{"id":"https://openalex.org/W4400579352","doi":"https://doi.org/10.1109/ismr63436.2024.10585864","title":"Towards an Autonomous Minimally Invasive Spinal Fixation Surgery Using a Concentric Tube Steerable Drilling Robot","display_name":"Towards an Autonomous Minimally Invasive Spinal Fixation Surgery Using a Concentric Tube Steerable Drilling Robot","publication_year":2024,"publication_date":"2024-06-03","ids":{"openalex":"https://openalex.org/W4400579352","doi":"https://doi.org/10.1109/ismr63436.2024.10585864"},"language":"en","primary_location":{"id":"doi:10.1109/ismr63436.2024.10585864","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ismr63436.2024.10585864","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 International Symposium on Medical Robotics (ISMR)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5053627103","display_name":"Susheela Sharma","orcid":"https://orcid.org/0000-0001-6663-9366"},"institutions":[{"id":"https://openalex.org/I4210164117","display_name":"Walker (United States)","ror":"https://ror.org/05hgh7849","country_code":"US","type":"company","lineage":["https://openalex.org/I4210164117"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Susheela Sharma","raw_affiliation_strings":["the University of Texas at Austin,Walker Department of Mechanical Engineering and Texas Robotics,Austin,TX,USA,78712"],"affiliations":[{"raw_affiliation_string":"the University of Texas at Austin,Walker Department of Mechanical Engineering and Texas Robotics,Austin,TX,USA,78712","institution_ids":["https://openalex.org/I4210164117"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112924209","display_name":"Sarah Go","orcid":null},"institutions":[{"id":"https://openalex.org/I4210164117","display_name":"Walker (United States)","ror":"https://ror.org/05hgh7849","country_code":"US","type":"company","lineage":["https://openalex.org/I4210164117"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sarah Go","raw_affiliation_strings":["the University of Texas at Austin,Walker Department of Mechanical Engineering and Texas Robotics,Austin,TX,USA,78712"],"affiliations":[{"raw_affiliation_string":"the University of Texas at Austin,Walker Department of Mechanical Engineering and Texas Robotics,Austin,TX,USA,78712","institution_ids":["https://openalex.org/I4210164117"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032083803","display_name":"Jeff Bonyun","orcid":"https://orcid.org/0009-0003-9851-7648"},"institutions":[{"id":"https://openalex.org/I4210164117","display_name":"Walker (United States)","ror":"https://ror.org/05hgh7849","country_code":"US","type":"company","lineage":["https://openalex.org/I4210164117"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jeff Bonyun","raw_affiliation_strings":["the University of Texas at Austin,Walker Department of Mechanical Engineering and Texas Robotics,Austin,TX,USA,78712"],"affiliations":[{"raw_affiliation_string":"the University of Texas at Austin,Walker Department of Mechanical Engineering and Texas Robotics,Austin,TX,USA,78712","institution_ids":["https://openalex.org/I4210164117"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000296931","display_name":"Jordan P. Amadio","orcid":"https://orcid.org/0000-0003-3468-2620"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jordan P. Amadio","raw_affiliation_strings":["The University of Texas Dell Medical School,Department of Neurosurgery,TY,78712"],"affiliations":[{"raw_affiliation_string":"The University of Texas Dell Medical School,Department of Neurosurgery,TY,78712","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057363853","display_name":"Mohsen Khadem","orcid":"https://orcid.org/0000-0002-6873-273X"},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Mohsen Khadem","raw_affiliation_strings":["School of Informatics, University of Edinburgh,UK"],"affiliations":[{"raw_affiliation_string":"School of Informatics, University of Edinburgh,UK","institution_ids":["https://openalex.org/I98677209"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5055294307","display_name":"Farshid Alambeigi","orcid":"https://orcid.org/0000-0001-6903-5939"},"institutions":[{"id":"https://openalex.org/I4210164117","display_name":"Walker (United States)","ror":"https://ror.org/05hgh7849","country_code":"US","type":"company","lineage":["https://openalex.org/I4210164117"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Farshid Alambeigi","raw_affiliation_strings":["the University of Texas at Austin,Walker Department of Mechanical Engineering and Texas Robotics,Austin,TX,USA,78712"],"affiliations":[{"raw_affiliation_string":"the University of Texas at Austin,Walker Department of Mechanical Engineering and Texas Robotics,Austin,TX,USA,78712","institution_ids":["https://openalex.org/I4210164117"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5053627103"],"corresponding_institution_ids":["https://openalex.org/I4210164117"],"apc_list":null,"apc_paid":null,"fwci":0.3919,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.5596963,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9972000122070312,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9972000122070312,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10916","display_name":"Surgical Simulation and Training","score":0.9757000207901001,"subfield":{"id":"https://openalex.org/subfields/2746","display_name":"Surgery"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T10776","display_name":"Spinal Fractures and Fixation Techniques","score":0.9713000059127808,"subfield":{"id":"https://openalex.org/subfields/2746","display_name":"Surgery"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/invasive-surgery","display_name":"Invasive surgery","score":0.6874078512191772},{"id":"https://openalex.org/keywords/concentric","display_name":"Concentric","score":0.6528574228286743},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.558832049369812},{"id":"https://openalex.org/keywords/tube","display_name":"Tube (container)","score":0.5336236357688904},{"id":"https://openalex.org/keywords/fixation","display_name":"Fixation (population genetics)","score":0.47991570830345154},{"id":"https://openalex.org/keywords/spinal-surgery","display_name":"Spinal