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arXiv · 2602.15886

Optimization of an Augmented R-CUBE mechanism for Cervical Surgery

Terence Essomba·Yu-Wen Wu·Abdelbadia Chaker·Med Amine Laribi
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Abstract

In some surgical operations targeting the spine, it is required to drill cavities in the vertebrae for the insertion of pedicle screws. A new mechanical architecture is proposed for this application. It is based on an augmented version of the full translational R-CUBE mechanism, with improved linkages to implement additional rotational motion. Using this concept, a mechanism presented with a 3T2R motion that is required for the manipulation of the surgical drill. It is mainly composed three stages: one translational, one transmitting and one rotational. Their respective kinematic and velocity models are separately derived, then combined. Based on the drilling trajectories obtained from a real patient case, the mechanism is optimized for generating the highest kinematic performances.

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Terence Essomba, Yu-Wen Wu, Abdelbadia Chaker, Med Amine Laribi. 2026-02-06. Optimization of an Augmented R-CUBE mechanism for Cervical Surgery. https://arxiv.org/abs/2602.15886

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