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,Susheela Sharma,Ji H. Park,Jordan P. Amadio,Mohsen Khadem,Farshid Alambeigi
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-SDR, for the first time, not only allows a surgeon to intuitively and quickly drill smooth planar an...
