Details
| Original language | English |
|---|---|
| Pages (from-to) | 633-649 |
| Number of pages | 17 |
| Journal | Proceedings of the Institution of Mechanical Engineers, Part H: Journal of Engineering in Medicine |
| Volume | 224 |
| Issue number | 5 |
| Publication status | Published - 1 May 2010 |
Abstract
Image-guided robots have been widely used for bone shaping and percutaneous access to interventional sites. However, due to high-accuracy requirements and proximity to sensitive nerves and brain tissues, the adoption of robots in inner-ear surgery has been slower. In this paper the authors present their recent work towards developing two image-guided industrial robot systems for accessing challenging inner-ear targets. Features of the systems include optical tracking of the robot base and tool relative to the patient and Kalman filter-based data fusion of redundant sensory information (from encoders and optical tracking systems) for enhanced patient safety. The approach enables control of differential robot positions rather than absolute positions, permitting simplified calibration procedures and reducing the reliance of the system on robot calibration in order to ensure overall accuracy. Lastly, the authors present the results of two phantom validation experiments simulating the use of image-guided robots in inner-ear surgeries such as cochlear implantation and petrous apex access.
Keywords
- Cochlear implantation, Image-guided industrial robot systems, Kalman filter-based data fusion, Optical tracking, Percutaneous inner-ear access, Petrous apex access
ASJC Scopus subject areas
- Engineering(all)
- Mechanical Engineering
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In: Proceedings of the Institution of Mechanical Engineers, Part H: Journal of Engineering in Medicine, Vol. 224, No. 5, 01.05.2010, p. 633-649.
Research output: Contribution to journal › Article › Research › peer review
}
TY - JOUR
T1 - Percutaneous inner-ear access via an image-guided industrial robot system
AU - Baron, S.
AU - Eilers, H.
AU - Munske, B.
AU - Toennies, J. L.
AU - Balachandran, R.
AU - Labadie, R. F.
AU - Ortmaier, T.
AU - Webster, R. J.
PY - 2010/5/1
Y1 - 2010/5/1
N2 - Image-guided robots have been widely used for bone shaping and percutaneous access to interventional sites. However, due to high-accuracy requirements and proximity to sensitive nerves and brain tissues, the adoption of robots in inner-ear surgery has been slower. In this paper the authors present their recent work towards developing two image-guided industrial robot systems for accessing challenging inner-ear targets. Features of the systems include optical tracking of the robot base and tool relative to the patient and Kalman filter-based data fusion of redundant sensory information (from encoders and optical tracking systems) for enhanced patient safety. The approach enables control of differential robot positions rather than absolute positions, permitting simplified calibration procedures and reducing the reliance of the system on robot calibration in order to ensure overall accuracy. Lastly, the authors present the results of two phantom validation experiments simulating the use of image-guided robots in inner-ear surgeries such as cochlear implantation and petrous apex access.
AB - Image-guided robots have been widely used for bone shaping and percutaneous access to interventional sites. However, due to high-accuracy requirements and proximity to sensitive nerves and brain tissues, the adoption of robots in inner-ear surgery has been slower. In this paper the authors present their recent work towards developing two image-guided industrial robot systems for accessing challenging inner-ear targets. Features of the systems include optical tracking of the robot base and tool relative to the patient and Kalman filter-based data fusion of redundant sensory information (from encoders and optical tracking systems) for enhanced patient safety. The approach enables control of differential robot positions rather than absolute positions, permitting simplified calibration procedures and reducing the reliance of the system on robot calibration in order to ensure overall accuracy. Lastly, the authors present the results of two phantom validation experiments simulating the use of image-guided robots in inner-ear surgeries such as cochlear implantation and petrous apex access.
KW - Cochlear implantation
KW - Image-guided industrial robot systems
KW - Kalman filter-based data fusion
KW - Optical tracking
KW - Percutaneous inner-ear access
KW - Petrous apex access
UR - http://www.scopus.com/inward/record.url?scp=77952347242&partnerID=8YFLogxK
U2 - 10.1243/09544119JEIM781
DO - 10.1243/09544119JEIM781
M3 - Article
C2 - 20718268
AN - SCOPUS:77952347242
VL - 224
SP - 633
EP - 649
JO - Proceedings of the Institution of Mechanical Engineers, Part H: Journal of Engineering in Medicine
JF - Proceedings of the Institution of Mechanical Engineers, Part H: Journal of Engineering in Medicine
SN - 0954-4119
IS - 5
ER -