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Internal fixation is a common orthopedic procedure in which a rigid screw isused to fix fragments of a fractured bone together and expedite the healingprocess. However, the rigidity of the screw, geometry of the fractured anatomy(e.g. femur and pelvis), and patient age can cause an array of complicationsduring screw placement, such as improper fracture healing due to misalignmentof the bone fragments, lengthy procedure time and subsequently high radiationexposure. To address these issues, we propose a minimally invasiverobot-assisted procedure comprising of a continuum robot, called ortho-snake,together with a novel bendable medical screw (BMS) for fixating the fractures.We describe the implementation of a curved drilling technique and focus on thedesign, manufacturing, and evaluation of a novel BMS, which can passively morphinto the drilled curved tunnels with various curvatures. We evaluate theperformance and efficacy of the proposed BMS using both finite elementsimulations as well as experiments conducted on synthetic bone samples.

Inroads Toward Robot-Assisted Internal Fixation of Bone Fractures Using a Bendable Medical Screw and the Curved Drilling Technique