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
Typical coupled force and torque transients of the hand guided drill.
© Copyright Policy
Related In: Results  -  Collection

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

fig10: Typical coupled force and torque transients of the hand guided drill.

Mentions: Typical coupled force and torque transients for drilling a porcine cochlea are shown in Figure 10. Usual sensory characteristics are present for contact, force building, and completion to the interface. The force level during drilling has a mean value of 1.99 N over the range from 1.4 N to 2.86 N. The operator begins by increasing feed force to ensure that the drill is cutting and is stable on the surface. The result is an initial force building transient. Following this period, the fluctuating force amplitude is primarily due to unsteady motion imparted by the operator.


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)

Typical coupled force and torque transients of the hand guided drill.
© Copyright Policy
Related In: Results  -  Collection

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

fig10: Typical coupled force and torque transients of the hand guided drill.
Mentions: Typical coupled force and torque transients for drilling a porcine cochlea are shown in Figure 10. Usual sensory characteristics are present for contact, force building, and completion to the interface. The force level during drilling has a mean value of 1.99 N over the range from 1.4 N to 2.86 N. The operator begins by increasing feed force to ensure that the drill is cutting and is stable on the surface. The result is an initial force building transient. Following this period, the fluctuating force amplitude is primarily due to unsteady motion imparted by the operator.

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