Robot assisted stapedotomy ex vivo with an active handheld instrument.
Robot assisted stapedotomy ex vivo with an active handheld instrument.
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机器人使用主动手持式仪器辅助离体镫骨切开术。
DOI：
10.1109/embc.2015.7319486
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发表时间：
2015
期刊：
影响因子：
--
通讯作者：
DeMomi,Elena
中科院分区：
文献类型：
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作者：
Vendrametto,Tobia;McAfee,JacobS;Hirsch,BarryE;Riviere,CameronN;Ferrigno,Giancarlo;DeMomi,Elena
Micron是一款全手持式主动显微操作器，通过消除手部震颤，有助于提高显微手术中的位置准确度和精度。这项工作描述了Micron系统用于镫切开术的调整、调整和测试，镫切开术是一种在中耳进行的显微外科手术，旨在恢复听力，需要在狭窄的空间中进行准确的操作。两个末端执行器，一个手柄和一个支架（或休息）的设计和原型。控制系统已适应新的硬件。在镫骨切开术中对该系统进行了离体测试，比较了手动执行的手术任务和人工辅助的手术任务。发现震颤幅度显著降低。需要进一步测试，以获得关于处理窗孔形状规则性的其他参数的统计学显著结果。
Micron is a fully handheld active micromanipulator that helps to improve position accuracy and precision in microsurgery by cancelling hand tremor. This work describes adaptation, tuning, and testing of the Micron system for stapedotomy, a microsurgical procedure performed in the middle ear to restore hearing that requires accurate manipulation in narrow spaces. Two end-effectors, a handle, and a brace (or rest) were designed and prototyped. The control system was adapted for the new hardware. The system was tested ex vivo in stapedotomy procedure comparing manually-performed and Micron-assisted surgical tasks. Tremor amplitude was found to be reduced significantly. Further testing is needed in order to obtain statistically significant results regarding other parameters dealing with regularity of the fenestra shape.