Kinematic design of a hybrid planar-tripod mechanism for bone reduction surgery

2020 ◽  
Vol 21 (4) ◽  
pp. 403
Author(s):  
Terence Essomba ◽  
Sinh Nguyen Phu
Keyword(s):  
Motion Compensation ◽  
Bone Fractures ◽  
Advanced Technique ◽  
Planar Mechanism ◽  
Kinematic Design ◽  
Parasitic Motion ◽  
Velocity Models ◽  
Hybrid Mechanism ◽  
Bone Fragments ◽  
Kinematic Simulations

In the most severe cases of longitudinal bone fractures such as femur, tibias, humerus etc., the bone can be completely separated into two fragments. In order to guarantee the re-ossification of the bone, it is required to reposition the bone fragments together. This process requires a delicate surgery called “bone reduction surgery”. The most advanced technique relies on the use of a robotic manipulator to reposition the bone fragments with higher precision and stability than manual surgeries. The present work introduces the kinematic design of a new hybrid mechanical architecture to perform this task. It is composed of a 3-PRP planar mechanism attached with a 3-RPS tripod mechanism. The kinematic analysis of this mechanism is provided while taking account the tripod parasitic motion. Kinematic simulations using Matlab and Adams are performed to validate the kinematic and velocity models and the parasitic motion compensation provided by the planar mechanism. The workspace of this hybrid mechanism is then compared to the standard hexapod mechanism that is widely used in bone reduction surgery. It reveals that the proposed mechanism can generate a larger workspace with the same linkage dimensions.

scholarly journals Kinematic analysis and evaluation of a hybrid mechanism for computer assisted bone reduction surgery

2019 ◽  
Vol 10 (2) ◽  
pp. 589-604 ◽  
Author(s):  
Sinh Nguyen Phu ◽  
Terence Essomba ◽  
Irwansyah Idram ◽  
Jiing-Yi Lai
Keyword(s):  
Parallel Mechanism ◽  
Simulation Software ◽  
Computer Assisted ◽  
Advanced Technique ◽  
Analysis And Evaluation ◽  
Parasitic Motion ◽  
Velocity Models ◽  
Hybrid Mechanism ◽  
Bone Fragments ◽  
Classical Mechanism

Abstract. In severe fracture cases, a bone can be separated into two fragments and it is mandatory to reposition the bone fragments together. This type of surgery is called “bone reduction surgery”. Originally, the operation consisted in manipulating the bones fragments by hand in open surgery. The most advanced technique relies on robotic manipulators providing higher precision and stability. A new mechanical architecture is proposed based on a 3-RPS tripod parallel mechanism combined with a Double Triangular Planar parallel mechanism. Its kinematic and velocity models are calculated and the parasitic motion generated by the tripod mechanism is considered in the final result. The workspace it can generate is compared to the Stewart manipulator, which is a classical mechanism for the targeted application. The use of a robotic manipulator is due to be part of an entire surgical procedure involving a pre-operative simulation software dedicated to pre-planning reduction surgery, namely PhysiGuide. It is used to measure the kinematic associated with bone fragments manipulation and transfer it to the robot during the intra-operative phase. Simulations are then performed based on a real patient's fracture images showing the suitability of the present mechanism with bone reduction surgery.

Analysis of the lower jaw exoskeleton in finite element programs

2021 ◽  
pp. 88-92
Author(s):  
D. Yu. D’yachenko ◽  
A. A. Vorob’ev ◽  
Iu. A. Makedonova ◽  
О. N. Kurkina ◽  
S. V. D’yachenko ◽  
...  
Keyword(s):  
Finite Element ◽  
External Fixation ◽  
3D Model ◽  
Bone Fractures ◽  
Maxillofacial Region ◽  
Lower Jaw ◽  
Fixation Devices ◽  
Bone Fragments ◽  
External Fixation Device ◽  
Medical University

