6 papers
A Single-Fiber Optical Frequency Domain Reflectometry (OFDR)-Based Shape Sensing of Concentric Tube Steerable Drilling Robots
Yash Kulkarni, Mobina Tavangarifard, Daniyal Maroufi +4
This paper introduces a novel shape-sensing approach for Concentric Tube Steerable Drilling Robots (CT-SDRs) based on Optical Frequency Domain Reflectometry (OFDR). Unlike traditio…
Comparative Analysis of Autonomous Robotic and Manual Techniques for Ultrasonic Sacral Osteotomy: A Preliminary Study
Daniyal Maroufi, Yash Kulkarni, Justin E. Bird +2
In this paper, we introduce an autonomous Ultrasonic Sacral Osteotomy (USO) robotic system that integrates an ultrasonic osteotome with a seven-degree-of-freedom (DoF) robotic mani…
Analytical Design and Development of a Modular and Intuitive Framework for Robotizing and Enhancing the Existing Endoscopic Procedures
Mohammad Rafiee Javazm, Yash Kulkarni, Jiaqi Xue +2
Despite the widespread adoption of endoscopic devices for several cancer screening procedures, manual control of these devices still remains challenging for clinicians, leading to…
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…
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…
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…