S3D: A Spatial Steerable Surgical Drilling Framework for Robotic Spinal Fixation Procedures. - Daniyal Maroufi; Xinyuan Huang; Yash Kulkarni; Omid Rezayof; Susheela Sharma; Vaibhav Goggela; Jordan P. Amadio; Mohsen Khadem; Farshid Alambeigi (CoRR, 2025)