Control simulation of a six DOF parallel-serial robot for femur fracture reduction

In femur fracture surgeries, medical personnel are exposed to large amount of X-ray radiation, which is harmful to human health. Robot-assisted fracture reduction of the femur is believed to be a good way to increase surgery accuracy and increase surgical efficiency. A parallel-serial surgical robot has been developed, named D'cros by the authors for such applications. This paper introduces the motion control of the robot and its control simulation. In motion control, we describe the structure of the robot and propose three angles defining the end-effectors orientation in 3D space and two Cartesian coordinates, one of which is for surgeons to input the end-effectors positions and define its orientations and the other is used to control motors for end-effectors movement. Determination of trajectory, translation velocities and angular velocities are also presented. In the simulation section, the snapshots of the simulation animation of the end-effectors motion are demonstrated by the MATLAB software and the software interfaces, motors displacements and velocities are shown as well.