Active-Passive Parallel Reduction Robot for Confined Surgical Environments
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Solution Overview
Problem
Traditional fracture reduction robots are bulky, complex, and require significant space, making them difficult to operate in confined surgical environments and limiting their ability to perform dexterous and high-force movements necessary for bone therapy.
Innovation Solution
An active-passive parallel-connected reduction robot with a synchronized motion platform and passive manipulator, allowing for a compact, reliable, and efficient fracture reduction operation by distributing the load and reducing the power demand on the active manipulator, enabling dexterous and high-force movements within a smaller footprint.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a traditional reset mechanism is used to achieve dexterous and large-load movement, then the reduction operation capability is improved, but the device occupies more space and has complex assembly
Solution Approach 1:
The system is divided into an active manipulator for positioning and a passive manipulator for support, with each having independent degrees of freedom. The passive manipulator's degrees of freedom are locked during insertion but can be unlocked during reduction operations, allowing the system to adapt its complexity based on operational requirements.
Solution Approach 2:
The system combines active and passive manipulator components into a hybrid parallel-connected structure. This composite system leverages the advantages of both active (precise control) and passive (structural support) components to achieve dexterous operation with reduced overall complexity.
2Stability of the object's composition
If the passive manipulator's degrees of freedom are locked, then the insertion stability is improved, but the reduction operation flexibility is reduced
Solution Approach 1:
The system dynamically adjusts the degree of freedom state of the passive manipulator based on operational phase. During insertion, degrees of freedom are locked for stability; during reduction operations, they are unlocked for flexibility. This dynamic reconfiguration allows the system to optimize performance for each specific task phase.
3Device complexity
If the active manipulator performs all movements independently, then the control simplicity is improved, but the power demand and space occupation increase
Solution Approach 1:
The passive manipulator acts as an intermediary support structure that bears part of the load during reduction operations. By distributing the mechanical support function between active and passive components, the active manipulator's power demand is reduced while maintaining control simplicity through coordinated operation.
Data Source
AI summary
An active-passive parallel-connected reduction robot includes: an active manipulator, provided with an active output end having multiple degrees of freedom; a synchronized motion platform, a fracture reduction needle being fixedly mounted on the synchronized motion platform, the active output end of the active manipulator being connected to the synchronized motion platform; and a passive manipulator, one end thereof being fixedly provided, the other end being provided with a passive output end having multiple degrees of freedom, and the passive output end being slidably mounted on the synchronized motion platform. The passive manipulator is capable of maintaining a locked degree of freedom when the active manipulator drives the synchronized motion platform to insert the fracture reduction needle into a fractured end requiring reduction. The active manipulator drives the synchronized motion platform to execute a reduction operation with the support of the passive manipulator.