Development of a miniature robot for hearing aid implantation

Author

Salzmann, Jonas ; Zheng, Guoyan ; Gerber, Nicolas ; Stieger, Christof ; Arnold, Andreas ; Rohrer, Urs ; Nolte, Lutz-Peter ; Caversaccio, Marco ; Weber, Stefan

Author_Institution

ARTORG Center - ISTB, Univ. of Bern, Bern, Switzerland

fYear

2009

fDate

10-15 Oct. 2009

Firstpage

2149

Lastpage

2154

Abstract

In this paper, we present a novel robotic assistant dedicated to otologic surgery for an implantable hearing aid system, which is a procedure involving drilling into the lateral skull of the patient. This compact and flexible miniature robot is designed so as to fulfill the requirements of precise bone drillings for hearing aid implantation. It is built from an original five degree-of-freedom (DOF) parallel structure with a motorized end-effector, particularly well suited to otological surgical procedure. The specification, the design and the analysis of the workspace are detailed. A preliminary accuracy evaluation is presented. A rotational accuracy of 0.6 Â± 0.6Â° and a translational accuracy of 1.4 Â± 0.5 mm were found.

Keywords

ear; end effectors; flexible manipulators; hearing aids; medical robotics; microrobots; prosthetics; surgery; bone drilling; compact miniature robot; flexible miniature robot; implantable hearing aid system; motorized end-effector; otologic surgery; robotic assistant; Auditory system; Drilling; Humans; Intelligent robots; Minimally invasive surgery; Oncological surgery; Orthopedic surgery; Robot sensing systems; Skull; Surges;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on

Conference_Location

St. Louis, MO

Print_ISBN

978-1-4244-3803-7

Electronic_ISBN

978-1-4244-3804-4

Type

conf

DOI

10.1109/IROS.2009.5354305

Filename

5354305