提出可精准导航的可调向钻孔系统，提升脊柱固定手术机器人安全性。
S3D: A Spatial Steerable Surgical Drilling Framework for Robotic Spinal Fixation Procedures
- 基于同心管结构设计可调向钻孔机器人，适配全脊柱各节段
- 通过四阶段标定与导航流程，实现椎体模型中平面及非平面钻孔
- 适用于需高精度穿刺的脊柱外科机器人研发与训练
本文提出S3D：一种用于机器人化脊柱固定（SF）术的时空可调向钻孔框架。S3D旨在实现符合解剖约束的逼真可调向钻孔，针对脊柱固定术中椎体通路的复杂性进行优化。首先，我们改进了先前设计的同心管可调向钻孔机器人（CT-SDR），使其可在脊柱全节段范围内实现可调向钻孔。此外，提出一套四阶段标定、注册与导航流程，将CT-SDR与七自由度机械臂集成，在脊柱模型假体上实现逼真的SF操作。该框架的功能通过在椎体模型假体上进行平面和非平面可调向钻孔实验得到验证。
原文摘要 · Abstract (English)
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 while accounting for the anatomical constraints associated with vertebral access in spinal fixation (SF) procedures. To achieve this, we first enhanced our previously designed concentric tube Steerable Drilling Robot (CT-SDR) to facilitate steerable drilling across all vertebral levels of the spinal column. Additionally, we propose a four-Phase calibration, registration, and navigation procedure to perform realistic SF procedures on a spine holder phantom by integrating the CT-SDR with a seven-degree-of-freedom robotic manipulator. The functionality of this framework is validated through planar and out-of-plane steerable drilling experiments in vertebral phantoms.
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