Design and Optimization of a 6-RUHU Parallel Robot for Accelerating Tibial Fracture Healing

Robotics has been widely used in orthopaedic surgery and correction of bone deformities, but there are no specific robotic aids for fracture rehabilitation to promote fracture healing. It has been demonstrated that mechanical stimulation can accelerate fractured bone healing by promoting osteoblast division and differentiation. However, the fracture section is complex and requires high precision in mechanical regulation. To solve this problem, a modular 6-DOF parallel robot is proposed. An improved snake optimization algorithm is used to optimize the force transfer performance of the robot. And a virtual prototype was designed based on the optimised results.