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Jordan P. Amadio

8 accepted papers

2026

Systematic Characterization of Drilling Parameters in Concentric Tube Steerable Drilling Robots: A Comparative Study

Daniyal Maroufi, Yash Kulkarni, Vibhu Kanna Rajesh Kanna, Jordan P. Amadio, Mohsen Khadem, Justin E. Bird +2
ICRA 2026poster

To establish a foundational understanding for creating J-shaped trajectories with Concentric Tube Steerable Drilling Robots (CT-SDRs), this paper presents a systematic characterization of two operational factors: drill feed rate and rotational speed. We developed and compared a custom High-Speed Dri…

Cited by 0Scholar ↗
2025

Augmented Bridge Spinal Fixation: A New Concept for Addressing Pedicle Screw Pullout via a Steerable Drilling Robot and Flexible Pedicle Screws

Yash Kulkarni, Susheela Sharma, Omid Rezayof, Siddhartha Kapuria, Jordan P. Amadio, Mohsen Khadem +2
IROS 2025

To address the screw loosening and pullout limitations of rigid pedicle screws in spinal fixation procedures, and to leverage our recently developed Concentric Tube Steerable Drilling Robot (CT-SDR) and Flexible Pedicle Screw (FPS), in this paper, we introduce the concept of Augmented Bridge Spinal

Cited by 3Source ↗Scholar ↗
2025

Design and Integration of an Optical Frequency Domain Reflectometry (OFDR) Sensor with a Flexible Pedicle Screw for Biomechanical Evaluation

Yash Kulkarni, Mobina Tavangarifard, Jordan P. Amadio, Farshid Alambeigi
IROS 2025

Spinal fixation procedures rely on pedicle screws to stabilize the vertebral column, but conventional rigid pedicle screws (RPS) face challenges such as misplacement, pullout, and loosening, particularly in patients with low bone mineral density (BMD). To overcome these limitations, we recently prop

Cited by 1Source ↗Scholar ↗
2025

S3D: A Spatial Steerable Surgical Drilling Framework for Robotic Spinal Fixation Procedures

Daniyal Maroufi, Xinyuan Huang, Yash Kulkarni, Omid Rezayof, Susheela Sharma, Vaibhav Goggela +3
IROS 2025

In this paper, we introduce S<sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">3</sup>D: A Spatial Steerable Surgical Drilling Framework for Robotic Spinal Fixation Procedures. S<sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w

Cited by 4Source ↗Scholar ↗
2025

Towards Design and Development of a Concentric Tube Steerable Drilling Robot for Creating S-shape Tunnels for Pelvic Fixation Procedures

Yash Kulkarni, Susheela Sharma, Sarah Go, Jordan P. Amadio, Mohsen Khadem, Farshid Alambeigi
IROS 2025

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 tr

Cited by 4Source ↗Scholar ↗
2025

Towards Evaluating the User Comfort and Experience of a Novel Steerable Drilling Robotic System in Pedicle Screw Fixation Procedures: A User Study

Susheela Sharma, Frigyes Samuel Racz, Sarah Go, Siddhartha Kapuria, Omid Rezayof, Jordan P. Amadio +3
ICRA 2025

Aiming at developing a safe, intuitive, and collaborative steerable drilling robotic system for pedicle screw fixation procedures, in this paper, we leverage our recently developed steerable drilling robotic framework, and developed a collaborative drilling mode to control this system. In this contr

Cited by 0Source ↗Scholar ↗
2024

Spatial Spinal Fixation: A Transformative Approach Using a Unique Robot-Assisted Steerable Drilling System and Flexible Pedicle Screw

Susheela Sharma, Yash Kulkarni, Sarah Go, Jeff Bonyun, Jordan P. Amadio, Maryam Tilton +2
IROS 2024poster

Spinal fixation procedures are currently limited by the rigidity of the existing instruments and pedicle screws leading to fixation failures and rigid pedicle screw pull out. Leveraging our recently developed Concentric Tube Steerable Drilling Robot (CT-SDR) in integration with a robotic manipulator…

Cited by 0Source ↗Scholar ↗
2023

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
ICRA 2023poster

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-…

Cited by 8Source ↗Scholar ↗