bibtext: @InProceedings{ Sha_APatientSpecific_MICCAI2024,
                   author = { Sharma, Susheela and Go, Sarah and Yakay, Zeynep and Kulkarni, Yash and Kapuria, Siddhartha and Amadio, Jordan P. and Rajebi, Reza and Khadem, Mohsen and Navab, Nassir and Alambeigi, Farshid },
                   title = { { A Patient-Specific Framework for Autonomous Spinal Fixation via a Steerable Drilling Robot } },
                   booktitle = {Medical Image Computing and Computer Assisted Intervention -- MICCAI 2024},
                   year = {2024},
                   publisher = {Springer Nature Switzerland},
                   volume = { LNCS 15006 },
                   month = {October},
                   pages = { pending },
                }
abstract: In this paper, with the goal of enhancing the minimally invasive spinal fixation procedure in osteoporotic patients, we propose a first-of-its-kind image-guided robotic framework for performing and autonomous and patient-specific procedure using a unique concentric tube steerable drilling robot (CT-SDR). Particularly, leveraging CT-SDR, we introduce the concept of J-shape drilling based on a pre-operative trajectory planned in CT scan of a patient followed by appropriate calibration, registration, and navigation steps to safely execute this trajectory in real-time using our unique robotic setup. To thoroughly evaluate the performance of our framework, we performed several experiments on two different vertebral phantoms designed based on CT scan of real patients.
title: A Patient-Specific Framework for Autonomous Spinal Fixation via a Steerable Drilling Robot
authors: Sharma, Susheela Go, Sarah Yakay, Zeynep Kulkarni, Yash Kapuria, Siddhartha Amadio, Jordan P. Rajebi, Reza Khadem, Mohsen Navab, Nassir Alambeigi, Farshid