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[2021-Vol.18-Issue 2]Bone Fracture Reduction Surgery-aimed Bone Connection Robotic Hand
Post: 2021-05-14 09:34  View:131

J Bionic Eng 18 (2021) 333–345 DOI: https://doi.org/10.1007/s42235-021-0023-1 

Bone Fracture Reduction Surgery-aimed Bone Connection Robotic Hand 

Jianxing Yang1#, Yan Xiong2#, Xiaohong Chen1 , Yuanxi Sun1 , Wensheng Hou3 , Rui Chen1 , Shandeng Huang4 , Long Bai1* 

1. State Key Laboratory of Mechanical Transmission, Chongqing University, Chongqing 400044, China
2. Department of Orthopedic, Daping Hospital, Army Medical University, Chongqing 400042, China 
3. Key Laboratory of Biorheological Science and Technology, Ministry of Education, Bioengineering College, Chongqing University, Chongqing 400044, China 
4. NoahTron Intelligence Medtech (Hangzhou) Co., Ltd., Hangzhou 310051, China 

Abstract  Bone connection with robot is an important topic in the research of robot assisted fracture reduction surgery. With the method to achieve bone-robot connection in current robots, requirements on reliability and low trauma can not be satisfied at the same time. In this paper, the design, manufacturing, and experiments of a novel Bone Connection Robotic Hand (BCRH) with variable stiffness capability are carried out through the bionics research on human hand and the principle of particle jamming. BCRH’s variable stiffness characteristic is a special connection between “hard connection” and “soft connection”, which is different from the existing researches. It maximizes the reliability of bone-robot connection while minimizes trauma, meets the axial load requirement in clinical practice, and effectively shortens the operating time to less than 40 s (for mode 1) or 2 min (for mode 2). Meanwhile, a theoretical analysis of bone-robot connection failure based on particle jamming is carried out to provide references for the research in this paper and other related studies. 

Keywords: bone fracture reduction surgery, surgical robot, bone-robot connection, robot assisted surgery, orthopedic surgery

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