@article{FuechtmeierEgersdoerferMaietal., author = {F{\"u}chtmeier, Bernd and Egersdoerfer, Stefan and Mai, Ronny and Hente, Rainer and Dragoi, Daniel and Monkman, Gareth J. and Nerlich, Michael}, title = {Reduction of femoral shaft fractures in vitro by a new developed reduction robot system "RepoRobo"}, series = {Injury}, volume = {35}, journal = {Injury}, number = {1, Supplement}, publisher = {Elsevier}, organization = {Elsevier}, issn = {1879-0267}, doi = {10.1016/j.injury.2004.05.019}, pages = {113 -- 119}, abstract = {Closed reduction of the long bones is associated with the use of considerable force. This force must be maintained for the reduction maneuver and fixation process. At present, apart from the extension table or the large AO distractor, only rather inadequate reduction aids are available. A solution to this problem is being sought in the form of a robotic system with which precision can be improved and the holding effort reduced. In the research project presented here, a synthetic femur with integrated tensioned mainspring and a 32-A3 type fracture served as a bone reduction model. The fracture was stabilized with a standard AO fixator. A St{\"a}ubli robot (model RX130) was converted by appropriate modification so that it could be used for the reduction of femoral shaft fractures in vitro. The robot was equipped with a pneumatic 2-fingered gripper, on which the fingers have been modified so that they can grip the AO fixator clamp. A Force-Feedback-Sensor was inserted between the gripper and the robot to obtain online recordings of the forces and moments in all three axes. With this setup it is possible to achieve precise reduction of the fracture in all planes under visual control.}, language = {en} } @inproceedings{LegrandBoeseErmertetal., author = {Legrand, V. and B{\"o}se, Holger and Ermert, Helmut and Freimuth, Herbert and Baumann, Michael and Egersd{\"o}rfer, Stefan and Meier, Alexander and Dragoi, Daniel}, title = {Technologien f{\"u}r haptische Systeme in der Informations{\"u}bertragung}, series = {IAFW Tagung - Lengenfeld, Mai 2003}, booktitle = {IAFW Tagung - Lengenfeld, Mai 2003}, language = {de} } @article{EgersdoerferDragoiMonkmanetal., author = {Egersdoerfer, Stefan and Dragoi, Daniel and Monkman, Gareth J. and F{\"u}chtmeier, Bernd and Nerlich, M.}, title = {Heavy duty robotic precision fracture repositioning}, series = {Industrial Robot}, volume = {31}, journal = {Industrial Robot}, number = {6}, publisher = {Emerald}, issn = {0143-991X}, doi = {10.1108/01439910410566344}, pages = {488 -- 492}, abstract = {The application of robotics in manufacturing industry is increasingly spreading to other fields such as service, security and medical, and more recently into orthopedic surgery. Most research projects to date have concentrated on the lighter side of non-invasive surgery, camera, laser guidance, light cutting and milling through bone. Just as in industrial production and processing applications, the choice of robot and its accompanying control and programming system is absolutely paramount. This simple fact has been justified in recent research dealing with the heavier forms of fracture repositioning robotics in accident surgery. This paper discusses the development of the complete system including robot, end-effector and sensors.}, language = {en} } @inproceedings{MonkmanDragoiEgersdoerferetal., author = {Monkman, Gareth J. and Dragoi, Daniel and Egersd{\"o}rfer, Stefan and F{\"u}chtmeier, Bernd and Nerlich, M.}, title = {Der Roboter als Hilfsmittel in der Chirurgie // International Mechatronik Forum, Linz, October 2006}, series = {International Mechatronik Forum, Linz}, booktitle = {International Mechatronik Forum, Linz}, language = {de} }