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Design of a Bone-Attached Parallel Robot for Percutaneous Cochlear Implantation
Access to the cochlea requires drilling in close proximity to bone-embedded nerves, blood vessels, and other structures, the violation of which can result in complications for the patient. It has recently been shown that microstereotactic frames can enable an image-guided percutaneous approach, remo...
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Published in: | IEEE transactions on biomedical engineering 2011-10, Vol.58 (10), p.2904-2910 |
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container_title | IEEE transactions on biomedical engineering |
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creator | Kratchman, Louis B. Blachon, Grégoire S. Withrow, Thomas J. Balachandran, Ramya Labadie, Robert F. Webster, Robert J. |
description | Access to the cochlea requires drilling in close proximity to bone-embedded nerves, blood vessels, and other structures, the violation of which can result in complications for the patient. It has recently been shown that microstereotactic frames can enable an image-guided percutaneous approach, removing reliance on human experience and hand-eye coordination, and reducing trauma. However, constructing current microstereotactic frames disrupts the clinical workflow, requiring multiday intrasurgical manufacturing delays, or an on-call machine shop in or near the hospital. In this paper, we describe a new kind of microsterotactic frame that obviates these delay and infrastructure issues by being repositionable. Inspired by the prior success of bone-attached parallel robots in knee and spinal procedures, we present an automated image-guided microstereotactic frame. Experiments demonstrate a mean accuracy at the cochlea of 0.20 ± 0.07 mm in phantom testing with trajectories taken from a human clinical dataset. We also describe a cadaver experiment evaluating the entire image-guided surgery pipeline, where we achieved an accuracy of 0.38 mm at the cochlea. |
doi_str_mv | 10.1109/TBME.2011.2162512 |
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It has recently been shown that microstereotactic frames can enable an image-guided percutaneous approach, removing reliance on human experience and hand-eye coordination, and reducing trauma. However, constructing current microstereotactic frames disrupts the clinical workflow, requiring multiday intrasurgical manufacturing delays, or an on-call machine shop in or near the hospital. In this paper, we describe a new kind of microsterotactic frame that obviates these delay and infrastructure issues by being repositionable. Inspired by the prior success of bone-attached parallel robots in knee and spinal procedures, we present an automated image-guided microstereotactic frame. Experiments demonstrate a mean accuracy at the cochlea of 0.20 ± 0.07 mm in phantom testing with trajectories taken from a human clinical dataset. We also describe a cadaver experiment evaluating the entire image-guided surgery pipeline, where we achieved an accuracy of 0.38 mm at the cochlea.</description><identifier>ISSN: 0018-9294</identifier><identifier>EISSN: 1558-2531</identifier><identifier>DOI: 10.1109/TBME.2011.2162512</identifier><identifier>PMID: 21788181</identifier><identifier>CODEN: IEBEAX</identifier><language>eng</language><publisher>New York, NY: IEEE</publisher><subject>Accuracy ; Applied sciences ; Bone-attached robot ; Bones ; Cochlea - surgery ; cochlear implant ; Cochlear Implantation - instrumentation ; Cochlear Implantation - methods ; Computed tomography ; Computer science; control theory; systems ; Control theory. Systems ; Equipment Design ; Exact sciences and technology ; Gough-Stewart platform ; Humans ; microtable ; minimally invasive surgery (MIS) ; parallel robot ; Phantoms, Imaging ; Robot kinematics ; Robotics ; Robotics - instrumentation ; Software ; Surgery, Computer-Assisted - instrumentation ; Temporal Bone - surgery ; Tomography, X-Ray Computed ; Trajectory</subject><ispartof>IEEE transactions on biomedical engineering, 2011-10, Vol.58 (10), p.2904-2910</ispartof><rights>2015 INIST-CNRS</rights><rights>Copyright The Institute of Electrical and Electronics Engineers, Inc. 