Title :
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
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 ± 0.6° and a translational accuracy of 1.4 ± 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;
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
DOI :
10.1109/IROS.2009.5354305
