Design, Kinematic Optimization, and Evaluation of a Teleoperated System for Middle Ear Microsurgery

• Published in: TheScientificWorld Vol. 2012; no. 2012; pp. 1 - 19
• Main Authors: Nguyen, Yann, Miroir, Mathieu, Szewczyk, Jérôme, Sterkers, Olivier, Bozorg Grayeli, Alexis
• Format: Journal Article
• Language: English
• Published: Cairo, Egypt Hindawi Puplishing Corporation 01.01.2012; The Scientific World Journal; Hindawi Limited; Hindawi Publishing Corporation; Wiley
• Subjects: Automatic; Automation; Biomechanical Phenomena; Biomechanics; Bone surgery; Bones; Computational Biology - methods; Design; Design optimization; Ear; Ear, Middle - anatomy & histology; Ear, Middle - surgery; Ears & hearing; Engineering Sciences; Equipment Design; Hearing loss; Humans; International conferences; Kinematics; Knowledge management; Laparoscopy; Mechanical engineering; Mechanics; Medical equipment; Microsurgery; Microsurgery - instrumentation; Microsurgery - methods; Microsurgery - standards; Middle ear; Neurosurgery; Otology; Otosclerosis - surgery; Plastic surgery; Reproducibility of Results; Robotic surgery; Robotics; Robotics - instrumentation; Robotics - methods; Robots; Sensitivity and Specificity; Software; Stapes Surgery - methods; Surgery; Surgery, Computer-Assisted - instrumentation; Surgery, Computer-Assisted - methods; Telesurgery; Temporal bone; Temporal Bone - anatomy & histology; United States > US
• ISSN: 2356-6140; 1537-744X; 1537-744X
• DOI: 10.1100/2012/907372

Middle ear surgery involves the smallest and the most fragile bones of the human body. Since microsurgical gestures and a submillimetric precision are required in these procedures, the outcome can be potentially improved by robotic assistance. Today, there is no commercially available device in this field. Here, we describe a method to design a teleoperated assistance robotic system dedicated to the middle ear surgery. Determination of design specifications, the kinematic structure, and its optimization are detailed. The robot-surgeon interface and the command modes are provided. Finally, the system is evaluated by realistic tasks in experimental dedicated settings and in human temporal bone specimens.