Feasibility study of a hand guided robotic drill for cochleostomy

Article


Brett, Peter, Du, Xinli, Zoka-Assadi, Masoud, Coulson, Chris, Reid, Andrew and Proops, David. 2014. "Feasibility study of a hand guided robotic drill for cochleostomy." BioMed Research International. 2014. https://doi.org/10.1155/2014/656325
Article Title

Feasibility study of a hand guided robotic drill for cochleostomy

ERA Journal ID3417
Article CategoryArticle
AuthorsBrett, Peter (Author), Du, Xinli (Author), Zoka-Assadi, Masoud (Author), Coulson, Chris (Author), Reid, Andrew (Author) and Proops, David (Author)
Journal TitleBioMed Research International
Journal Citation2014
Number of Pages7
Year2014
Place of PublicationUnited States
ISSN1110-7243
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.

KeywordsAnimals; 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 2020400305. Biomedical instrumentation
Byline AffiliationsBrunel University, United Kingdom
Queen Elizabeth Hospital, United Kingdom
Institution of OriginUniversity of Southern Queensland
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