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
• 来源期刊: 仿生工程学报（英文版）
• 年，卷（期）: 2021,（2）
• 页码范围: 333-345
• 页数: 13页
• 语种: 英文
• DOI: 10.1007/s42235-021-0023-1

摘要

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.