Fig. 3

Components of the robot-assisted K-wire placement simulation system. A and B depict the images captured by Cameras 4 and 3, respectively. C presents an overall view of the simulation system, which includes three articulated arms for securing the K-wire placement pathway and cameras, four cameras in total (with the lower two mounted on a right-angle bracket), and a guide adorned with ArUco markers. D and E correspond to the images from Cameras 1 and 2, respectively. F and G show the K-wire in contact with the vertebrae from frontal and lateral perspectives, while H and I illustrate the ArUco markers on the guide as viewed from the frontal and lateral angles