The Ortho-SUV frame, as an innovative parallel mechanism with variable hinge joints, can flexibly and conveniently treat limb deformities and fractures. In order to achieve orthopedic treatment, the spatial pose of the Ortho-SUV frame needs to be adjusted according to the fracture or deformity of different patients. Its kinematic analysis is therefore required. The pose of the Ortho-SUV frame was described by six spatial pose parameters, and its mathematical model was established. Based on its special structure, the nonlinear and high-coupled equations with trigonometric functions were transformed into ordinary non-linear equations without trigonometric functions, and the efficient and fast solution methods for the forward and inverse solutions of the spatial pose model were given. The correctness and the accuracy of the model were proved by checking calculation and simulated orthopedic experiment of tibial fracture, which provides a theoretical basis for the Ortho-SUV frame to be used in orthopedic treatment.
FU Chao, FAN Jiacheng, WANG Shigang, LIANG Qinghua
. Modelling of Spatial Pose of Ortho-SUV Frame and
Mathematical Solution[J]. Journal of Shanghai Jiaotong University, 2020
, 54(10)
: 1007
-1014
.
DOI: 10.16183/j.cnki.jsjtu.2019.017
［1］LEE A K, COOPER S A, COLLINGE C. Bicondylar tibial plateau fractures: A critical analysis review［J］. JBJS Reviews, 2018, 6(2): e4.
［2］ILIZAROV G A. The principles of the Ilizarov method ［J］. Bulletin of the Hospital for Joint Diseases Orthopaedic Institute, 1988, 48: 1-11.
［3］TAKATA M, VILENSKY V A, TSUCHIYA H, et al. Foot deformity correction with hexapod external fixator, the Ortho-SUV frameTM［J］. The Journal of Foot and Ankle Surgery, 2013, 52(3): 324-330.
［4］SKOMOROSHKO P V, VILENSKY V A, HAMMOUDA A I, et al. Determination of the maximal corrective ability and optimal placement of the Ortho-SUV frame for femoral deformity with respect to the soft tissue envelope, a biomechanical modelling study［J］. Advances in Orthopedics, 2014, 2014: 268567.
［5］PALEY D. History and science behind the six-axis correction external fixation devices in orthopaedic surgery［J］. Operative Techniques in Orthopaedics, 2011, 21(2): 125-128.
［6］SKOMOROSHKO P V, VILENSKY V A, HAMMOUDA A I, et al. Mechanical rigidity of the Ortho-SUV frame compared to the Ilizarov frame in the correction of femoral deformity［J］. Strategies in Trauma and Limb Reconstruction, 2015, 10(1): 5-11.
［7］SOLOMIN L N, PALEY D, SHCHEPKINA E A, et al. A comparative study of the correction of femoral deformity between the Ilizarov apparatus and Ortho-SUV frame［J］. International Orthopaedics, 2014, 38(4): 865-872.
［8］SOLOMIN L N. The basic principles of external skeletal fixation using the Ilizarov and other devices［M］. 2nd ed. Milan, Italy: Springer, 2012: 705-721.
［9］吴培栋. Stewart平台的运动学与逆动力学的基础研究［D］. 武汉: 华中科技大学, 2008.
WU Peidong. Fundamental research on kinematics and inverse dynamics for Stewart platform［D］. Wuhan: Huazhong University of Science and Technology, 2008.
［10］耿明超, 赵铁石, 王唱, 等.基于拟Newton法的并联机构位置正解［J］. 机械工程学报, 2015, 51(9): 28-36.
GENG Mingchao, ZHAO Tieshi, WANG Chang, et al. Direct position analysis of the parallel mechanism based on quasi-Newton method［J］. Journal of Mechanical Engineering, 2015, 51(9): 28-36.
