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arXiv · 2305.15570

A Novel Concentric Tube Steerable Drilling Robot for Minimally Invasive Treatment of Spinal Tumors Using Cavity and U-shape Drilling Techniques

Susheela Sharma·Ji H. Park·Jordan P. Amadio·Mohsen Khadem·Farshid Alambeigi
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Abstract

In this paper, we present the design, fabrication, and evaluation of a novel flexible, yet structurally strong, Concentric Tube Steerable Drilling Robot (CT-SDR) to improve minimally invasive treatment of spinal tumors. Inspired by concentric tube robots, the proposed two degree-of-freedom (DoF) CT-SDR, for the first time, not only allows a surgeon to intuitively and quickly drill smooth planar and out-of-plane J- and U- shape curved trajectories, but it also, enables drilling cavities through a hard tissue in a minimally invasive fashion. We successfully evaluated the performance and efficacy of the proposed CT-SDR in drilling various planar and out-of-plane J-shape branch, U-shape, and cavity drilling scenarios on simulated bone materials.

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Susheela Sharma, Ji H. Park, Jordan P. Amadio, Mohsen Khadem, Farshid Alambeigi. 2023-05-24. A Novel Concentric Tube Steerable Drilling Robot for Minimally Invasive Treatment of Spinal Tumors Using Cavity and U-shape Drilling Techniques. https://arxiv.org/abs/2305.15570

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