8 papers
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…
Towards the Feasibility Analysis and Additive Manufacturing of a Novel Flexible Pedicle Screw for Spinal Fixation Procedures
Yash Kulkarni, Susheela Sharma, Jared Allison +3
In this paper, we explore the feasibility of developing a novel flexible pedicle screw (FPS) for enhanced spinal fixation of osteoporotic vertebrae. Vital for spinal fracture treat…
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…