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现有的骨降低机器人系统的多样性受到限制。虽然他们可以在三个概念范畴被重新组合，可以只报告三种主要类型的机械架构。

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The rotation matrix describing the orientation on the reference frame connected into the MP2 is often penned as:

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在人体解剖学,纵向的骨头更世博会sed to fractures due to their locale and longitudinal geometry, which include limb bones. As outlined by clinical facts history, the femur has the best involvement level in fracture with all-around 37 for every yabo sports 00,000 folks every year [yabo sports ，yabo sports ]。一些骨折情况下需要手术的特定类型中回收，即骨减少手术前。在最关键的情况下，断裂骨完全分离成两片[yabo sports ]。减少骨手术,骨头碎片一个re relocated within their first place. All through this surgical method, a sizable incision have to be executed over the individual to permit a Actual physical access to the bone fragments. When accessible, the surgeons will manually displace the bone fragments for their initial configuration in advance of fixation utilizing distinct prosthesis, as proven inyabo sports 。这种技术的一个主要问题是，外科医生不得不使用大量的体力搬迁到由于自然收回力骨头应用由患者的组织结构（肌肉组织和肌腱）。yabo亚博由外科医生施加的力必须对抗由安装有骨患者的组织所施加的力。yabo亚博后来，微创复位术已经发展为了尽量减少关联到"开放手术"（出血，感染）的风险。一系列钉插入骨碎片，这需要切口不大于钉截面尺寸（几毫米）放大。重新定位然后通过操纵这些钉子执行的处理yabo sports ]。一个升while This system signifies much less hazard for that affected individual, the next degree of dexterity is required with the surgeon considering that there is no direct eyesight in the damaged bone.

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For each system, the (x，y，γ）和（α，β，z) coordinate process workspaces are respectively exhibited inyabo sports 一个ñdyabo sports 。一个s proven inyabo sports ，一世t reveals that although the utmost (XY）平面运动范围是在γ = 0 for the Steward System, it is close toγ = 23 levels for that hybrid mechanism. During this configuration, the motion selection of the hybrid system is 17% larger onx一个xis and 13% much larger on they一个xis, although the Steward System has vertical motion range 3% larger sized.

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 from the trajectory and the ultimate matching are verified visually dependant on the intra-operative healthcare images.

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在固定框架 öXYz , the place of your passive prismatic joints R′ķ一个re calculated as next:

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 external fixator shown inyabo sports 一个，CØñsists in two or 亚博 maybe more rings that are related one another by four threaded rods with adjustable nuts. This fixator was patented and acknowledged for scientific software. In 1999, a sophisticated Model with the Ilizarov fixator has actually been launched and properly examined on sixteen sufferers presenting fracture of your tibia [yabo sports ]。该米echanism applied was made up of two cylindrical modules that are linked by a hexapod system of six legs and twelve spherical joints.