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ŤØconfirm all the kinematic product, a trajectory is enter in Adams As well as in Matlab. The MP2 movement element features are defined as followed:

在哪里ω，ωone一个ñdv1一个re respectively the angular velocity in the MP2 with respect on the set body OXYz , the angular velocity and linear velocity on the MP1 with respect on the fastened body OXYz 。

MP2 parasitic movement and MP1 movement compensation alongx轴（a）和y一个xis (b) calculated by Matlab and measured by Adams.

A misalignment in between the bones as well as implants can as a result manifest following their installation. The hazard natural environment of impression-guided surgical procedures can be a critical challenge to take into account. Indeed, while surgeons should execute these changes, the two surgeons and people are matter to too much X-ray publicity in the technique. But unlike clients, surgeons will are afflicted by recurring exposures to the radiation created by the health care imaging procedure.

解决与手动骨减少手术（包括打开和微创）相关的问题，使用的机制已经提出。该技术依赖于分别固定机构基部和端部执行器以一个骨的两个不同的片段。在其结构之前，被操作它的关节当该机构将生成它的碱和它的端部执行器之间的运动的。通过扩展，一个骨片和另一个之间，然后执行运动。因此，能够通过操作机构的关节来控制骨碎片的运动。执行完整的骨减少需要骨片段中的一个的移动它沿着三个线性方向和旋转它围绕三个不同轴的操纵。因此，专用于骨缩小手术机构应该产生一个总的自由（DOF）的六度：三个线性自由度和three的角自由度作为一个主要的要求。在预操作阶段，外科医生将观察患者骨折的术前图像和将估计为骨骼重新定位一个适当的轨迹。轨迹被定义考虑两个主要的顾虑：中保证一个精确的断裂面匹配，并避免最后进近前的骨碎片的结构之间的碰撞。在手术中阶段，外科医生将近似产生计划轨迹。 The evolution in the trajectory and the ultimate matching are confirmed visually determined by the intra-operative health-related photographs.

第一种机制协助骨减少手术已在1992年博士Gavril已经报道维奇伊利扎诺夫开发具有交叉线的第一圆形外固定器，命名伊利扎诺夫，对于复杂骨折[yabo sports ]。该Ilizarov exterior fixator revealed inyabo sports 一个，CØñsists in two or maybe more rings which are related each other by four threaded rods with adjustable nuts. This fixator was patented and 亚博集团 acknowledged for scientific application. In 1999, a complicated Edition with the Ilizarov fixator is released and properly tested on 16 patients presenting fracture in the tibia [yabo sports ]。该米echanism used was composed of two cylindrical modules which have been connected by a hexapod mechanism of six legs and 12 spherical joints.

如果值φrk一个ñdφsk一个re suited to constraints offered by equationyabo sports ，则被动关节的是其容许范围内。这意味着考虑点是通过该机制可到达。为了研究与骨缩小手术所提出的混合平面三角架机构的适用性，它的工作区相比Stewart平台这在医学应用中最常用的体系结构。为了确保公平的比较，Stewart平台和混合机构被设置具有相同的一般尺寸在所示yabo sports 。它们的输入变量范围的运动也被类似地调节。相关联的参数显示在yabo sports 。

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该modern emergence of hybrid architectures appears to bring a particular contribution to this precise surgical application with regards to workspace [yabo sports ]。

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