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Design and Control of X-ray Permeable Teleoperated Stewart Platform for Fracture Surgery
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 Title & Authors
Design and Control of X-ray Permeable Teleoperated Stewart Platform for Fracture Surgery
Yoo, Byeongjun; Kim, Hyemi; Lee, Sung-Hak; Lim, Sunho; Park, Tae Gon; Lee, Chibum;
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 Abstract
To avoid radiation exposure from repeated x-rays taken during orthopedic surgery, an x-ray permeable teleoperated Stewart platform for orthopedic fracture surgery was developed. This system is composed of a user interface device and a teleoperated operational robot, both of which use a Stewart platform mechanism. The links of the operational robot are made from an x-ray permeable material, polycarbonate, to minimize the interference. The forward and inverse kinematics algorithm applied and the structural reliability were both verified through an analysis using commercial engineering software. To monitor the operating status in real time and stop the device during an emergency, a monitoring software was developed. The performance of the x-ray permeable teleoperated Steward platform was validated experimentally.
 Keywords
Orthopedics;X-ray permeability;Stewart platform;Inverse kinematics;Forward kinematics;Teleoperation;
 Language
Korean
 Cited by
 References
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