Browse > Article
http://dx.doi.org/10.7735/ksmte.2015.24.6.660

Design and Control of X-ray Permeable Teleoperated Stewart Platform for Fracture Surgery  

Yoo, Byeongjun (Mechanical System and Design Engineering, Seoul National University of Science and Technology)
Kim, Hyemi (Mechanical System and Design Engineering, Seoul National University of Science and Technology)
Lee, Sung-Hak (Mechanical System and Design Engineering, Seoul National University of Science and Technology)
Lim, Sunho (Mechanical System and Design Engineering, Seoul National University of Science and Technology)
Park, Tae Gon (PRESTO SOLUTION Ltd.)
Lee, Chibum (Mechanical System and Design Engineering, Seoul National University of Science and Technology)
Publication Information
Journal of the Korean Society of Manufacturing Technology Engineers / v.24, no.6, 2015 , pp. 660-666 More about this Journal
Abstract
To avoid radiation exposure from repeated x-rays taken during orthopedic surgery, an x-ray permeable teleoperated Stewart platform for orthopedic fracture surgery was developed. This system is composed of a user interface device and a teleoperated operational robot, both of which use a Stewart platform mechanism. The links of the operational robot are made from an x-ray permeable material, polycarbonate, to minimize the interference. The forward and inverse kinematics algorithm applied and the structural reliability were both verified through an analysis using commercial engineering software. To monitor the operating status in real time and stop the device during an emergency, a monitoring software was developed. The performance of the x-ray permeable teleoperated Steward platform was validated experimentally.
Keywords
Orthopedics; X-ray permeability; Stewart platform; Inverse kinematics; Forward kinematics; Teleoperation;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
연도 인용수 순위
1 Zamani, A. R., Oyadiji, S. O., 2010, Theoretical and Finite Element Modeling of Fine Kirschner Wires in Ilizarov External Fixator, ASME. J. Med. Devices, 4:3, 031001-031001-9.   DOI
2 Mastrangelo, G., Fedeli, U,. Fadda, E., Giovanazzi, A., Scoizzato, L., Saia, B., 2005, Increased Cancer Risk among Surgeonsin an Orthopaedic Hospital, Occupational Medicine, 55:6 498-500.   DOI
3 Fleming, B., Paley, D., Kritiansen, T., Pope, M., 1989, A Biomechanical Analysis of the Ilizarov External Fixator, Clinical Orthopaedics and Related Research, 241 95-105.
4 Leung, F., Kwok, H. Y., Pun, T. S., Chow, S. P., 2004, Limited Open Reduction and Ilizarov External Fixation in the Treatment of Distal Tibial Fractures, Injure, 35:3 278-283.   DOI
5 Kim, N. I., Lee, C. W., 2001, A New Kinematic Analysis of 6-3 Stewart Platform Manipulator, Transactions of the Korean Society of Mechanical Engineers A, 25:8 1206-1212.   DOI
6 Lee, C. W., Kim, N. I., 1999, Model-based Control System Design and Sliding Mode Control of Stewart Platform Manipulator, Transactions of the Korean Society of Mechanical Engineers A, 23:6 903-911.   DOI
7 Lee, S. H., Lee, J. H., Kim, W. K., Yi, B. J., 2014, Analysis on Kinematic Characteristics for Spatial 3-DOF Parallel Mechanisms Employing Stewart Platform Structure, Journal of the Korean Society for Precision Engineering, 22:8 118-127.
8 Liu, K., Fitzgerald, J. M, Lewis, F. L, 1993, Kinematics Analysis of a Stewart Platform Manipulator, IEEE Transactions on Industrial Electronics, 40:2 282-293.   DOI
9 Mat Web, n.d., viewed 10 Aug. 2015,
10 Gonzalez, H., Dutra, M. S., Lengerke, O., 2011, Direct and Inverse Kinematics of Stewart Platform Applied to Offshore Cargo Transfer Simulation, 13th World Congress in Mechanism and Machine Science, 19-25.
11 Ha, H. P., Han, M. C., 2001, A Fast Forward Kinematic Analysis of Stewart Platform, Transactions of the Korean Society of Mechanical Engineers A, 25:3 339-352.   DOI