Development Of A Robot-Asisted System For Femoral Shaft Fracture Reduction

With the development of modern industry, building, and modern traffic "high-energy injury" is becoming increasingly common. Minimally invasive surgery is becoming more and more acceptable because of quicker recovery and less pain. However, minimally invasive surgery requires using of X-ray imaging equipment frequently. It is well known that radiation damage is so harmful to health. Besides, minimally invasive surgery needs a long time to master and a standardized surgical procedure has not formed yet up to now. It strangles the wide-spread of minimally invasive surgery. In this thesis, a set of assistant robot for femoral shaft fracture reduction is developed and some research on mechanism, controlling and experiments has been done.Firstly, clinical treatment of different types of femoral shaft fracture is summarized. According to the steps and characteristics of manual reduction, the idea of the sepeated type of mechanism for femoral shaft fracture reduction is proposed after compareing the advantages and disadvantages of surgical robots from home and abroad. Sevral schemes are put forward and their advantages and disadvantages are analysed, and then a new mechanism for fracture reduction based on soft robot and an independent traction mechanism is put forward creatively. The theoretical analysis and simulation of the force of the carbon fiber sleeve is carried out, the weak point of the mechanism is strengthen. Analysis on positive and inverse kinematics of the reducion mechanism is done with D-H matrix which is related to controlling.Airbag is the unique driver of the reduction mechanism, and it is worth doing some research on it. Simulation of latex-nylon airbag is done with ABAQUS and the mechanical properties of the airbag is researched with both experiments and simulation. The quantitative relation between displacement, air pressure and force is foud out and a controlling model of indirect feedback of displacement is established.Then the drving and controlling parts of the mechanism are studied including the lower machine based on STM32 MCU and upper machine with man-machine conversation interface, PCB designing and programming.The experiment part includes two kinds of experments. A quite number of measure experiments are done and this provides useful data about forces during an operation. This is the base of designing the mechanism for reduction. A reduction experiment on an artificial limb has been done in a real operation room environment to veriry the effectiveness of reduciton.