A special place in the methods of surgical treatment of bone fractures is occupied by transosseous osteosynthesis using external fixation devices of various designs.Objective: to analyze the lower jaw exoskeleton in finite element programs.Materials and research methods. During the research, 36 human lower jaws were involved from the museum of the Department of Oper-ative Surgery and Topographic Anatomy of the Volgograd State Medical University. They were scanned in 3D. All obtained images were loaded into a virtual scene reconstruction program. Fractures of the lower jaws in the corner area were modeled, an apparatus for external fixation of the lower jaw exoskeleton was installed, and the chewing load on the lower jaw was simulated. The place of application of the force was an area on a small fragment of a repositioned 3D model of the mandibular bone corresponding to the place of attachment of the masseter muscle. The evaluation of virtual studies was carried out according to the results of the stress-strain states of the bones and apparatus, the schedule of displacements of objects and the results of the analysis of the safety factor.Research results and discussion. In the course of evaluating the virtual placement of the mini-fixator wires of the apparatus for external fixation of the lower jaw exoskeleton, it was revealed that the main load is applied to the mini-fixator wires on a large fragment and the bone in the area of the wires. For the possibility of precise positioning of the osteofixers of the external fixation device, a device for the safe installation of the spokes of the lower jaw exoskeleton was also developed.Conclusion. Thus, on the basis of computer mathematical analysis, it can be argued that the developed design of the apparatus for external fixation of the lower jaw exoskeleton works under conditions of the maxillofacial region, performs reposition and fixation of bone fragments of the lower jaw under conditions of chewing functioning of the restored fracture of the lower jaw.

Epoxy-Pin External Skeletal Fixation for Management of Open Bone Fractures in Calves and Foals: A Review of 32 Cases

2019 ◽  
Vol 32 (03) ◽  
pp. 257-268
Author(s):  
Hari Aithal ◽  
Prakash Kinjavdekar ◽  
Abhijit Pawde ◽  
Prasoon Dubey ◽  
Rohit Kumar ◽  
...  
Keyword(s):  
Bone Fractures ◽  
Weight Bearing ◽  
Fracture Site ◽  
Open Fractures ◽  
Adhesive Tape ◽  
Stable Fixation ◽  
Early Weight Bearing ◽  
Pin Fixation ◽  
Bone Fragments ◽  
The Subject

Objective The aim of this study was to evaluate epoxy-pin external skeletal fixation technique for the treatment of open fractures in calves and foals. Study Design Twenty-eight calves and four foals (weighing 45–105 kg) with fractures distal to the stifle or elbow made the subject for the retrospective study. The pins (2.0–3.0-mm Kirschner wires, crossed at 60–90°) were fixed at least at two locations in both proximal and distal bone fragments as per the case situation. The pins in the same plane were bent (∼2 cm from the skin) towards the fracture site or joint and were joined using an adhesive tape (additional pins used when required) to make a temporary scaffold of connecting bars or rings. Thoroughly mixed epoxy putty was applied along the pin scaffold (the epoxy columns were 20–25 mm diameter) and allowed to set for 45 to 60 minutes. All animals were evaluated based on various clinical and radiographic observations made at regular intervals. Results The epoxy-pin fixation was easy to apply and provided stable fixation of bone as indicated by early weight bearing, and fracture healing within 45 to 60 days (17/32 cases). The functional recovery was good to very good in 14 animals and satisfactory in nine cases by 12 months after removal of the fixator. Conclusions The multiplanar epoxy-pin external skeletal fixation provides stable fixation of unstable open fractures distal to the stifle or elbow joint; hence, it can be used to treat a variety of fractures in calves and foals weighing up to approximately 100 kg, especially open infected fractures of lower limb, which are difficult to treat by conventional techniques.

A Compliance-Based Compensation Approach for Designing High-Precision Flexure Mechanism

2012 ◽  
Author(s):  
S. Z. Li ◽  
J. J. Yu ◽  
G. H. Zong ◽  
Hai-jun Su
Keyword(s):  
High Precision ◽  
Motion Compensation ◽  
Design Method ◽  
Flexure Mechanism ◽  
Parasitic Motion ◽  
Translation Error ◽  
Fea Simulation ◽  
Compensation Approach ◽  
Robust Design Method

This paper presents an approach of utilizing parasitic motion compensation for designing high-precision flexure mechanism. This approach is expected to improve the accuracy of flexure mechanism without changing its degree of freedom (DOF) characteristic. Different from the method which mainly concentrates on how to compensate the parasitic translation error of a parallelogram-type flexure mechanism existing in most of the literatures, the proposed approach can compensate the parasitic motion produced by rotation in company with translation. Besides, the parasitic motion of a flexure mechanism is formulated and evaluated by utilizing its compliance. To specify it, the compliance of a general flexure mechanism is calculated firstly. Then the parasitic motions introduced by both rotation and translation are analyzed by utilizing the resultant compliance. Subsequently, a compliance-based compensation approach is addressed as the most important part of this paper. The design principles and procedure are further proposed in detail to help with improving the accuracy of the flexure mechanism. Finally, a case study of a 2R1T flexure mechanism is provided to illustrate this approach, and FEA simulation is implemented to demonstrate its validity. The result shows that it is a robust design method for the design of high-precision flexure mechanism.

