Lambda Fixator: A Novel Robotic System in Orthopedics

External fixators are robotic structures commonly utilized in area of orthopedics. However, there are some limitations of the traditional fixators such as risk of encountering a singular position and bone fragments being blocked by the rods of the system in the x-ray images. In this work, a novel external fixator system addressing the issues related with the traditional fixators is introduced. The proposed system is named as λ-fixator because of the connecting elements resembling the Greek letter λ. Inverse kinematics and direct kinematics of the proposed system are explained. Besides, various connection possibilities allowing a flexible usage opportunity are presented. The validation of the system has been performed via four experiments each of which contains a manufactured physical model, computer simulation, and independent software models.