3 papers
cs.RO2026
SE3Kit: A Lightweight Python Library for Specialized Geometric Primitives in Robotics
Daniyal Maroufi, Omid Rezayof, Farshid Alambeigi
The Python robotics ecosystem faces a challenge: while many libraries exist for rigid body transformations, few are both lightweight and mathematically strict. This paper introduce…
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…