7 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…
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…
A Patient-Specific Framework for Autonomous Spinal Fixation via a Steerable Drilling Robot
Susheela Sharma, Sarah Go, Zeynep Yakay +6
In this paper, with the goal of enhancing the minimally invasive spinal fixation procedure in osteoporotic patients, we propose a first-of-its-kind image-guided robotic framework f…
Spatial Spinal Fixation: A Transformative Approach Using a Unique Robot-Assisted Steerable Drilling System and Flexible Pedicle Screw
Susheela Sharma, Yash Kulkarni, Sarah Go +5
Spinal fixation procedures are currently limited by the rigidity of the existing instruments and pedicle screws leading to fixation failures and rigid pedicle screw pull out. Lever…