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It has recently been shown that microstereotactic frames can enable an image-guided percutaneous approach, removing reliance on human experience and hand-eye coordination, and reducing trauma. However, constructing current microstereotactic frames disrupts the clinical workflow, requiring multiday intrasurgical manufacturing delays, or an on-call machine shop in or near the hospital. In this paper, we describe a new kind of microsterotactic frame that obviates these delay and infrastructure issues by being repositionable. Inspired by the prior success of bone-attached parallel robots in knee and spinal procedures, we present an automated image-guided microstereotactic frame. Experiments demonstrate a mean accuracy at the cochlea of 0.20 ± 0.07 mm in phantom testing with trajectories taken from a human clinical dataset. We also describe a cadaver experiment evaluating the entire image-guided surgery pipeline, where we achieved an accuracy of 0.38 mm at the cochlea.</description><subject>Accuracy</subject><subject>Applied sciences</subject><subject>Bone-attached robot</subject><subject>Bones</subject><subject>Cochlea - surgery</subject><subject>cochlear implant</subject><subject>Cochlear Implantation - instrumentation</subject><subject>Cochlear Implantation - methods</subject><subject>Computed tomography</subject><subject>Computer science; control theory; systems</subject><subject>Control theory. Systems</subject><subject>Equipment Design</subject><subject>Exact sciences and technology</subject><subject>Gough-Stewart platform</subject><subject>Humans</subject><subject>microtable</subject><subject>minimally invasive surgery (MIS)</subject><subject>parallel robot</subject><subject>Phantoms, Imaging</subject><subject>Robot kinematics</subject><subject>Robotics</subject><subject>Robotics - instrumentation</subject><subject>Software</subject><subject>Surgery, Computer-Assisted - instrumentation</subject><subject>Temporal Bone - surgery</subject><subject>Tomography, X-Ray Computed</subject><subject>Trajectory</subject><issn>0018-9294</issn><issn>1558-2531</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2011</creationdate><recordtype>article</recordtype><recordid>eNqNkd1rFDEUxYModq3-ASLIIIhPs-bmY5K8CO1atVBpkfocMpk73SmzkzXJCP73Ztl1_XjyKYT7u4dz7iHkOdAlADVvb88_XywZBVgyaJgE9oAsQEpdM8nhIVlQCro2zIgT8iSl-_IVWjSPyQkDpTVoWJDr95iGu6kKfeWq8zBhfZaz82vsqhsX3TjiWH0JbchVH2J1g9HP2U0Y5lStgl-P6GJ1udmObsouD2F6Sh71bkz47PCekq8fLm5Xn-qr64-Xq7Or2kvFc933TlJkAlrTKdMJIbxE1QkODe09R1MCdEAFY4wiZ42mjaJat42RyrTG8FPybq-7ndsNdh6nXNzabRw2Lv6wwQ3278k0rO1d-G5FUQUOReDNQSCGbzOmbDdD8jiO-3RWGwOSa6n_g-RGGSVpIV_9Q96HOU7lDtYApyUu2zmHPeRjSClifzQN1O5qtbta7a5We6i17Lz8M-1x41ePBXh9AFzybuyjm_yQfnNCUSUaWbgXe25AxONYGlmCAv8J8u-xrA</recordid><startdate>20111001</startdate><enddate>20111001</enddate><creator>Kratchman, Louis B.</creator><creator>Blachon, Grégoire S.</creator><creator>Withrow, Thomas J.</creator><creator>Balachandran, Ramya</creator><creator>Labadie, Robert F.</creator><creator>Webster, Robert J.</creator><general>IEEE</general><general>Institute of Electrical and Electronics Engineers</general><general>The Institute of Electrical and Electronics Engineers, Inc. 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Systems</topic><topic>Equipment Design</topic><topic>Exact sciences and technology</topic><topic>Gough-Stewart platform</topic><topic>Humans</topic><topic>microtable</topic><topic>minimally invasive surgery (MIS)</topic><topic>parallel robot</topic><topic>Phantoms, Imaging</topic><topic>Robot kinematics</topic><topic>Robotics</topic><topic>Robotics - instrumentation</topic><topic>Software</topic><topic>Surgery, Computer-Assisted - instrumentation</topic><topic>Temporal Bone - surgery</topic><topic>Tomography, X-Ray Computed</topic><topic>Trajectory</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Kratchman, Louis B.</creatorcontrib><creatorcontrib>Blachon, Grégoire S.</creatorcontrib><creatorcontrib>Withrow, Thomas J.</creatorcontrib><creatorcontrib>Balachandran, Ramya</creatorcontrib><creatorcontrib>Labadie, Robert F.</creatorcontrib><creatorcontrib>Webster, Robert J.