Image-Guided Robotic Orthopedic Surgery

/ Overview

Developed an image-guided robotic system for robot-assisted orthopedic surgery. The system integrates a continuum dexterous manipulator (CDM) with real-time image guidance to enable precise and minimally invasive surgical interventions.

/ Key Contributions

• Designed the CDM actuation system and integrated FBG sensors for real-time shape sensing
• Developed Siemens C-arm URDF for ROS2 to enable real-time image guidance in robotic surgery
• Implemented ros2_control for the CDM actuation and integrated with UR robot