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

Mathieu Miroir | Zendy; Yann Nguyen | Zendy; Jérôme Szewczyk | Zendy; Olivier Sterkers | Zendy; Alexis Bozorg Grayeli | Zendy

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

Author(s) -

Mathieu Miroir,

Yann Nguyen,

Jérôme Szewczyk,

Olivier Sterkers,

Alexis Bozorg Grayeli

Publication year - 2012

Publication title -

the scientific world journal

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.453

H-Index - 93

eISSN - 2356-6140

pISSN - 1537-744X

DOI - 10.1100/2012/907372

Subject(s) - teleoperation , computer science , kinematics , microsurgery , robot , middle ear , simulation , artificial intelligence , surgery , medicine , physics , classical mechanics

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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