Optimization of an Augmented R-CUBE mechanism for Cervical Surgery

TL;DR

This paper presents an optimized augmented R-CUBE mechanism designed for precise cervical spine surgery, enabling complex translational and rotational motions for drilling in vertebrae with improved kinematic performance.

Contribution

It introduces a novel augmented R-CUBE mechanism with enhanced linkages for combined translational and rotational motion in surgical applications.

Findings

Mechanism achieves 3T2R motion capabilities.

Optimized for high kinematic performance based on patient-specific trajectories.

Provides a new mechanical solution for spine surgery drilling procedures.

Abstract

In some surgical operations targeting the spine, it is required to drill cavities in the vertebrae for the insertion of pedicle screws. A new mechanical architecture is proposed for this application. It is based on an augmented version of the full translational R-CUBE mechanism, with improved linkages to implement additional rotational motion. Using this concept, a mechanism presented with a 3T2R motion that is required for the manipulation of the surgical drill. It is mainly composed three stages: one translational, one transmitting and one rotational. 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 for generating the highest kinematic performances.