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In certain spinal surgical operations, it is required to drill cavities in the vertebrae for the insertion of pedicle screws. This work proposes a novel mechanical architecture for this application. It is based on an augmented version of the fully translational R-CUBE mechanism, incorporating improved linkages to enable additional rotational motions. Using this concept, a mechanism is presented with a 3T2R motion required for the manipulation of the surgical drill. It is mainly composed three stages: a translational stage, a transmission stage and a rotational stage. Their respective kinematic and velocity models are separately derived, then combined. Based on the drilling trajectories obtained from a real patient case, the mechanism is optimized to achieve the required task at the highest kinematic performances.

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Optimization of an Augmented R-CUBE Mechanism for Cervical Surgery

  • 会议论文

  • 发表日期：

    2025年

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  • Terence Essomba,
  • Yu-Wen Wu,
  • Abdelbadia Chaker,
  • Med Amine Laribi

摘要

In certain spinal surgical operations, it is required to drill cavities in the vertebrae for the insertion of pedicle screws. This work proposes a novel mechanical architecture for this application. It is based on an augmented version of the fully translational R-CUBE mechanism, incorporating improved linkages to enable additional rotational motions. Using this concept, a mechanism is presented with a 3T2R motion required for the manipulation of the surgical drill. It is mainly composed three stages: a translational stage, a transmission stage and a rotational stage. Their respective kinematic and velocity models are separately derived, then combined. Based on the drilling trajectories obtained from a real patient case, the mechanism is optimized to achieve the required task at the highest kinematic performances.