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| Main Authors: | , , , |
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| Format: | Preprint |
| Published: |
2026
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2602.15886 |
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| _version_ | 1866911453399744512 |
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| author | Essomba, Terence Wu, Yu-Wen Chaker, Abdelbadia Laribi, Med Amine |
| author_facet | Essomba, Terence Wu, Yu-Wen Chaker, Abdelbadia Laribi, Med Amine |
| contents | 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. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2602_15886 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Optimization of an Augmented R-CUBE mechanism for Cervical Surgery Essomba, Terence Wu, Yu-Wen Chaker, Abdelbadia Laribi, Med Amine Robotics 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. |
| title | Optimization of an Augmented R-CUBE mechanism for Cervical Surgery |
| topic | Robotics |
| url | https://arxiv.org/abs/2602.15886 |