Skip to main page content
U.S. flag

An official website of the United States government

Dot gov

The .gov means it’s official.
Federal government websites often end in .gov or .mil. Before sharing sensitive information, make sure you’re on a federal government site.

Https

The site is secure.
The https:// ensures that you are connecting to the official website and that any information you provide is encrypted and transmitted securely.

Access keys NCBI Homepage MyNCBI Homepage Main Content Main Navigation
. 2022 Feb;18(1):e2349.
doi: 10.1002/rcs.2349. Epub 2021 Dec 8.

Design of a vibration damping robot and force evaluation in intraoperative robotic-assisted femoral shaft repair using a modified soft damper

Oluseyi A Orelaja  1   2 , Wang Xingsong  1 , Jie Li  1 , Ibrahim Sh Dauda  1   3 , Ishola A Afiz  4 , S A Odunlami  5 , Abdulyezir A Badmos  6 , Umer Sharif  1
Affiliations

Design of a vibration damping robot and force evaluation in intraoperative robotic-assisted femoral shaft repair using a modified soft damper

Oluseyi A Orelaja et al. Int J Med Robot. 2022 Feb.

Abstract

Background: Closed intra-medullary nailing fixation is a method for treating fractured femurs with minimal invasiveness. However, this method lacks safety and precision. To avert prevailing problems such as extended cracks in the already broken bone, the design of a vibration damping robot and force evaluation system is essential.

Methods: This paper presents a sensor-based clamping robot system embedded with a regulated pressurised air balloon. Drilling forces were monitored by a force sensor attached to the end robot effector, while the reduced vibration result was measured by a non-contact laser displacement sensor. A 2 degree-of-freedom (2DOF) model was developed.

Results: Force and vibration data were obtained using a data acquisition module (EMS 309) and analysed using MATLAB software (Version R2015b). The results obtained show that both the frequencies and amplitudes of the vibration is reduced at 6 bar with effector's spindle speed of 1500 rpm.

Conclusions: This proposed concept shows that drilling force and vibration can be reduced simultaneously using a robot effector coupled with a damper.

Keywords: air damper; alignment; femoral shaft fracture; force reduction; repositioning; vibration reduction.

PubMed Disclaimer

References

REFERENCES

    1. Bertelsen A, Javier M, Sanchez E, Borro D. A review of surgical robots for spinal interventions. Int J Med Robot Comput Assist Surg. 2013;9(4):407-422. https://doi.org/10.1002/rcs.1469
    1. Dai Y, Xue Y, Zhang J. Vibration-based milling condition monitoring in robot-assisted spine surgery. IEEE/ASME Trans Mechatron. 2015;20(6):3028-3039. https://doi.org/10.1109/TMECH.2015.2414177
    1. Bureau of Transportation Statistics. United States Department of Transportation 2017. In: Bureau of Transportation Statistics Annual Report. Statistical Product and Data. United States: Research Board (TRB) of the National Academy of Sciences; 2007. Cited 2019 July 20. www.bts.gov
    1. Cleather DJ, Goodwin JE, Bull AM. Hip and knee joint loading during vertical jumping and push jerking. Clin Biomech. 2013;28(1):98-103.
    1. Oszwald M, Westphal R, Loughlin PF, et al. A rat model for evaluating physiological responses to femoral shaft fracture reduction using a surgical robot, J Orthop Res. 2008;26:1656-1659.

LinkOut - more resources