S3D: A Spatial Steerable Surgical Drilling Framework for Robotic Spinal Fixation Procedures
Daniyal Maroufi, Xinyuan Huang, Yash Kulkarni, Omid Rezayof, Susheela Sharma, Vaibhav Goggela, Jordan P. Amadio, Mohsen Khadem
Abstract
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.w3.org/1999/xlink">3</sup>D 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.
BibTeX
@inproceedings{iros2025_s3daspatialsteer,
title = {S3D: A Spatial Steerable Surgical Drilling Framework for Robotic Spinal Fixation Procedures},
author = {Daniyal Maroufi and Xinyuan Huang and Yash Kulkarni and Omid Rezayof and Susheela Sharma and Vaibhav Goggela and Jordan P. Amadio and Mohsen Khadem and Farshid Alambeigi},
booktitle = {IROS 2025},
year = {2025}
}