Telemedical control of a robotic external fixator

Abstract

External fixators are widely used for the treatment of fractures, deformities and bone defects. In common practice fixators are operated manually by the patient over the course of healing. The hexapod external fixator, which is based upon the Steward Platform kinematics, allows six independent degrees of freedom for spatial movement. Motor-driven actuators were added to create a bone mounted robot. The robotic motion path is planned computer-aided by specially trained surgeons. For this trajectory planning at least two perpendicular x-ray images are necessary. The control unit of this robot communicates wirelessly via java software on a mobile phone. It exchanges email messages to update the motion path for the robot. This instruction is carried out by the fixator without the need to visit a hospital.