Towards an autonomous minimally invasive spinal fixation surgery using a concentric tube steerable drilling robot

Susheela Sharma, Sarah Go, Jeff Bonyun, Jordan P. Amadio, Mohsen Khadem, Farshid Alambeigi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract / Description of output

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 degree-of-freedom robotic manipulator. The CT-SDR in integration with the robotic arm enables creating precise J-shape trajectories enabling access to the areas within the vertebral body that currently are not accessible utilizing existing rigid instruments. To ensure safety and accuracy of the autonomous drilling procedure, we also performed required calibration procedures. The performance of the proposed robotic system and the calibration steps were thoroughly evaluated by performing various drilling experiments on simulated Sawbone samples.
Original languageEnglish
Title of host publication2024 International Symposium on Medical Robotics
PublisherInstitute of Electrical and Electronics Engineers
DOIs
Publication statusAccepted/In press - 29 Feb 2024
Event2024 International Symposium on Medical Robotics - Atlanta, United States
Duration: 3 Jun 20245 Jun 2024
https://ismr.gatech.edu/2024/2024-welcome

Conference

Conference2024 International Symposium on Medical Robotics
Abbreviated titleISMR 2024
Country/TerritoryUnited States
CityAtlanta
Period3/06/245/06/24
Internet address

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