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MBARS2: A New Design for a 3- Degrees of Freedom Parallel Structure for Joint Arthroplasty

[+] Author Affiliations
A. Wolf

Technion-Israel Institute of Technology, Haifa, Israel

S. Amir

Ben-Gurion University of the Negev, Beer Sheva, Israel

A. B. Mor

West Penn Hospital, Pittsburgh, PA

Paper No. ESDA2008-59364, pp. 445-451; 7 pages
  • ASME 2008 9th Biennial Conference on Engineering Systems Design and Analysis
  • Volume 4: Fatigue and Fracture; Fluids Engineering; Heat Transfer; Mechatronics; Micro and Nano Technology; Optical Engineering; Robotics; Systems Engineering; Industrial Applications
  • Haifa, Israel, July 7–9, 2008
  • Conference Sponsors: International
  • ISBN: 978-0-7918-4838-8 | eISBN: 0-7918-3827-7
  • Copyright © 2008 by ASME


In this report we present the second prototype of a 3-degrees-of-freedom active, miniature bone-attached, robotic system. The report focuses on the mechanical structure, workspace analysis and inverse kinematics solution. The robot is capable of preparing the bone cavity for an implant during joint arthroplasty procedures. This system, just as its predecessor is image-free and all planning is performed intraoperatively in the robot coordinate system, eliminating the need for external tracking systems in the OR. Experiments were conducted using the first robot prototype to evaluate its accuracy and the results supported the feasibility of the concept.

Copyright © 2008 by ASME



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