Computer and robotic model of external fixation system for fracture treatment

A computer graphic model combined with a robotic model of a unilateral external fixation system for a fractured tibia was developed to simulate the pre-operative planning of bone fracture and deformity correction by adjustment of fixator joints. An inverse kinematics analysis algorithm was developed to quantify the necessary rotations and translations at each joint of the fixator. The graphic model was developed using commercial CAD software, and the robotic model was developed to have same configurations. The accuracy of each motor in the robotic model was successfully tested. For a given rotational deformity with a fracture gap, the simulation results of the fracture reduction process were fully matched with the robotic execution. The presented models and techniques can be used for knowledge-based fracture treatment and bone deformity correction using external fixators.