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Feasibility study of a hand guided robotic drill for cochleostomy.

Brett P, Du X, Zoka-Assadi M, Coulson C, Reid A, Proops D - Biomed Res Int (2014)

Bottom Line: 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.

View Article: PubMed Central - PubMed

Affiliation: Brunel Institute for Bioengineering, Brunel University, London UB8 3PH, UK.

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.

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The arm supported drill used in operating room preparing a cochleostomy [12].
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fig3: The arm supported drill used in operating room preparing a cochleostomy [12].

Mentions: In Figure 3, the surgeon is holding the handset that enables executive control of fine alignment and on-off control of the autonomous process in operating room. Feedback is by observation of behaviour under the binocular microscope [12, 13]. Standard surgical drilling burrs are used. On completion of the drilling process, the surgical robot is removed. As described earlier, the cochlear electrode is then fed through a droplet of antiseptic gel placed within the cochleostomy. The smooth prepared access enables smooth insertion of the electrode.


Feasibility study of a hand guided robotic drill for cochleostomy.

Brett P, Du X, Zoka-Assadi M, Coulson C, Reid A, Proops D - Biomed Res Int (2014)

The arm supported drill used in operating room preparing a cochleostomy [12].
© Copyright Policy
Related In: Results  -  Collection

License
Show All Figures
getmorefigures.php?uid=PMC4109386&req=5

fig3: The arm supported drill used in operating room preparing a cochleostomy [12].
Mentions: In Figure 3, the surgeon is holding the handset that enables executive control of fine alignment and on-off control of the autonomous process in operating room. Feedback is by observation of behaviour under the binocular microscope [12, 13]. Standard surgical drilling burrs are used. On completion of the drilling process, the surgical robot is removed. As described earlier, the cochlear electrode is then fed through a droplet of antiseptic gel placed within the cochleostomy. The smooth prepared access enables smooth insertion of the electrode.

Bottom Line: 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.

View Article: PubMed Central - PubMed

Affiliation: Brunel Institute for Bioengineering, Brunel University, London UB8 3PH, UK.

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.

Show MeSH