Ortopedik Uygulamalarda Bilgisayarlı Denetim Sistemi

Ercan Avşar; İbrahim D. Akçalı; Ahmet Aydın; M. Kerem Ün; Hüseyin Mutlu; Turgay İbrikçi; Cenk Özkan; Ömer S. Biçer

doi:10.21605/cukurovaummfd.242777

A Computer Aided Control System in Orthopaedic Applications

Year 2015, , 93 - 102, 25.07.2016

Ercan Avşar İbrahim D. Akçalı Ahmet Aydın M. Kerem Ün Hüseyin Mutlu Turgay İbrikçi Cenk Özkan Ömer S. Biçer

https://doi.org/10.21605/cukurovaummfd.242777

Cited By: 1

Abstract

In this work, a computer aided control system enabling effective usage of external fixators that are widely utilized in orthopaedics for various purposes is presented. With this system, possibility for fixator to fall into a singular position througout the treatment is reduced by cahnging its rod lengths according to various functional models. Furthermore, a 3D simulation belonging to proposed treatment scheme is provided to allow the doctor visually inspect the treatment process before it is initialized

Keywords

Orthopaedics, External fixator, Singularity, Simulation

References

1. Stewart, D., 1965. A platform with 6 degrees of freedom, Proc. of The Institution of Mechanical Engineers, Vol.180, No. 15, pp. 371-386.
2. Burny, F., Bourgouis, R., Donkerwolcke, M., 1982. Elastic Fixation: A Biomechanical Study of the Half-Frame, In Seligson, D., Pope, M.H., (Eds) Concepts in External Fixation, Grune and Stratton, New York, pp:67-77.
3. Behrens, F. 1981. External Skeletal Fixation; In American Academy of Orthopaedic Surgeons Instructional Course Lectures, Vol.30, The CU Mosley Co., St. Louis.
4. Donald, G., Seligson, D., 1982. Fixateur Systems in Current Use in Concepts in External Fixation, (Eds: Seligson, D., Pope, M.) Grune and Stratton, pp:293-308. 5. Pope, M.H., Evans, M., 1982. Design
Considerations in External Fixation, in Concept in External Fixation (Eds: Seligson, D., Pope, M.), Grune and Stratton, New York, pp:109 138.
6. Hughes, J.L., Sauer, B.W., 1982. Wagner Apparatus: A Portable Traction Device in Concepts in External Fixation (Eds: Seligson, D., Pope, M.H.) Grune and Stratton, New York, pp:203-218,
7. Letournel, E., 1982. The Judeth Fixateur for Fractures of the Ankle, in Concepts in External Fixation, Grune and Stratton, New York, pp:247-266,
8. Behrens, F., 1982. Unilateral External Fixation For Severe Lower Extremity Lesions: Experience with the ASIF (AO) Tubular Frame, in Concepts in External Fixation (Eds: Seligson, D. and Pope, M.) Grune and Stratton, New York, pp:279-292.
9. Fernandez, A.A., 1985. External Fixation of the Leg Using Unilateral Biplanar Frames, Arch. Orthop. Trauma Surg., 104 Springer Verlag, pp:182-186. 10.Ilizarov, G., 1992. Transosseons. Berlin, Springer Verlag.
11.Çakmak, M., Kocaoğlu, M., 1999. İlizarov Cerrahisi ve Prensipleri, İstanbul.
12. Aydın, A., İbrikçi, T., Akçalı, İ.D., 2011. A Hybrid Image Processing System for X-ray Images of An External Fixator, Computer Methods in Biomechanics and Biomedical Engineering, 15:7, pp. 753-759,
13. Akçalı, İ.D., Şahlar M.O., Ün, M.K., Aydın, A., İbrikçi, T., Esen, R., Gülşen, M., Bayram, H., 2009. A Mathematical Model in the Implementation of a Stewart Platform as an External Fixator, Medical Physics and Biomedical Engineering World Congress, IFMBE Proceedings,Springer, Vol. 25, pp: 708-711, 7-12 September, Munich Germany.
14. Mutlu, H., Akçalı, İ.D., Gülşen, M., 2006. A Mathematical Model for the Use of a GoughStewart Platform Mechanism as a Fixator. J. of Engineering Mathematics, pp:119-143.
15. Dasgupta, B., Mruthyunjaya, T. S., 1998. Singularity-Free Path Planning for the Stewart Platform Manipulator, Mech. Mach. Theory Vol. 33, No. 6, pp. 711-725.
16. Sarıgül, A. S., Güneri, B., 2014. Some geometric, kinematic, and dynamic considerations on Stewart-Gough platforms with singularity analysis., Robotica, 32, pp 953-966.
17. Li, Y., Wang, Y., 2014. Eliminating Singularity of a Parallel Driving Mechanism of Axisymmetric Vectoring Exhaust Nozzle., Proc. of the Inst. of Mech. Eng., Part G: J. of Aerospace Engineering , vol. 228, no. 12, pp: 2300-2309, Oct.
18.Coste, M., Moussa, S., 2015. On the Rationality of the Singularity Locus of a Gough-Stewart Platform-Biplanar Case., Mechanism and Machine Theory, vol: 87, pp.82-92.
19. St-Onge, B. M., Gosselin, C. M., 2000. Singularity Analysis and Representation of the General Gough- Stewart Platform, The International Journal of Robotics Research, Vol. 19, No. 3, pp. 271-288.
20. Dash, A.K., Chen, I.M., Yeo, S.H., Yang, G., 2005. Workspace Generation and Planning Singularity-Free Path for Parallel Manipulators., Mechanism and Machine Theory Vol: 40, pp: 776-805.
21. Akçalı, İ.D., Avşar, E., Ün, M.K., Aydın, A., İbrikçi, T., Mutlu, H., Biçer, Ö.S., Özkan, C., Durmaz, A., 2014. Displacement Analysis of Robotic Frames for Reliable and Versatile use as External Fixator, The 4th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, Hong Kong, China, June 4-7.
22. Akçalı, İ.D., Avşar, E., Durmaz, A., Aydin, A., Ün, M.K., İbrikçi, T., Mutlu, H., Özkan, C., Biçer, Ö.S., 2015. Singularity Detection in an External Fixator of Gough-Stewart Platform Type, International Conference on Innovative Technologies, IN-TECH 2015, pp.284-287, Dubrovnik, Hırvatistan, 9-11 Eylül.
23. Akçalı, İ.D., Avşar, E., Durmaz, A., Sağdıç, İ., Aydin, A., Ün, M.K., İbrikçi, T., Özkan, C., Biçer, Ö.S., 2015. Fiksatörün En Yakın Noktalar Yaklaşımıyla Tekillik Denetimi, Tıp Teknolojileri Ulusal Kongresi, TIPTEKNO'15, ss.404-407, Muğla, Türkiye, 15-18 Ekim.
24.Barkana, D. E., 2010. Design and Implementation of a Control Architecture for Robot-Assisted Orthopaedic Surgery., Int. J. Med. Robotics Comput. Assist. Surg., Vol: 6, pp: 42-56.