开发可弯曲钻孔机器人，实现骨盆内S形路径精准钻孔。
Towards Design and Development of a Concentric Tube Steerable Drilling Robot for Creating S-shape Tunnels for Pelvic Fixation Procedures
- 设计4自由度同心管可转向钻孔机器人，适应骨盆复杂结构。
- 在模拟骨骼中成功完成多条S形轨迹钻孔，路径符合解剖自然曲度。
- 适合骨科手术导航、微创植入场景，减少辐射与手术时间。
当前骨盆固定技术依赖刚性钻头，限制了螺钉沿解剖最优路径的放置，迫使临床医生采用直线钻孔，导致螺钉过长、位置不自然，引发螺钉错位、手术时间延长及反复X光照射带来的辐射风险。为此，本文提出一种新型4自由度（DoF）骨盆同心管可转向钻孔机器人（pelvic CT-SDR），能够实现长距离S形钻孔轨迹，贴合骨盆解剖曲率。通过在模拟骨质模型中进行多项S形钻孔实验，全面评估了该机器人的性能。
原文摘要 · Abstract (English)
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 constraints prevent medical screws from following anatomically optimal pathways and force clinicians to fixate screws in linear trajectories. This suboptimal approach, combined with the unnatural placement of the excessively long screws, lead to complications such as screw misplacement, extended surgery times, and increased radiation exposure due to repeated X-ray images taken ensure to safety of procedure. To address these challenges, in this paper, we present the design and development of a unique 4 degree-of-freedom (DoF) pelvic concentric tube steerable drilling robot (pelvic CT-SDR). The pelvic CT-SDR is capable of creating long S-shaped drilling trajectories that follow the natural curvatures of the pelvic anatomy. The performance of the pelvic CT-SDR was thoroughly evaluated through several S-shape drilling experiments in simulated bone phantoms.
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