Bone Fracture Reduction Surgery-aimed Bone Connection Robotic Hand

作     者：Jianxing Yang Yan Xiong Xiaohong Chen Yuanxi Sun Wensheng Hou Rui Chen Shandeng Huang Long Bai Jianxing Yang;Yan Xiong;Xiaohong Chen;Yuanxi Sun;Wensheng Hou;Rui Chen;Shandeng Huang;Long Bai

作者机构：State Key Laboratory of Mechanical TransmissionChongqing UniversityChongqing 400044China Department of OrthopedicDaping HospitalArmy Medical UniversityChongqing 400042China Key Laboratory of Biorheological Science and TechnologyMinistry of EducationBioengineering CollegeChongqing UniversityChongqing 400044China NoahTron Intelligence Medtech(Hangzhou)Co.Ltd.Hangzhou 310051China 

出 版 物：《Journal of Bionic Engineering》 (仿生工程学报（英文版）)

年 卷 期：2021年第18卷第2期

页      面：333-345页

核心收录：

学科分类：1002[医学-临床医学] 080202[工学-机械电子工程] 100210[医学-外科学(含：普外、骨外、泌尿外、胸心外、神外、整形、烧伤、野战外)] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 10[医学] 

基　　金：This research was supported by the National Natural Science Foundation of China(Grant Nos.51975070,62003060 and 52075051) the National Key Research and Development Program of China(Grant No.2020YFB1313000) 

主　　题：bone fracture reduction surgery surgical robot bone-robot connection robot assisted surgery orthopedic surgery 

摘      要：Bone connection with robot is an important topic in the research of robot assisted fracture reduction *** the method to achieve bone-robot connection in current robots,requirements on reliability and low trauma can not be satisfied at the same *** 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 ***’s variable stiffness characteristic is a special connection between“hard connectionand“soft connection,which is different from the existing *** 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.