Feasibility study of a hand guided robotic drill for cochleostomy

Brett, Peter and Du, Xinli and Zoka-Assadi, Masoud and Coulson, Chris and Reid, Andrew and Proops, David (2014) Feasibility study of a hand guided robotic drill for cochleostomy. BioMed Research International, 2014. ISSN 2314-6133

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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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Item Type: Article (Commonwealth Reporting Category C)
Refereed: Yes
Item Status: Live Archive
Additional Information: Published version made available under Open Access.
Faculty/School / Institute/Centre: No Faculty
Faculty/School / Institute/Centre: No Faculty
Date Deposited: 12 Jun 2017 23:03
Last Modified: 12 Jun 2017 23:03
Uncontrolled Keywords: Animals; Biomechanical Phenomena; Chickens; Cochlea; Computer Simulation; Egg Shell; Feasibility Studies; Hand; Humans; Operating Rooms; Ostomy; Robotics; Surgery, Computer-Assisted; Sus scrofa; Torque; General; Otorhinolaryngology; Biophysics, Bioengineering and Medical Instrumentation;
Fields of Research (2008): 09 Engineering > 0903 Biomedical Engineering > 090303 Biomedical Instrumentation
Fields of Research (2020): 40 ENGINEERING > 4003 Biomedical engineering > 400305 Biomedical instrumentation
Socio-Economic Objectives (2008): E Expanding Knowledge > 97 Expanding Knowledge > 970109 Expanding Knowledge in Engineering
Identification Number or DOI: https://doi.org/10.1155/2014/656325
URI: http://eprints.usq.edu.au/id/eprint/32011

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