Analysis and Optimization of a 6-DoF 3-RRPS Parallel Mechanism for Robot-Assisted Long-Bone Fracture Surgery
Analysis and Optimization of a 6-DoF 3-RRPS Parallel Mechanism for Robot-Assisted Long-Bone Fracture Surgery
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DOI：
10.1115/1.4063167
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发表时间：
2024-06-01
影响因子：
2.6
通讯作者：
Abedin-Nasab，Mohammad H.
中科院分区：
文献类型：
--
作者：
Clancy，Michael;Alruwaili，Fayez;Abedin-Nasab，Mohammad H.
由于机器人辅助手术的成功和当前股骨骨折手术的再手术率，机器人辅助股骨修复在最近的文献中引起了越来越多的关注。目前机器人辅助股骨骨折手术的局限性是传统机构缺乏大的力产生和足够的工作空间尺寸。为了应对这些挑战，我们的小组已经创建了一个3-RRPS并联机构，Robossis，它保持了并联机构的强度，同时提高了平移和旋转的工作空间体积。提出了一种基于单目标遗传算法的机器人辅助股骨骨折手术并联机构优化设计方法。遗传算法将使用单目标函数，根据股骨骨折手术的临床和机械设计标准以及全局调节指数来评估各种配置。目标函数由基于设计准则的所需平移和旋转刚度、动态承载能力和齐次雅可比全局条件指数组成。最后，对Robossis机构进行了实验验证，Robossis机构测力平均误差为0.31 mm。
Robot-assisted femur repair has been of increased interest in recent literature due to the success of robot-assisted surgeries and current reoperation rates for femur fracture surgeries. The current limitation of robot-assisted femur fracture surgery is the lack of large force generation and sufficient workspace size in traditional mechanisms. To address these challenges, our group has created a 3-RRPS parallel mechanism, Robossis, which maintains the strength of parallel mechanisms while improving the translational and rotational workspace volume. In this paper, an optimal design methodology of parallel mechanisms for application to robot-assisted femur fracture surgery using a single-objective genetic algorithm is proposed. The genetic algorithm will use a single-objective function to evaluate the various configurations based on the clinical and mechanical design criteria for femur fracture surgery as well as the global conditioning index. The objective function is composed of the desired translational and rotational workspaces based on the design criteria, dynamic load-carrying capacity, and the homogeneous Jacobian global conditioning index. Lastly, experimental results of Robossis were obtained to validate the kinematic solution and the mechanism itself; Robossis had an average error of 0.31 mm during experimental force testing.