| Περίληψη: | It is an indisputable fact that surgical operations have evolved over the last years, though hip
fracture rehabilitation is not always successful; many individuals experience pain, disability, and
reduced quality of life afterward[1]. So, continuous emphasis should be placed on optimizing the
surgical procedure and minimizing the risk of complications. Furthermore, Computer-Assisted
Surgery (CAS) is an evolving method of integrating robotic technologies in the operating room,
improving the operation's accuracy and efficiency[2]. So, this thesis is oriented towards evaluating
a new way of Dynamic Hip Screw (DHS) insertion through the Ansys Finite Element Analysis
(FEA) Software and then designing a manipulator’s control system for its prosecution.
Rotation of femoral head fracture during the operation of DHS insertion due to screw’s frictional
forces is a subject of interest for surgeons because it leads to fault attachment of the two fragments.
In the first part of this thesis, a new approach to surgical operation was proposed and studied
through Ansys FEA software. Compared with the conventional way, this method's distinguishing
feature is applying a traction force to the screw before its rotation, which causes the bone fractures
to come in contact and develop frictional forces. Finally, the method’s validity is evaluated based
on the Ansys results, namely the sliding distance between the two fragments and the internal
stresses of the bone.
The next step was to simulate the surgical operation utilizing a KUKA IIWA manipulator
imported into Simulink, a block diagram environment software. The controller’s development was
based on kinematic and dynamic principles. Upon completion of the screw’s finite element
analysis, obtained values of forces and velocities, along with the screw’s reaction forces during
tightening, were used for a more realistic simulation of Kuka’s operation. Finally, the applied
joints' torque and end-effector's position and forces were assessed, confirming the system's
validity, and highlighting its future perspectives to be integrated into an actual surgery room.
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