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Medientyp: E-Artikel Titel: Kinematics of a six‐dof fixation device for long‐bone fracture reduction Beteiligte: Gregorio, Raffaele Di; Parenti‐Castelli, Vincenzo Erschienen: Wiley, 2001 Erschienen in: Journal of Robotic Systems, 18 (2001) 12, Seite 715-722 Sprache: Englisch DOI: 10.1002/rob.8109 ISSN: 0741-2223; 1097-4563 Schlagwörter: Control and Systems Engineering Entstehung: Anmerkungen: Beschreibung: AbstractThis paper presents a kinematic model for the control of a six‐degrees‐of‐freedom(dof) mechanism proposed for long‐bone fracture reduction. The mechanism is an evolution ofprevious mechanisms known as Ilizarov‐like fixation devices. These previous mechanisms perform thefracture reduction by following a trial‐and‐error adjustment procedure that subjects the patient toseveral x‐ray exposures and provides only an approximate positioning of the two segments of the brokenbone to be reduced; in fact, the adjustment procedure relies upon a three‐dof instead of thesix‐dof mechanism that would be necessary for the correct reciprocal location of the bone segments. Thisprocedure also makes the success of the reduction highly dependent on the surgeon's skill. This paperexploits the hardware of a previous device and transforms it into a six‐dof mechanism. A kinematic modelof the six‐dof mechanism is presented. The model provides the adjustment parameters that enable thecorrect mutual location of the two segments of the broken bone. Consequently, the procedure is freed from thetrial‐and‐error modality, and the correct reduction is less dependent on the surgeon's skill.© 2001 John Wiley & Sons, Inc.