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 an autonomous and patient-specific procedure using a unique concentric tube steerable drilling robot (CT-SDR). Particularly, leveraging a 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.

翻译：本文以提高骨质疏松患者微创脊柱固定手术效果为目标，提出了一种首创的影像引导机器人框架，该框架利用独特的同心管可操控钻孔机器人（CT-SDR）执行自主且患者特异性的手术。具体而言，借助CT-SDR，我们引入了基于患者CT扫描中预先规划轨迹的J形钻孔概念，随后通过适当的校准、配准与导航步骤，利用我们独特的机器人系统安全地实时执行该轨迹。为全面评估本框架的性能，我们在两个根据真实患者CT扫描设计的椎体模型上进行了多组实验。