arXiv 2405.194382024-05-29cs.RO

使用同心管可转向钻孔机器人实现自主微创脊柱内固定手术

Towards an Autonomous Minimally Invasive Spinal Fixation Surgery Using a Concentric Tube Steerable Drilling Robot

University of Texas at Austin（德克萨斯大学奥斯汀分校）；The University of Texas Dell Medical School（德克萨斯大学戴尔医学院）；University of Edinburgh（爱丁堡大学）

Susheela Sharma, Sarah Go, Jeff Bonyun, Jordan P. Amadio, Mohsen Khadem, Farshid Alambeigi

备注：: 6 pages, 3 figures, Accepted for publication at the 2024 International Symposium on Medical Robotics

阅读 PDF

arXiv 页面 ↗HTML 原文 ↗

AI总结：

本文提出一种集成七自由度机械臂的同心管可转向钻孔机器人系统，通过创建精确J形轨迹解决自主微创脊柱内固定手术中刚性器械无法触及椎体区域的问题，并经校准和模拟实验验证了其安全准确性能。

摘要：

为实现真实的自主微创脊柱内固定手术，本文介绍了一种独特的机器人钻孔系统，该系统采用同心管可转向钻孔机器人（CT-SDR）与七自由度机械臂集成。CT-SDR与机械臂的集成能够创建精确的J形轨迹，从而进入现有刚性器械无法触及的椎体内部区域。为确保自主钻孔过程的安全性与准确性，我们还执行了必要的校准步骤。通过在模拟Sawbone样本上进行多种钻孔实验，对所提机器人系统及校准步骤的性能进行了全面评估。

英文摘要：

Towards performing a realistic autonomous minimally invasive spinal fixation procedure, in this paper, we introduce a unique robotic drilling system utilizing a concentric tube steerable drilling robot (CT-SDR) integrated with a seven degree-of-freedom robotic manipulator. The CT-SDR in integration with the robotic arm enables creating precise J-shape trajectories enabling access to the areas within the vertebral body that currently are not accessible utilizing existing rigid instruments. To ensure safety and accuracy of the autonomous drilling procedure, we also performed required calibration procedures. The performance of the proposed robotic system and the calibration steps were thoroughly evaluated by performing various drilling experiments on simulated Sawbone samples.

机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。