Article... International Symposium on Medical Robotics. International Symposium on Medical Robotics2025
Cannula-mounted Robots for Semi-autonomous Vertebroplasty: A Comparison of Piezo-based and Screw-based Inchworm Drive Designs.
Article in ... International Symposium on Medical Robotics. International Symposium on Medical Robotics, 2025. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 3 papers.
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The abstract states no effect estimate the extractor could read, or names no intervention and outcome on the map, so this paper lights no cell and moves no belief. It is still indexed, cited and linked below.
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Trials whose registry record cites this paper, or whose number appears in the abstract. A trial that started after this paper was published is citing it as background, not reporting it.
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Who cites it
3 citing papers in PubMed.
- A Review of Robotic Surgery: Engineering Considerations and Future Directions From Surgeons' Perspectives.The international journal of medical robotics + computer assisted surgery : MRCAS · 2026Review
- Extended uses of robots in spine surgery beyond thoracolumbar pedicle screws: A narrative review.Journal of robotic surgery · 2026Review
- 3D path planning for robot-assisted vertebroplasty from arbitrary Bi-plane X-ray via differentiable rendering.Frontiers in robotics and AI · 2026Article
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Authors and funding
8 authors.
Funding
Abstract
Vertebral compression fractures are estimated to affect over 200 million people globally. Percutaneous vertebroplasty is a widely accepted minimally invasive treatment, but it has limitations including prolonged radiation exposure for providers and a steep learning curve. To address these challenges, we present two cannula-mounted robot designs for semi-autonomous, high-precision cannula insertion. Both designs are based on an inchworm mechanism, with one using an amplified piezoelectric actuator and the other using a linear actuator inspired approach. Each design is designed to generate at least 150 N of thrust force with submillimeter accuracy to reliably insert the cannula into the vertebral body. Finite element analysis shows that the material deformations of the baseplates, 42 ± 12 μm for the piezo inchworm design and 7.7±3.2 μm for the screw inchworm design, are substantially lower than the corresponding stroke lengths, confirming the feasibility of generating linear motion. An in silico imaging trial reveals the screw inchworm design's 44.4% smaller surgical footprint enables superior cannula insertion trajectory visualization compared to the piezo inchworm design. These results indicate that while both designs meet clinical design requirements for cannula insertion, the screw inchworm robot is better suited for a semi-autonomous approach to vertebroplasty.
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Registered trials
Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.