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cs.RO2025
Towards Design and Development of a Concentric Tube Steerable Drilling Robot for Creating S-shape Tunnels for Pelvic Fixation Procedures
Yash Kulkarni, Susheela Sharma, Sarah Go +3
Current pelvic fixation techniques rely on rigid drilling tools, which inherently constrain the placement of rigid medical screws in the complex anatomy of pelvis. These constraint…
cs.RO2025
S3D: A Spatial Steerable Surgical Drilling Framework for Robotic Spinal Fixation Procedures
Daniyal Maroufi, Xinyuan Huang, Yash Kulkarni +6
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 whil…
cs.RO2025
Augmented Bridge Spinal Fixation: A New Concept for Addressing Pedicle Screw Pullout via a Steerable Drilling Robot and Flexible Pedicle Screws
Yash Kulkarni, Susheela Sharma, Omid Rezayof +5
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 Drill…