Primitive Bone Fracturing: A Method of Research

1972 ◽  
Vol 37 (3) ◽  
pp. 369-382 ◽  
Author(s):  
Hind Sadek-Kooros
Keyword(s):  
Quantitative Analysis ◽  
Decision Theory ◽  
Annual Meeting ◽  
Bone Fractures ◽  
Weighted Sums ◽  
Fracture Patterns ◽  
Bone Fragments ◽  
Preliminary Study ◽  
Definition Of ◽  
And Function

AbstractA preliminary study of the form and fracture patterns of sheep metatarsals from Jaguar Cave is used to illustrate a method for the quantitative analysis of primitive bone fracturing techniques. Criteria of form, fracture, and function are defined and weighted, on the basis of experiments with green bone, and the aid of computers is enlisted to process the archaeological specimens via these criteria. The data is searched for: a. the definition of a technique of intentional fracture, b. the formation of classes of intentionally fractured and retouched bone fragments, and c. the identification of statistically perfect tools and not-tools, determined by higher or lower correlations of weighted sums. Conclusions are drawn from the analysis of the Jaguar Cave bone and bone from other early collections. The application of linear decision theory to the analysis of bone fractures was first attempted in a Ph.D. dissertation (Sadek-Kooros 1966), and a shorter version of the present paper was read at the Thirty-Fourth Annual Meeting of the Society for American Archaeology, on May 2, 1969.

scholarly journals Stabilizing Potential of Fixion Nail with Plastic Deformation for Fixation of Simulated Diaphyseal Bone Fractures (Experimental Study)

2016 ◽  
Vol 23 (1) ◽  
pp. 82-84
Author(s):  
A. D Yamkovoi ◽  
N. S Gavruyshenko ◽  
V. I Zorya
Keyword(s):  
Experimental Study ◽  
Plastic Deformation ◽  
Postoperative Period ◽  
Bone Fractures ◽  
Early Postoperative Period ◽  
Test Laboratory ◽  
Ao Classification ◽  
Universal Machine ◽  
Diaphyseal Bone ◽  
Bone Fragments

Type A fractures by AO classification were simulated on eight human cadaveric specimens (2 shoulder segments, 3 femur and 3 crus segments). Fixion nails with plastic deformation were used for fixation. The magnitude of force resulting in bone fragments displacement was determined using universal machine at CITO test laboratory. On the basis of the obtained results the recommendations on the potential load in early postoperative period were given.

scholarly journals BONE-CEREBRAL CHANNEL REAMING IN THE TREATMENT OF LIMBS BONE FRACTURES

ScienceRise ◽  
2020 ◽  
pp. 40-50
Author(s):  
Asif Baglar ogly Mansyrov ◽  
Viktor Lytovchenko ◽  
Yevgeniy Garyachiy ◽  
Andriy Lytovchenko
Keyword(s):  
Bone Marrow ◽  
Bone Fractures ◽  
Functional Results ◽  
Surgical Technology ◽  
Results Of Treatment ◽  
Bone Fragments ◽  
Product Technology ◽  
Scientific Results ◽  
Technological Product

The object of the study: clinical effect of intramedullary blocking osteosynthesis of fractures of the bones of the extremities without reaming of the bone marrow canal. The problem to be solved: determination of the influence of surgical technology of intramedullary blocking osteosynthesis of bone fractures without reaming of the bone marrow canal on the qualitative and anatomical and functional results of treatment. Main scientific results. The term of fusion of bone fragments in complete groups (including all localizations) in the group of patients who underwent surgery with reaming of the bone marrow canal was 4.21±0.46 months, while in the group without reaming of the canal it was much shorter – 3.47±0.51 months Faster functional recovery of the limbs was also observed in cases that precluded bone marrow reaming – 96 % of good and 4 % satisfactory scores were obtained (80 % good and 20 % satisfactory in bone marrow reaming). The technology of closed intramedullary blocking osteosynthesis without reaming of the bone marrow can optimize the time of fusion of bone fragments and get 91 % good and 9 % satisfactory results. Its effectiveness is to reduce the number of satisfactory treatment results by 19 %, the absence of unsatisfactory and increase the share of good results by 23 %. The area of practical use of research results: clinics of traumatological profile of different levels, in which surgical treatment of fractures of the bones of the extremities are done. An innovative technological product: technology of closed intramedullary blocking osteosynthesis without reaming of the bone marrow canal. The area of application of an innovative technological product: clinical practice of using the technology of closed intramedullary blocking osteosynthesis without reaming of the bone marrow canal.

