Details
| Original language | English |
|---|---|
| Pages (from-to) | 421-436 |
| Number of pages | 16 |
| Journal | International journal of computer assisted radiology and surgery |
| Volume | 11 |
| Issue number | 3 |
| Publication status | Published - 1 Mar 2016 |
Abstract
Purpose: Minimally invasive cochlear implantation is a novel surgical technique which requires highly accurate guidance of a drilling tool along a trajectory from the mastoid surface toward the basal turn of the cochlea. The authors propose a passive, reconfigurable, parallel robot which can be directly attached to bone anchors implanted in a patient’s skull, avoiding the need for surgical tracking systems. Prior to clinical trials, methods are necessary to patient specifically optimize the configuration of the mechanism with respect to accuracy and stability. Furthermore, the achievable accuracy has to be determined experimentally. Methods: A comprehensive error model of the proposed mechanism is established, taking into account all relevant error sources identified in previous studies. Two optimization criteria to exploit the given task redundancy and reconfigurability of the passive robot are derived from the model. The achievable accuracy of the optimized robot configurations is first estimated with the help of a Monte Carlo simulation approach and finally evaluated in drilling experiments using synthetic temporal bone specimen. Results: Experimental results demonstrate that the bone-attached mechanism exhibits a mean targeting accuracy of (Formula presented.) mm under realistic conditions. A systematic targeting error is observed, which indicates that accurate identification of the passive robot’s kinematic parameters could further reduce deviations from planned drill trajectories. Conclusion: The accuracy of the proposed mechanism demonstrates its suitability for minimally invasive cochlear implantation. Future work will focus on further evaluation experiments on temporal bone specimen.
Keywords
- Accuracy evaluation, Cochlear implant surgery, Minimally invasive surgery, Parallel robot, Surgical robotics
ASJC Scopus subject areas
- Medicine(all)
- Surgery
- Engineering(all)
- Biomedical Engineering
- Medicine(all)
- Radiology Nuclear Medicine and imaging
- Computer Science(all)
- Computer Vision and Pattern Recognition
- Medicine(all)
- Health Informatics
- Computer Science(all)
- Computer Science Applications
- Computer Science(all)
- Computer Graphics and Computer-Aided Design
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In: International journal of computer assisted radiology and surgery, Vol. 11, No. 3, 01.03.2016, p. 421-436.
Research output: Contribution to journal › Article › Research › peer review
}
TY - JOUR
T1 - Configuration optimization and experimental accuracy evaluation of a bone-attached, parallel robot for skull surgery
AU - Kobler, Jan Philipp
AU - Nülle, Kathrin
AU - Lexow, G. Jakob
AU - Rau, Thomas S.
AU - Majdani, Omid
AU - Kahrs, Lueder Alexander
AU - Kotlarski, Jens
AU - Ortmaier, Tobias
N1 - Funding information: This work was funded by the German Research Foundation (DFG). The project numbers are OR 196/10-1 and MA 4038/6-1. Responsibility for the contents of this publication lies with the authors.
PY - 2016/3/1
Y1 - 2016/3/1
N2 - Purpose: Minimally invasive cochlear implantation is a novel surgical technique which requires highly accurate guidance of a drilling tool along a trajectory from the mastoid surface toward the basal turn of the cochlea. The authors propose a passive, reconfigurable, parallel robot which can be directly attached to bone anchors implanted in a patient’s skull, avoiding the need for surgical tracking systems. Prior to clinical trials, methods are necessary to patient specifically optimize the configuration of the mechanism with respect to accuracy and stability. Furthermore, the achievable accuracy has to be determined experimentally. Methods: A comprehensive error model of the proposed mechanism is established, taking into account all relevant error sources identified in previous studies. Two optimization criteria to exploit the given task redundancy and reconfigurability of the passive robot are derived from the model. The achievable accuracy of the optimized robot configurations is first estimated with the help of a Monte Carlo simulation approach and finally evaluated in drilling experiments using synthetic temporal bone specimen. Results: Experimental results demonstrate that the bone-attached mechanism exhibits a mean targeting accuracy of (Formula presented.) mm under realistic conditions. A systematic targeting error is observed, which indicates that accurate identification of the passive robot’s kinematic parameters could further reduce deviations from planned drill trajectories. Conclusion: The accuracy of the proposed mechanism demonstrates its suitability for minimally invasive cochlear implantation. Future work will focus on further evaluation experiments on temporal bone specimen.
AB - Purpose: Minimally invasive cochlear implantation is a novel surgical technique which requires highly accurate guidance of a drilling tool along a trajectory from the mastoid surface toward the basal turn of the cochlea. The authors propose a passive, reconfigurable, parallel robot which can be directly attached to bone anchors implanted in a patient’s skull, avoiding the need for surgical tracking systems. Prior to clinical trials, methods are necessary to patient specifically optimize the configuration of the mechanism with respect to accuracy and stability. Furthermore, the achievable accuracy has to be determined experimentally. Methods: A comprehensive error model of the proposed mechanism is established, taking into account all relevant error sources identified in previous studies. Two optimization criteria to exploit the given task redundancy and reconfigurability of the passive robot are derived from the model. The achievable accuracy of the optimized robot configurations is first estimated with the help of a Monte Carlo simulation approach and finally evaluated in drilling experiments using synthetic temporal bone specimen. Results: Experimental results demonstrate that the bone-attached mechanism exhibits a mean targeting accuracy of (Formula presented.) mm under realistic conditions. A systematic targeting error is observed, which indicates that accurate identification of the passive robot’s kinematic parameters could further reduce deviations from planned drill trajectories. Conclusion: The accuracy of the proposed mechanism demonstrates its suitability for minimally invasive cochlear implantation. Future work will focus on further evaluation experiments on temporal bone specimen.
KW - Accuracy evaluation
KW - Cochlear implant surgery
KW - Minimally invasive surgery
KW - Parallel robot
KW - Surgical robotics
UR - http://www.scopus.com/inward/record.url?scp=84959082601&partnerID=8YFLogxK
U2 - 10.1007/s11548-015-1300-4
DO - 10.1007/s11548-015-1300-4
M3 - Article
C2 - 26410844
AN - SCOPUS:84959082601
VL - 11
SP - 421
EP - 436
JO - International journal of computer assisted radiology and surgery
JF - International journal of computer assisted radiology and surgery
SN - 1861-6410
IS - 3
ER -