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Bone Fracture Reduction Surgery-aimed Bone Connection Robotic Hand

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Abstract

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.

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Acknowledgment

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). The Authors gratefully acknowledge Dr. Yafang Mao for English language editing.

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Author notes

  1. JianxingYang and Yan Xiong contributed equally to this work.

Authors and Affiliations

  1. State Key Laboratory of Mechanical Transmission, Chongqing University, Chongqing, 400044, China

    Jianxing Yang, Xiaohong Chen, Yuanxi Sun, Rui Chen & Long Bai

  2. Department of Orthopedic, Daping Hospital, Army Medical University, Chongqing, 400042, China

    Yan Xiong

  3. Key Laboratory of Biorheological Science and Technology, Ministry of Education, Bioengineering College, Chongqing University, Chongqing, 400044, China

    Wensheng Hou

  4. NoahTron Intelligence Medtech (Hangzhou) Co., Ltd., Hangzhou, 310051, China

    Shandeng Huang

Authors
  1. Jianxing Yang
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  2. Yan Xiong
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  3. Xiaohong Chen
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  4. Yuanxi Sun
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  5. Wensheng Hou
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  6. Rui Chen
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  7. Shandeng Huang
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  8. Long Bai
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Corresponding author

Correspondence to Long Bai.

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Yang, J., Xiong, Y., Chen, X. et al. Bone Fracture Reduction Surgery-aimed Bone Connection Robotic Hand. J Bionic Eng 18, 333–345 (2021). https://doi.org/10.1007/s42235-021-0023-1

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  • DOI: https://doi.org/10.1007/s42235-021-0023-1

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