scholarly journals Complications of Intramedullary Blocking Osteosynthesis of Bones of Limbs and Ways to Prevent Them

2020 ◽  
pp. 35-42
Author(s):  
A.B. Mansyrov ◽  
V.O. Lytovchenko ◽  
Ye.V. Gariachyi
Keyword(s):  
Bone Marrow ◽  
Soft Tissues ◽  
Bone Fractures ◽  
Surgical Techniques ◽  
Results Of Treatment ◽  
Fracture Area ◽  
Bone Fragments ◽  
Diaphyseal Fractures ◽  
Technical Principles ◽  
Fractures Of Bones

Summary. The main condition for preventing complications of intramedullary blocking osteosynthesis of long bones is following the tactical and technical principles of osteosynthesis and conscious rejection of such surgical techniques and manipulations that can lead to disturbances of the course of reparative processes of bone tissue. Objective. On the basis of the study and summary of the identified complications of intramedullary blocking osteosynthesis of diaphyseal fractures of bones of limbs, to determine ways to prevent complications of the reparation. Materials and Methods. The results of treatment of 403 patients who underwent intramedullary blocking osteosynthesis of the femur, tibia and humerus types A1-A3, B1–B3 and C2 by AO/ASIF were studied and analyzed. Results. Analyzing the technological complications that we have divided, depending on the consequences they led to, early (up to 2 weeks after surgery), late (2 weeks after surgery) and reparative, we found that the most common technological mistakes were incorrect preoperative planning and disruption of technology and surgery, which in 21.6% of cases led to instability of bone fragments in the fracture area, and the absence or disruption of recovery and rehabilitation of patients, which occurred in 26.3% of cases. Disorders of osteosynthesis technology, namely, significant intra-operative traumatization of bone fragments and soft tissues, and non-eliminated soft tissue interposition resulted in inappropriate consolidation of bone fragments in 39% and 13%, respectively. The main cause of reparative complications was bone marrow drilling, which was performed for 56% of the patients with delayed consolidation of bone fragments, 56.3% of the patients with false joints, and 48% of the patients with bone fractures. Conclusions. Strict following the tactical and technical principles of intramedullary blocking osteosynthesis and rejection of bone marrow drilling without indications will reduce the incidence of bone dysregeneration. The study of the effect of bone marrow drilling on reparative bone regeneration in intramedullary blocking osteosynthesis is actual and needs further deep analysis.

scholarly journals Results of treatment of patients with midfacial fractures

2021 ◽  
Vol 8 (2) ◽  
pp. 115-122
Author(s):  
Anton Khudyk ◽  
Sergey Grigorov
Keyword(s):  
Maxillary Sinus ◽  
Comparative Evaluation ◽  
Bone Fractures ◽  
Functional Impairments ◽  
Facial Skeleton ◽  
Results Of Treatment ◽  
Bone Fragments ◽  
Treatment Technologies ◽  
Cosmetic Effect

