Feasibility study of a hand guided robotic drill for cochleostomy
Article
Article Title | Feasibility study of a hand guided robotic drill for cochleostomy |
---|---|
ERA Journal ID | 3417 |
Article Category | Article |
Authors | Brett, Peter (Author), Du, Xinli (Author), Zoka-Assadi, Masoud (Author), Coulson, Chris (Author), Reid, Andrew (Author) and Proops, David (Author) |
Journal Title | BioMed Research International |
Journal Citation | 2014 |
Number of Pages | 7 |
Year | 2014 |
Place of Publication | United States |
ISSN | 1110-7243 |
1110-7251 | |
2314-6133 | |
2314-6141 | |
Digital Object Identifier (DOI) | https://doi.org/10.1155/2014/656325 |
Web Address (URL) | https://www.hindawi.com/journals/bmri/2014/656325/ |
Abstract | The concept of a hand guided robotic drill has been inspired by an automated, arm supported robotic drill recently applied in clinical practice to produce cochleostomies without penetrating the endosteum ready for inserting cochlear electrodes. The smart tactile sensing scheme within the drill enables precise control of the state of interaction between tissues and tools in real-time. This paper reports development studies of the hand guided robotic drill where the same consistent outcomes, augmentation of surgeon control and skill, and similar reduction of induced disturbances on the hearing organ are achieved. The device operates with differing presentation of tissues resulting from variation in anatomy and demonstrates the ability to control or avoid penetration of tissue layers as required and to respond to intended rather than involuntary motion of the surgeon operator. The advantage of hand guided over an arm supported system is that it offers flexibility in adjusting the drilling trajectory. This can be important to initiate cutting on a hard convex tissue surface without slipping and then to proceed on the desired trajectory after cutting has commenced. The results for trials on phantoms show that drill unit compliance is an important factor in the design. |
Keywords | Animals; Biomechanical Phenomena; Chickens; Cochlea; Computer Simulation; Egg Shell; Feasibility Studies; Hand; Humans; Operating Rooms; Ostomy; Robotics; Surgery, Computer-Assisted; Sus scrofa; Torque; General; Otorhinolaryngology; Biophysics, Bioengineering and Medical Instrumentation; |
ANZSRC Field of Research 2020 | 400305. Biomedical instrumentation |
Byline Affiliations | Brunel University, United Kingdom |
Queen Elizabeth Hospital, United Kingdom | |
Institution of Origin | University of Southern Queensland |
https://research.usq.edu.au/item/q42q7/feasibility-study-of-a-hand-guided-robotic-drill-for-cochleostomy
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