相关论文: Optimization of an Augmented R-CUBE mechanism for …
In this paper, we introduce S3D: A Spatial Steerable Surgical Drilling Framework for Robotic Spinal Fixation Procedures. S3D is designed to enable realistic steerable drilling while accounting for the anatomical constraints associated with…
Drilling is one of the hardest parts of pedicle screw fixation, and it is one of the most dangerous operations because inaccurate screw placement would injury vital tissues, particularly when the vertebra is not stationary. Here we…
Towards performing a realistic autonomous minimally invasive spinal fixation procedure, in this paper, we introduce a unique robotic drilling system utilizing a concentric tube steerable drilling robot (CT-SDR) integrated with a seven…
Cervical spine fractures demand rapid and accurate diagnosis for effective clinical management. This study presents an automated, end-to-end pipeline for fracture detection across cervical vertebrae (C1--C7) that assesses the feasibility of…
Vertebrae localization, segmentation and identification in CT images is key to numerous clinical applications. While deep learning strategies have brought to this field significant improvements over recent years, transitional and…
Aerospace production volumes have increased over time and robotic solutions have been progressively introduced in the aeronautic assembly lines to achieve high-quality standards, high production rates, flexibility and cost reduction.…
Spinal fusion surgery requires highly accurate implantation of pedicle screw implants, which must be conducted in critical proximity to vital structures with a limited view of anatomy. Robotic surgery systems have been proposed to improve…
In this paper, we present the design, fabrication, and evaluation of a novel flexible, yet structurally strong, Concentric Tube Steerable Drilling Robot (CT-SDR) to improve minimally invasive treatment of spinal tumors. Inspired by…
While cervical arthroplasty using Total Disc Replacement (TDR) implants is an established treatment for persistent neck and arm pain, revision rates limit it from reaching its full potential. To address the underlying complications, we…
Concentric Tube Robots (CTRs) have been proposed to operate within the unstructured environment for minimally invasive surgeries. In this letter, we consider the operation scenario where the tubes travel inside the channels with a large…
Robotic-assisted surgery has emerged as a promising approach to improve surgical ergonomics, precision, and workflow efficiency, particularly in complex procedures such as cervical spine surgery. In this study, we evaluate the performance…
Accurate needle placement in spine interventions is critical for effective pain management, yet it depends on reliable identification of anatomical landmarks and careful trajectory planning. Conventional imaging guidance often relies both…
To address the screw loosening and pullout limitations of rigid pedicle screws in spinal fixation procedures, and to leverage our recently developed Concentric Tube Steerable Drilling Robot (CT-SDR) and Flexible Pedicle Screw (FPS), in this…
Robotic assistance allows surgeries to be reliably and accurately executed while still under direct supervision of the surgeon, combining the strengths of robotic technology with the surgeon's expertise. This paper describes a robotic…
Current orthopedic robotic systems largely focus on navigation, aiding surgeons in positioning a guiding tube but still requiring manual drilling and screw placement. The automation of this task not only demands high precision and safety…
Towards reducing the failure rate of spinal fixation surgical procedures in osteoporotic patients, we propose a unique biomechanically-aware framework for the design of a novel concentric tube steerable drilling robot (CT-SDR). The proposed…
Vertebrae identification in arbitrary fields-of-view plays a crucial role in diagnosing spine disease. Most spine CT contain only local regions, such as the neck, chest, and abdomen. Therefore, identification should not depend on specific…
This paper introduces a cube-based reconfigurable robot that utilizes an electromagnet-based actuation framework to reconfigure in three dimensions via pivoting. While a variety of actuation mechanisms for self-reconfigurable robots have…
Robotic systems are typically composed of various subsystems, such as localization and navigation, each encompassing numerous configurable components (e.g., selecting different planning algorithms). Once an algorithm has been selected for a…
In this paper, we propose an innovative Graphical User Interface (GUI) aimed at improving preoperative planning and intra-operative guidance for precise spinal screw placement through vertebrae segmentation. The methodology encompasses both…