Study on orthopaedic path planning of Taylor spatial frame

Aim Taylor spatial frame (TSF) is a kind of six‐axis external fixator based on Stewart platform, which is widely used in the fields of trauma orthopaedics and orthopaedic reconstruction. Purpose To reduce the irregular movement of TSF's moving platform during orthopaedic process and decrease th...

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Veröffentlicht in:The international journal of medical robotics + computer assisted surgery 2024-02, Vol.20 (1), p.e2606-n/a
Hauptverfasser: Liu, Tao, Lu, Yonghua, Zhu, Yun, Cui, Zhanxiang, Wang, Ziyuan
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Sprache:eng
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Zusammenfassung:Aim Taylor spatial frame (TSF) is a kind of six‐axis external fixator based on Stewart platform, which is widely used in the fields of trauma orthopaedics and orthopaedic reconstruction. Purpose To reduce the irregular movement of TSF's moving platform during orthopaedic process and decrease the risk of complications caused by collision between bone and surrounding tissue. Method We combine the kinematics solutions with the multi‐objective genetic algorithm and ant colony optimization to get the optimal solution for adjustment of strut length and order. We conduct simulation and physical experiment of orthodontic process respectively to prove the effectiveness of our method. Result After optimization, the average offset during a single adjustment is less than 1 mm, and the offset during the whole orthopaedic process is reduced by about 38.8%. Conclusion It demonstrates that our method can effectively reduce the offset of moving platform while ensuring orthopaedic accuracy.
ISSN:1478-5951
1478-596X
DOI:10.1002/rcs.2606