Limits...
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.

Show MeSH
Setup of a laser Doppler vibrometer to evaluate disturbance velocity amplitude [14].
© Copyright Policy
Related In: Results  -  Collection

License
getmorefigures.php?uid=PMC4109386&req=5

fig4: Setup of a laser Doppler vibrometer to evaluate disturbance velocity amplitude [14].

Mentions: During trials for robustness with respect to forced disturbance [14] the drilling system was exposed to impact disturbance to the support arm applied to different axes when drilling eggshells and porcine cochlea. A laser Doppler vibrometer was used to obtain noncontact evaluation of disturbance velocity amplitude. Figure 4 shows the experimental setup. Disturbances by controlled knocking at the support arm from different directions and supporting table were introduced to simulate inadvertent physical disturbance with the drilling system in the operating room. The successful results showed automatic discrimination of disturbance type, whether patient/operator or tissue induced, and led to the appropriate automatic control action toward completing or aborting the process. As would be expected a certain degree of compliance is helpful to the process.


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)

Setup of a laser Doppler vibrometer to evaluate disturbance velocity amplitude [14].
© Copyright Policy
Related In: Results  -  Collection

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

fig4: Setup of a laser Doppler vibrometer to evaluate disturbance velocity amplitude [14].
Mentions: During trials for robustness with respect to forced disturbance [14] the drilling system was exposed to impact disturbance to the support arm applied to different axes when drilling eggshells and porcine cochlea. A laser Doppler vibrometer was used to obtain noncontact evaluation of disturbance velocity amplitude. Figure 4 shows the experimental setup. Disturbances by controlled knocking at the support arm from different directions and supporting table were introduced to simulate inadvertent physical disturbance with the drilling system in the operating room. The successful results showed automatic discrimination of disturbance type, whether patient/operator or tissue induced, and led to the appropriate automatic control action toward completing or aborting the process. As would be expected a certain degree of compliance is helpful to the process.

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