Design, Kinematic Optimization, and Evaluation of a Teleoperated System for Middle Ear Microsurgery
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...
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Published in | TheScientificWorld Vol. 2012; no. 2012; pp. 1 - 19 |
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Main Authors | , , , , |
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 | |
Online Access | Get full text |
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Summary: | 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. |
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Bibliography: | ObjectType-Article-2 SourceType-Scholarly Journals-1 ObjectType-Undefined-1 ObjectType-Feature-3 content type line 23 PMCID: PMC3425830 Academic Editors: D. Ayache, C. Bao, and P. A. Schachern |
ISSN: | 2356-6140 1537-744X 1537-744X |
DOI: | 10.1100/2012/907372 |