S3D integrates a steerable concentric-tube drill with a robot arm and optical tracking to autonomously create J-shaped trajectories in spine phantoms, achieving about 1 to 2 mm positioning error and a 1.9% radius error.
Weakly-supervised biomechanically- constrained ct/mri registration of the spine,
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S3D: A Spatial Steerable Surgical Drilling Framework for Robotic Spinal Fixation Procedures
S3D integrates a steerable concentric-tube drill with a robot arm and optical tracking to autonomously create J-shaped trajectories in spine phantoms, achieving about 1 to 2 mm positioning error and a 1.9% radius error.