Kinematics of the Ortho-SUV Frame Using as a Novel External Fixator for Orthopedic Surgery  

作　　者：FU Chao FAN Jiacheng WANG Shigang LIANG Qinghua 傅超;范佳程;王石刚;梁庆华(School of Mechanical Engineering,Shanghai Jiao Tong University)

机构地区：[1]School of Mechanical Engineering,Shanghai Jiao Tong University

出　　处：《Journal of Donghua University(English Edition)》2019年第4期325-331,共7页东华大学学报（英文版）

基　　金：National Key Research & Development Program of China(No.2017YFB1302901)

摘　　要：The Ortho-SUV frame,a novel external fixator,can effectively treat limb deformities and fractures.Its kinematics is used when it is necessary to achieve bone movements with high precision.In this work,the kinematics model of the Ortho-SUV frame is established by six pose parameters,and its forward and inverse solutions are given.There is no need to solve nonlinear high-coupling equations with trigonometric functions in this solution method due to its special structure.By numerical examples and simulated orthopedic experiment of tibial fracture,the correctness and accuracy of the kinematics model and its solutions are verified.Besides,on the basis of kinematics analysis,the position workspace and orientation workspace of the Ortho-SUV frame are simulated in Matlab,which can help surgeons choose suitable device dimensions.The kinematics analysis provides a theoretical basis for the Ortho-SUV frame to be used in orthopedic treatment.The Ortho-SUV frame, a novel external fixator, can effectively treat limb deformities and fractures. Its kinematics is used when it is necessary to achieve bone movements with high precision. In this work, the kinematics model of the Ortho-SUV frame is established by six pose parameters, and its forward and inverse solutions are given. There is no need to solve nonlinear high-coupling equations with trigonometric functions in this solution method due to its special structure. By numerical examples and simulated orthopedic experiment of tibial fracture, the correctness and accuracy of the kinematics model and its solutions are verified. Besides, on the basis of kinematics analysis, the position workspace and orientation workspace of the Ortho-SUV frame are simulated in Matlab, which can help surgeons choose suitable device dimensions. The kinematics analysis provides a theoretical basis for the Ortho-SUV frame to be used in orthopedic treatment.

关 键 词：Ortho-SUV FRAME KINEMATICS parallel mechanism external FIXATOR WORKSPACE 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TH781[自动化与计算机技术—控制科学与工程]