[Design and Analysis of a Rigid-Flexible Hybrid Fracture Reduction Robot].

Abstract

To address the technical bottlenecks of minimally invasive closed reduction and intramedullary nailing (IMN), a rigid-flexible hybrid minimally invasive fracture reduction robot is proposed. The system leverages the compliant contact properties and continuous deformation capabilities of soft materials to ensure reduction accuracy while satisfying the compliance and safety requirements of the fracture reduction process. Additionally, based on the anatomical and physiological characteristics of the human lower limbs, a femoral shaft fracture model is developed, accounting for the presence of soft tissues such as muscles around the fracture site. Subsequently, fracture reduction simulation experiments are conducted on the model using the proposed robot following clinical surgical reduction protocols. After reduction, the maximum angular error is 0.6°, and the maximum residual translation is 1.0 mm. Results demonstrate that the proposed system meets the clinical functional reduction criteria, ensuring precision while enhancing human-robot interaction safety. It exhibits potential advantages in meeting the demands of low radiation, lightweight design, and high compliance in fracture reduction surgeries.