. A follow-up study focusing on problems related to the method. Injury 1995; 26: 383-397.
8. Nolte LP, Slomczykowski MA, Berlemann U. A new approach to computer-aided spine surgery: Fluoroscopy-based surgical navigation. Eur Spine J 2000; 9(suppl 1): S78-S88.
9. Hofsteter R, Stomczykowski M, Krettek C. Computer assisted fluoroscopic-based Reduction of femoral fractures and antetorsion correction. Comput Aided Surg 2000; 5: 311-325.
10. Wang TM, Wang MY, Hu L. Computer-assisted orthopedic fracture reduction system. Chinese Patent No. CN200510125872, 2005.
11. Stewart D. A platform with six degrees of freedom. Proc Inst Mech Eng 1965; 180: 371-378.
12. Dasgupta B, Mruthyunjaya TS. A Stewart platform manipulator: a review. Mech Mach Theory 2000; 35: 15-40.
13. Merlet JP. Direct kinematics of parallel manipulators. IEEE Trans Robotics Autom 1993; 9(6): 842-845.
14. Paul RP. Robot Manipulators. MIT Press: Cambridge, MA, 1981.
15. Raghavan M. The Stewart platform of general geometry has 40 configurations. J Mech Design 1993; 115: 277-282.
16. Husty M. An algorithm for solving the direct kinematics of Stewart-Gough-type platforms: ftp://ftp.mcrcim.mcgill.edu/pub/techrep/1994/CIM-9401.pdf, 1994.
17. Wen F, Liang C. Displacement analysis of the 6-6 Stewart platform mechanisms. Mech Mach Theory 1997; 29(4): 547-557.
18. Mukherjee S, Rendsburg M, Xu WL. Surgeon-instructed, image-guided and robot-assisted long bone fracture reduction. In First International Conference on Sensing Technology, Palmerston North, New Zealand, 21-23 November 2005.
19. Seide K, Faschingbauer M, Wenzl ME. A hexapod robot external fixator for computer-assisted fracture reduction and deformity correction. Int J Med Robot 2004; 1: 64-69.
20. Taylor JC. Perioperative planning for two- and three-plane deformities. Foot Ankle Clin 2008; 13: 69-121.
21. Rogers MJ, McFadyen I, Livingstone JA. Computer hexapod assisted orthopaedic surgery (CHAOS) in the correction of long bone fracture and deformity. J Orthop Trauma 2007; 21: 337-342.
22. Nho SJ, Helfet DL, Rozbruch SR. Temporary intentional leg shortening and deformation to facilitate wound closure using the Ilizarov/Taylor spatial frame. J Orthop Trauma 2006; 20: 419-424.
23. Rozbruch SR, Helfet DL, Blyakher A. Distraction of hypertrophic nonunion of tibia with deformity using Ilizarov/Taylor Spatial Frame. Report of two cases. Arch Orthop Trauma Surg 2002; 122: 295-298.
24. Rozbruch SR, Pugsley JS, Fragomen AT, et al. Repair of tibial nonunions and bone defects with the Taylor spatial frame. J Orthop Trauma 2008; 22: 88-95.
25. Lin H, Wang JQ. Mechanical axis-based fracture reduction with parallel manipulator robot. In Proceedings of the 8th Annual Meeting of CAOS-Asia, 27 May 2011.
26. Lee SH, Song JB, Choi WC. Position control of a Stewart platform using inverse dynamics control with approximate dynamics. Mechatronics 2003; 13: 605-619.
27. Xiong YL, Ding H, Liu EC. Robotics. China Mechanical Press: Beijing, 1993.
28. Griffis M, Duffy J. A forward displacement analysis of a class of Stewart platforms. J Robotic Syst 1989; 10(3): 703-720.
29. Sreenivasan SV, Waldron KJ. Closed-form direct displacement analysis of a 6-6 Stewart platform. Mech Mach Theory 1994; 29(6): 855-864.
30. Wampler CW. Forward displacement analysis of general six-in-parallel SPS-Stewart platform manipulators using soma coordinates. Mech Mach Theory 1996; 31(3): 331-337.
31. Sika Z, Kocandrle P, Stejskal V. An investigation of properties of the forward displacement analysis of the generalized stewart platform by means of general optimization methods. Mech Mach Theory 1998; 33(3): 245-253.
32. Huang Z, Kong LF, Fang YF. Theory of Parallel Robotic Mechanisms and Control. China Mechanical Press: Beijing, 1997.
33. Ku DM. Direct displacement analysis of a Stewart platform mechanism. Mech Mach Theory 1999; 34(3): 453-465.
34. Bonev IA, Ryu J. A new method for solving the direct kinematics of general 6-6 Stewart platforms using three linear extra sensors. Mech Mach Theory 2000; 35(3): 423-436.
35. Lee TY, Shim JK. Forward kinematics of the general 6-6 Stewart platform using algebraic elimination. Mech Mach Theory 2001; 36(9): 1073-1085.
36. Wang YX, Wang YM, Liu Y. Direct displacement and configuration analyses of symmetrical Stewart platform mechanisms. China Mech Eng 2002; 13(9): 734-736.