Background. Fractures of the bones of the facial skeleton, in particular the midface area, are one of the most frequent reasons for patients to apply to maxillofacial inpatient care, not only in Ukraine but also abroad. Along with more modern treatment technologies (osteosynthesis using titanium miniplates and minigrid for fixation bone fragments), methods of repositioning of fragments with subsequent tamponade of the maxillary sinus with iodoform tampon and without tamponade and fixation of fragments are used. A certain group of patients is treated conservatively, which is associated with their reluctance to undergo surgery, minimal displacement of fragments or minimal cosmetic and functional impairments. The purpose of the study. Comparative evaluation of the results of treatment of patients with fractures of the midface area by repositioning the fragments of the zygomatic-orbital complex without fixating the fragments and their subsequent fixation by tamponade of the maxillary sinus with iodoform tampon. Object and methods of research. The comparison was made of the results of treatment of 70 patients with fractures of the midface area, among which 13 patients were treated by the method of repositioning fragments of the zygomatic-orbital complex (ZOC) without fixation and without maxillary sinus tamponade, 29 patients underwent repositioning of ZOC fragments with subsequent fixation of fragments with iodoform tampon – the tamponade of the maxillary sinus was performed on the affected side. For comparison, the results of conservative treatment of 28 patients with fractures of the midface area were used. Results. It was found that the reliable (χ2=11.43; p<0.05) majority of patients (64%) sought treatment within 0-3 days after injury. 83-89% of patients who underwent repositioning of the fragments had fresh small-fragment fractures. The reliable (χ2=11.43; p<0.05) majority of them simultaneously had 3-4 sites of bone fractures of the midfacearea, hemosinus of varying degrees and paresthesia in the infraorbital area. In the majority of patients who underwent repositioning of bone fragments with and without tamponade (85% and 93%, respectively), the final displacements ranged from 3.1 to 6 mm. In patients treated conservatively, in most cases (93%) the displacements were greater than 3.1 mm, which remained after treatment. Conclusion. In the majority of patients treated with the studied methods, in the long term, the displacement of bone fragments remained, which had functional and cosmetic consequences. In all studied groups, a certain cosmetic effect was achieved over time, as evidenced by a reliable (χ2=160.9; p=0.00000) decrease in the indicator by the visual analogue scale .

scholarly journals Outstanding issues of modern osteosynthesis of humerus fractures

TRAUMA ◽  
2021 ◽  
Vol 22 (1) ◽  
pp. 5-11
Author(s):  
P.I. Bilinskyi ◽  
Y.P. Tsiura ◽  
V.R. Antoniv
Keyword(s):  
Bone Fractures ◽  
High Tech ◽  
X Rays ◽  
Aseptic Necrosis ◽  
Plate Removal ◽  
Negative Results ◽  
Mechanistic Approach ◽  
Stable Osteosynthesis ◽  
Bone Fragments ◽  
Humerus Fractures

Background. Over the past twenty years, there have been significant changes in the treatment of humerus fractures. Many high-tech tools have appeared in osteosynthesis. Numerous workshops and short-term courses do not sufficiently highlight vulnerabilities of osteosynthesis with fixators. Unfortunately, in many cases, the treatment results of humerus fractures could be better. The purpose of the work was the analysis of biomechanical aspects of modern fixators for humerus fractures osteosynthesis, causes for complications and unsatisfactory results in the application of fixators. Materials and methods. We have analyzed the available literature data, X-rays of interesting cases, patients’ histories with complications, and negative results of humerus fractures osteosynthesis by intramedullary blocking rods and LCP-plates. Results. The outcome of the humerus fracture treatment largely depends on the understanding of the process of reparative regeneration. There is a tendency for a mechanistic approach in the treatment of bone fractures and their consequences. In the case of surgical neck fractures, the curved LCP-plates are used. They require the placement of at least 4 blocking screws into the bone epiphyses. This often leads to the development of aseptic necrosis. The lack of the anatomical reposition of the fragments as well as the placement of 5–7 screws into the humerus head leads to deforming arthrosis of the shoulder joint. We have observed similar complications in 10 patients. The placement of a significant number of screws into the bone head can lead to complications when a fixator breaks at the point of the plate tension change. In complex cases of humerus fractures and complications of osteosynthesis with other fixators in 170 patients, we used a device for fixing bone fragments that has been developed by us. It is protected by the patent of Ukraine N 17502. The device eliminates harmful pressure of a plate on a bone, carries out a stable osteosynthesis using the shortest possible plate. Blocking screws in a plate with insufficiently reposed fragments cause the development of pseudoarthrosis. A common complication of LCP plates is the welding effect between the screw head and the plate. Against the background of osteoporosis of the bone, the LCP plate actually acts as a prosthesis, which exacerbates the effects of osteoporosis. Late LCP plate removal in such cases might cause humerus refraction. Conclusions. Osteosynthesis of humerus fractures using LCP plates has significant advantages over traditional contact plates. Complications and negative results of osteosynthesis may occur when they are used inappropriately and when the correct methods and techniques of surgical intervention and the appropriate postoperative care are not followed.

Sign in / Sign up

Export Citation Format

Share Document