Development of a Hybrid Cartesian Robot for Knee Joint Sur-gery

Currently, robots are widely used in orthopedics for surgical operations in the world. The use of robots in orthopedics has increased the accuracy of bone cutting and im-plant placement, which has improved the results of surgical operations. Most robots used in orthopedics have a serial or parallel structural scheme. However, serial robots have low load capacity and rigidity and insufficient accuracy. The disadvantages of the parallel structural scheme of the robot are a smaller workspace and the presence of singular configurations compared to serial ones. To eliminate the above disadvantages of surgical robots for knee joint operations and to create an inexpensive robot, a hybrid Cartesian robot for knee joint surgery has been developed. The hybrid Cartesian robot has the strengths of parallel and serial robots, potentially smoothing out the main dis-advantages of their designs. The forward and reverse kinematics of the proposed robot are analyzed. A 3D model of a hybrid Cartesian robot for knee joint surgery is devel-oped and its prototype is designed in a simplified form based on it. The simplified pro-totype of a hybrid Cartesian robot for knee joint surgery provides sufficient accuracy in resection of hard bone and has good prospects for practical use.
Keywords: keyword 1; orthopedic surgery; robot; hybrid Cartesian robot; end effector; cutter; prototype