Abstract
Introduction: Despite a wide range of applications of robotics in medical sciences, the role of medical robotics in orthopedic surgeries is of great importance.
Methods: In the present study, the transformation, spatial description, and movement of the Yaskawa Motoman MH5 robot were compared with two improved types of this robot. In type A, a rotational joint is replaced with the prismatic joint, and in type B, beside a rotational joint, a prismatic joint is added to the mechanism of the original robot.
Results: The results demonstrated that despite the fact that type A used less distance, it had a stronger possibility than type B for workspaces feasibility spatial movement. The results also indicated that the first, second, and third joints must be involved to create a static balance in type A robot, and for type B, in the same conditions, the first, second, third, and fourth joints must be involved. This means that the type A robot needs a higher power to make the balance, and the error potential in the type B robot is higher than that of type A.
Discussion: The internal loading that the joints of type A robot must tolerate maintaining a static balance is greater than that of type B, which causes more wear out of type A robot. From workspaces and movements points of view, the efficiency of the type B MH5 robot is greater than in other cases.
Keywords
Medical robotics, Orthopedic surgery, Spatial description, Joint movement, Yaskawa Motoman MH5, Work space, Force