标题： 面向用于骨盆固定手术创建S形隧道的同心管可操控钻探机器人的设计与开发 显示英文标题

标题： Towards Design and Development of a Concentric Tube Steerable Drilling Robot for Creating S-shape Tunnels for Pelvic Fixation Procedures

摘要： 当前骨盆固定技术依赖于刚性钻孔工具，这在本质上限制了在骨盆复杂解剖结构中刚性医疗螺钉的放置。 这些限制使得医疗螺钉无法沿着解剖学上最优的路径进行，迫使临床医生将螺钉固定在直线轨迹上。 这种次优方法，加上过长螺钉的不自然放置，会导致并发症，如螺钉错位、手术时间延长以及由于反复拍摄X光图像以确保手术安全而增加的辐射暴露。 为了解决这些挑战，本文我们提出了一个独特的4自由度（DoF）骨盆同心管可操纵钻孔机器人（骨盆CT-SDR）的设计与开发。 骨盆CT-SDR能够创建长S形钻孔轨迹，以遵循骨盆解剖结构的自然弯曲。 通过在模拟骨假体中的几个S形钻孔实验，对骨盆CT-SDR的性能进行了全面评估。 显示英文摘要

摘要： Current pelvic fixation techniques rely on rigid drilling tools, which inherently constrain the placement of rigid medical screws in the complex anatomy of pelvis. These constraints prevent medical screws from following anatomically optimal pathways and force clinicians to fixate screws in linear trajectories. This suboptimal approach, combined with the unnatural placement of the excessively long screws, lead to complications such as screw misplacement, extended surgery times, and increased radiation exposure due to repeated X-ray images taken ensure to safety of procedure. To address these challenges, in this paper, we present the design and development of a unique 4 degree-of-freedom (DoF) pelvic concentric tube steerable drilling robot (pelvic CT-SDR). The pelvic CT-SDR is capable of creating long S-shaped drilling trajectories that follow the natural curvatures of the pelvic anatomy. The performance of the pelvic CT-SDR was thoroughly evaluated through several S-shape drilling experiments in simulated bone phantoms.