Navigated, robot assisted drilling of a minimally invasive cochlear access
Navigated, robot assisted drilling of a minimally invasive cochlear access
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机器人辅助导航微创耳蜗通道钻孔
DOI：
10.1109/icmech.2009.4957213
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发表时间：
2009
期刊：
影响因子：
--
通讯作者：
O. Majdani
中科院分区：
文献类型：
--
作者：
H. Eilers;S. Baron;T. Ortmaier;B. Heimann;C. Baier;T. Rau;M. Leinung;O. Majdani
由于对高精度手术的需求不断增加，机器人辅助正在成为一种新兴的和高度需求的技术。特别是在微创手术领域，解剖标志缺失和可见性受限限制了外科医生的控制，从而限制了手术干预。特别地，耳蜗植入（CI）手术是以高度复杂性和所需准确性为特征的过程的示例。使用机电一体化设备，为外科医生提供了科普这些挑战的解决方案。本文介绍了一种微创方法，人工耳蜗植入，使用图像引导手术系统（IGS）和机器人机械手配备了手术钻。这包括钻孔坐标的计算机辅助3D规划，以确保钻孔通道到重要部位（如面神经）的最大安全裕度。为了确定系统的准确性，使用激光指示器和基于激光指示器移动的相机进行初步测量。最后，在5具尸体颞骨标本上成功地进行了钻孔。本文介绍了这种方法的硬件和软件组成部分，以及机器人辅助钻孔实验的结果。
Due to ever increasing requirements of high precision surgery, robotic assistance is becoming an emerging and highly demanded technology. Especially in the field of minimally invasive surgery, missing anatomic landmarks and restricted visibility limit the surgeon's control and thus restrict surgical interventions. In particular cochlear implant (CI) surgery is an example of a procedure, characterized by a high degree of complexity and required accuracy. Using mechatronical devices, solutions are provided for the surgeon to cope with these challenges. This paper presents a minimally-invasive approach to cochlea implantation, using an image guided surgery system (IGS) and a robotic manipulator equipped with a surgical drill. This includes computer assisted 3D-planning of the drill coordinates to ensure a maximum safety margin of the drill canal to the vital parts, such as the facial nerve. In order to determine the system's accuracy, preliminary measurements were done using a laser pointer and a camera based appraisal of laser pointer movements. Finally, the drilling was successfully performed on five cadaveric specimens of the human temporal bone. This contribution presents hardware and software components of this approach as well as the results of the robotic assisted drilling experiments.
影响因子：
3.8
作者：
Noble, Jack H.;Warren, Frank M.;Dawant, Benoit M.
通讯作者：
Dawant, Benoit M.