Design, Kinematic Optimization, and Evaluation of a Teleoperated System for Middle Ear Microsurgery

Middle ear surgery involves the smallest and the most fragile bones of the human body. Since microsurgical gestures and a submillimetric precision are required in these procedures, the outcome can be potentially improved by robotic assistance. Today, there is no commercially available device in this...

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Detalles Bibliográficos
Autores principales: Miroir, Mathieu, Nguyen, Yann, Szewczyk, Jérôme, Sterkers, Olivier, Bozorg Grayeli, Alexis
Formato: Online Artículo Texto
Lenguaje:English
Publicado: The Scientific World Journal 2012
Materias:
Research Article
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC3425830/
https://www.ncbi.nlm.nih.gov/pubmed/22927789
http://dx.doi.org/10.1100/2012/907372
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author Miroir, Mathieu
Nguyen, Yann
Szewczyk, Jérôme
Sterkers, Olivier
Bozorg Grayeli, Alexis
author_facet Miroir, Mathieu
Nguyen, Yann
Szewczyk, Jérôme
Sterkers, Olivier
Bozorg Grayeli, Alexis
author_sort Miroir, Mathieu
collection PubMed
description Middle ear surgery involves the smallest and the most fragile bones of the human body. Since microsurgical gestures and a submillimetric precision are required in these procedures, the outcome can be potentially improved by robotic assistance. Today, there is no commercially available device in this field. Here, we describe a method to design a teleoperated assistance robotic system dedicated to the middle ear surgery. Determination of design specifications, the kinematic structure, and its optimization are detailed. The robot-surgeon interface and the command modes are provided. Finally, the system is evaluated by realistic tasks in experimental dedicated settings and in human temporal bone specimens.
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spelling pubmed-34258302012-08-27 Design, Kinematic Optimization, and Evaluation of a Teleoperated System for Middle Ear Microsurgery Miroir, Mathieu Nguyen, Yann Szewczyk, Jérôme Sterkers, Olivier Bozorg Grayeli, Alexis ScientificWorldJournal Research Article Middle ear surgery involves the smallest and the most fragile bones of the human body. Since microsurgical gestures and a submillimetric precision are required in these procedures, the outcome can be potentially improved by robotic assistance. Today, there is no commercially available device in this field. Here, we describe a method to design a teleoperated assistance robotic system dedicated to the middle ear surgery. Determination of design specifications, the kinematic structure, and its optimization are detailed. The robot-surgeon interface and the command modes are provided. Finally, the system is evaluated by realistic tasks in experimental dedicated settings and in human temporal bone specimens. The Scientific World Journal 2012-08-13 /pmc/articles/PMC3425830/ /pubmed/22927789 http://dx.doi.org/10.1100/2012/907372 Text en Copyright © 2012 Mathieu Miroir et al. https://creativecommons.org/licenses/by/3.0/ This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
spellingShingle Research Article
Miroir, Mathieu
Nguyen, Yann
Szewczyk, Jérôme
Sterkers, Olivier
Bozorg Grayeli, Alexis
Design, Kinematic Optimization, and Evaluation of a Teleoperated System for Middle Ear Microsurgery
title Design, Kinematic Optimization, and Evaluation of a Teleoperated System for Middle Ear Microsurgery
title_full Design, Kinematic Optimization, and Evaluation of a Teleoperated System for Middle Ear Microsurgery
title_fullStr Design, Kinematic Optimization, and Evaluation of a Teleoperated System for Middle Ear Microsurgery
title_full_unstemmed Design, Kinematic Optimization, and Evaluation of a Teleoperated System for Middle Ear Microsurgery
title_short Design, Kinematic Optimization, and Evaluation of a Teleoperated System for Middle Ear Microsurgery
title_sort design, kinematic optimization, and evaluation of a teleoperated system for middle ear microsurgery
topic Research Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC3425830/
https://www.ncbi.nlm.nih.gov/pubmed/22927789
http://dx.doi.org/10.1100/2012/907372
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