Towards Biomechanics-Aware Design of a Steerable Drilling Robot for Spinal Fixation Procedures with Flexible Pedicle Screws

Towards reducing the failure rate of spinal fixation surgical procedures in osteoporotic patients, we propose a unique biomechanically-aware framework for the design of a novel concentric tube steerable drilling robot (CT-SDR). The proposed framework leverages a patient-specific finite element (FE)...

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Bibliographic Details
Main Authors: Sharma, Susheela, Sun, Yuewan, Go, Sarah, Amadio, Jordan P., Khadem, Mohsen, Eskandari, Amir Hossein, Alambeigi, Farshid
Format: Conference Proceeding
Language:English
Subjects:
Biomechanics
Computational modeling
Computed tomography
Drilling
Fasteners
Materials reliability
Medical robotics
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Summary:Towards reducing the failure rate of spinal fixation surgical procedures in osteoporotic patients, we propose a unique biomechanically-aware framework for the design of a novel concentric tube steerable drilling robot (CT-SDR). The proposed framework leverages a patient-specific finite element (FE) biomechanics model developed based on Quantitative Computed Tomography (QCT) scans of patient's vertebra to calculate a biomechanically-optimal and feasible drilling and implantation trajectory. The FE output is then used as a design requirement for the design and evaluation of the CT-SDR. Providing a balance between the necessary flexibility to create curved optimal trajectories obtained by the FE module with the required strength to not buckle during drilling through a hard simulated bone material, we showed that the CT-SDR can reliably recreate this drilling trajectory with errors between 1.7-2.2%.
ISSN:2771-9049
DOI:10.1109/ISMR57123.2023.10130273