Details
| Originalsprache | Englisch |
|---|---|
| Titel des Sammelwerks | 2010 IEEE International Conference on Robotics and Automation, ICRA 2010 |
| Seiten | 3674-3679 |
| Seitenumfang | 6 |
| Publikationsstatus | Veröffentlicht - 2010 |
| Veranstaltung | 2010 IEEE International Conference on Robotics and Automation, ICRA 2010 - Anchorage, AK, USA / Vereinigte Staaten Dauer: 3 Mai 2010 → 7 Mai 2010 |
Publikationsreihe
| Name | Proceedings - IEEE International Conference on Robotics and Automation |
|---|---|
| ISSN (Print) | 1050-4729 |
Abstract
Cochlear electrode insertion is a challenging manual procedure. One technique requires the physician to coordinate the motions of an electrode array approximately 1mm in diameter and the smaller stylet within it, using miniature forceps. A new minimally invasive access technique precludes forceps insertion because the electrode must travel through a small-diameter drilled hole to reach the cochlear access point. To address this, we present an automated insertion tool. This second generation device not only enables deployment in the minimally invasive setting, but also makes insertion velocity profiles repeatable and can sense insertion forces. Force sensing is essential because insertion forces can indicate impending damage to cochlear membranes, but are below the thresholds that can be sensed by human hands. The Automated Insertion Tool we present is designed to be compact and lightweight for straightforward integration into the operating room environment. It is able to insert an electrode with a resolution of less than 1μm, achieve velocities of up to 5mm/sec and resolve forces as small as 0.005 N.
ASJC Scopus Sachgebiete
- Informatik (insg.)
- Software
- Ingenieurwesen (insg.)
- Steuerungs- und Systemtechnik
- Informatik (insg.)
- Artificial intelligence
- Ingenieurwesen (insg.)
- Elektrotechnik und Elektronik
Zitieren
- Standard
- Harvard
- Apa
- Vancouver
- BibTex
- RIS
2010 IEEE International Conference on Robotics and Automation, ICRA 2010. 2010. S. 3674-3679 5509341 (Proceedings - IEEE International Conference on Robotics and Automation).
Publikation: Beitrag in Buch/Bericht/Sammelwerk/Konferenzband › Aufsatz in Konferenzband › Forschung › Peer-Review
}
TY - GEN
T1 - A force sensing automated insertion tool for cochlear electrode implantation
AU - Schurzig, Daniel
AU - Labadie, Robert F.
AU - Hussong, Andreas
AU - Rau, Thomas S.
AU - Webster, Robert J.
PY - 2010
Y1 - 2010
N2 - Cochlear electrode insertion is a challenging manual procedure. One technique requires the physician to coordinate the motions of an electrode array approximately 1mm in diameter and the smaller stylet within it, using miniature forceps. A new minimally invasive access technique precludes forceps insertion because the electrode must travel through a small-diameter drilled hole to reach the cochlear access point. To address this, we present an automated insertion tool. This second generation device not only enables deployment in the minimally invasive setting, but also makes insertion velocity profiles repeatable and can sense insertion forces. Force sensing is essential because insertion forces can indicate impending damage to cochlear membranes, but are below the thresholds that can be sensed by human hands. The Automated Insertion Tool we present is designed to be compact and lightweight for straightforward integration into the operating room environment. It is able to insert an electrode with a resolution of less than 1μm, achieve velocities of up to 5mm/sec and resolve forces as small as 0.005 N.
AB - Cochlear electrode insertion is a challenging manual procedure. One technique requires the physician to coordinate the motions of an electrode array approximately 1mm in diameter and the smaller stylet within it, using miniature forceps. A new minimally invasive access technique precludes forceps insertion because the electrode must travel through a small-diameter drilled hole to reach the cochlear access point. To address this, we present an automated insertion tool. This second generation device not only enables deployment in the minimally invasive setting, but also makes insertion velocity profiles repeatable and can sense insertion forces. Force sensing is essential because insertion forces can indicate impending damage to cochlear membranes, but are below the thresholds that can be sensed by human hands. The Automated Insertion Tool we present is designed to be compact and lightweight for straightforward integration into the operating room environment. It is able to insert an electrode with a resolution of less than 1μm, achieve velocities of up to 5mm/sec and resolve forces as small as 0.005 N.
KW - Automated insertion tool
KW - Cochlear implants
KW - Force sensor
KW - Image-guided surgery
UR - http://www.scopus.com/inward/record.url?scp=77955784240&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2010.5509341
DO - 10.1109/ROBOT.2010.5509341
M3 - Conference contribution
AN - SCOPUS:77955784240
SN - 9781424450381
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 3674
EP - 3679
BT - 2010 IEEE International Conference on Robotics and Automation, ICRA 2010
T2 - 2010 IEEE International Conference on Robotics and Automation, ICRA 2010
Y2 - 3 May 2010 through 7 May 2010
ER -