</creatorcontrib><collection>IEEE All-Society Periodicals Package (ASPP) 2005-present</collection><collection>IEEE All-Society Periodicals Package (ASPP) 1998-Present</collection><collection>IEEE/IET Electronic Library (IEL)</collection><collection>Pascal-Francis</collection><collection>Medline</collection><collection>MEDLINE</collection><collection>MEDLINE (Ovid)</collection><collection>MEDLINE</collection><collection>MEDLINE</collection><collection>PubMed</collection><collection>CrossRef</collection><collection>Aluminium Industry Abstracts</collection><collection>Biotechnology Research Abstracts</collection><collection>Ceramic Abstracts</collection><collection>Computer and Information Systems Abstracts</collection><collection>Corrosion Abstracts</collection><collection>Electronics & Communications Abstracts</collection><collection>Engineered Materials Abstracts</collection><collection>Materials Business File</collection><collection>Mechanical & Transportation Engineering Abstracts</collection><collection>Solid State and Superconductivity Abstracts</collection><collection>METADEX</collection><collection>Technology Research Database</collection><collection>ANTE: Abstracts in New Technology & Engineering</collection><collection>Engineering Research Database</collection><collection>Aerospace Database</collection><collection>Materials Research Database</collection><collection>ProQuest Computer Science Collection</collection><collection>Civil Engineering Abstracts</collection><collection>Advanced Technologies Database with Aerospace</collection><collection>Computer and Information Systems Abstracts Academic</collection><collection>Computer and Information Systems Abstracts Professional</collection><collection>Biotechnology and BioEngineering Abstracts</collection><collection>MEDLINE - Academic</collection><collection>PubMed Central (Full Participant titles)</collection><jtitle>IEEE transactions on biomedical engineering</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Kratchman, Louis B.</au><au>Blachon, Grégoire S.</au><au>Withrow, Thomas J.</au><au>Balachandran, Ramya</au><au>Labadie, Robert F.</au><au>Webster, Robert J.</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>Design of a Bone-Attached Parallel Robot for Percutaneous Cochlear Implantation</atitle><jtitle>IEEE transactions on biomedical engineering</jtitle><stitle>TBME</stitle><addtitle>IEEE Trans Biomed Eng</addtitle><date>2011-10-01</date><risdate>2011</risdate><volume>58</volume><issue>10</issue><spage>2904</spage><epage>2910</epage><pages>2904-2910</pages><issn>0018-9294</issn><eissn>1558-2531</eissn><coden>IEBEAX</coden><notes>ObjectType-Article-1</notes><notes>SourceType-Scholarly Journals-1</notes><notes>ObjectType-Feature-2</notes><notes>content type line 23</notes><notes>ObjectType-Article-2</notes><notes>ObjectType-Conference-1</notes><notes>ObjectType-Feature-3</notes><notes>SourceType-Conference Papers & Proceedings-2</notes><abstract>Access to the cochlea requires drilling in close proximity to bone-embedded nerves, blood vessels, and other structures, the violation of which can result in complications for the patient. It has recently been shown that microstereotactic frames can enable an image-guided percutaneous approach, removing reliance on human experience and hand-eye coordination, and reducing trauma. However, constructing current microstereotactic frames disrupts the clinical workflow, requiring multiday intrasurgical manufacturing delays, or an on-call machine shop in or near the hospital. In this paper, we describe a new kind of microsterotactic frame that obviates these delay and infrastructure issues by being repositionable. Inspired by the prior success of bone-attached parallel robots in knee and spinal procedures, we present an automated image-guided microstereotactic frame. Experiments demonstrate a mean accuracy at the cochlea of 0.20 ± 0.07 mm in phantom testing with trajectories taken from a human clinical dataset. We also describe a cadaver experiment evaluating the entire image-guided surgery pipeline, where we achieved an accuracy of 0.38 mm at the cochlea.</abstract><cop>New York, NY</cop><pub>IEEE</pub><pmid>21788181</pmid><doi>10.1109/TBME.2011.2162512</doi><tpages>7</tpages><oa>free_for_read</oa></addata></record> |
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subjects | Accuracy Applied sciences Bone-attached robot Bones Cochlea - surgery cochlear implant Cochlear Implantation - instrumentation Cochlear Implantation - methods Computed tomography Computer science control theory systems Control theory. Systems Equipment Design Exact sciences and technology Gough-Stewart platform Humans microtable minimally invasive surgery (MIS) parallel robot Phantoms, Imaging Robot kinematics Robotics Robotics - instrumentation Software Surgery, Computer-Assisted - instrumentation Temporal Bone - surgery Tomography, X-Ray Computed Trajectory |
title | Design of a Bone-Attached Parallel Robot for Percutaneous Cochlear Implantation |
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