surgery","score":0.4704125225543976},{"id":"https://openalex.org/keywords/medical-robotics","display_name":"Medical robotics","score":0.42650145292282104},{"id":"https://openalex.org/keywords/directional-drilling","display_name":"Directional drilling","score":0.4226114749908447},{"id":"https://openalex.org/keywords/drilling","display_name":"Drilling","score":0.39789044857025146},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.37391847372055054},{"id":"https://openalex.org/keywords/biomedical-engineering","display_name":"Biomedical engineering","score":0.3527901768684387},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.3397260308265686},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2723599076271057},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2722546458244324},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.27079856395721436},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.15855810046195984},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10737961530685425}],"concepts":[{"id":"https://openalex.org/C3019477240","wikidata":"https://www.wikidata.org/wiki/Q1755504","display_name":"Invasive surgery","level":2,"score":0.6874078512191772},{"id":"https://openalex.org/C90296322","wikidata":"https://www.wikidata.org/wiki/Q619776","display_name":"Concentric","level":2,"score":0.6528574228286743},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.558832049369812},{"id":"https://openalex.org/C2777551473","wikidata":"https://www.wikidata.org/wiki/Q2093072","display_name":"Tube (container)","level":2,"score":0.5336236357688904},{"id":"https://openalex.org/C146249460","wikidata":"https://www.wikidata.org/wiki/Q2914991","display_name":"Fixation (population genetics)","level":3,"score":0.47991570830345154},{"id":"https://openalex.org/C2994406423","wikidata":"https://www.wikidata.org/wiki/Q188449","display_name":"Spinal surgery","level":2,"score":0.4704125225543976},{"id":"https://openalex.org/C2985005502","wikidata":"https://www.wikidata.org/wiki/Q6806593","display_name":"Medical robotics","level":3,"score":0.42650145292282104},{"id":"https://openalex.org/C168630323","wikidata":"https://www.wikidata.org/wiki/Q1422489","display_name":"Directional drilling","level":3,"score":0.4226114749908447},{"id":"https://openalex.org/C25197100","wikidata":"https://www.wikidata.org/wiki/Q890886","display_name":"Drilling","level":2,"score":0.39789044857025146},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.37391847372055054},{"id":"https://openalex.org/C136229726","wikidata":"https://www.wikidata.org/wiki/Q327092","display_name":"Biomedical engineering","level":1,"score":0.3527901768684387},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.3397260308265686},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2723599076271057},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2722546458244324},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.27079856395721436},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.15855810046195984},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10737961530685425},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C2908647359","wikidata":"https://www.wikidata.org/wiki/Q2625603","display_name":"Population","level":2,"score":0.0},{"id":"https://openalex.org/C99454951","wikidata":"https://www.wikidata.org/wiki/Q932068","display_name":"Environmental health","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ismr63436.2024.10585864","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ismr63436.2024.10585864","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 International Symposium on Medical Robotics (ISMR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W2004857225","https://openalex.org/W2083016933","https://openalex.org/W2091674706","https://openalex.org/W2156412972","https://openalex.org/W2184993170","https://openalex.org/W2588047059","https://openalex.org/W2591985941","https://openalex.org/W2912013584","https://openalex.org/W2963094007","https://openalex.org/W2967996811","https://openalex.org/W2969381662","https://openalex.org/W3081954207","https://openalex.org/W3136787843","https://openalex.org/W3171914553","https://openalex.org/W4220668630","https://openalex.org/W4367721664","https://openalex.org/W4378191961","https://openalex.org/W4383108354","https://openalex.org/W4386282920","https://openalex.org/W4390755748","https://openalex.org/W4399469378","https://openalex.org/W4400579761","https://openalex.org/W6803376173","https://openalex.org/W6855489319"],"related_works":["https://openalex.org/W2809053086","https://openalex.org/W5987134","https://openalex.org/W2387103249","https://openalex.org/W1433993","https://openalex.org/W3210892491","https://openalex.org/W2014311970","https://openalex.org/W2803267556","https://openalex.org/W3092175609","https://openalex.org/W2521067450","https://openalex.org/W3203688777"],"abstract_inverted_index":{"Towards":[0],"performing":[1,97],"a":[2,15,21,30],"realistic":[3],"autonomous":[4,73],"minimally":[5],"invasive":[6],"spinal":[7],"fixation":[8],"procedure,":[9,75],"in":[10,37],"this":[11],"paper,":[12],"we":[13,76],"introduce":[14],"unique":[16],"robotic":[17,33,41,87],"drilling":[18,25,74,99],"system":[19,88],"utilizing":[20,62],"concentric":[22],"tube":[23],"steerable":[24],"robot":[26],"(CT-SDR)":[27],"integrated":[28],"with":[29,39],"seven":[31],"degree-of-freedom":[32],"manipulator.":[34],"The":[35,82],"CT-SDR":[36],"integration":[38],"the":[40,51,54,72,85,90],"arm":[42],"enables":[43],"creating":[44],"precise":[45],"J-shape":[46],"trajectories":[47],"enabling":[48],"access":[49],"to":[50],"areas":[52],"within":[53],"vertebral":[55],"body":[56],"that":[57],"currently":[58],"are":[59],"not":[60],"accessible":[61],"existing":[63],"rigid":[64],"instruments.":[65],"To":[66],"ensure":[67],"safety":[68],"and":[69,89],"accuracy":[70],"of":[71,84],"also":[77],"performed":[78],"required":[79],"calibration":[80,91],"procedures.":[81],"performance":[83],"proposed":[86],"steps":[92],"were":[93],"thoroughly":[94],"evaluated":[95],"by":[96],"various":[98],"experiments":[100],"on":[101],"simulated":[102],"Sawbone":[103],"samples.":[104]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1}],"updated_date":"2025-12-26T23:08:49.675405","created_date":"2025-10-10T00:00:00"}