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首页> 外文会议>Mechatronics, 2009. ICM 2009 >Navigated, robot assisted drilling of a minimally invasive cochlear access
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Navigated, robot assisted drilling of a minimally invasive cochlear access

机译：机器人辅助导航的微创耳蜗通路钻孔

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摘要

Due to ever increasing requirements of high precision surgery, robotic assistance is becoming an emerging and highly demanded technology. Especially in the field of minimally invasive surgery, missing anatomic landmarks and restricted visibility limit the surgeon's control and thus restrict surgical interventions. In particular cochlear implant (CI) surgery is an example of a procedure, characterized by a high degree of complexity and required accuracy. Using mechatronical devices, solutions are provided for the surgeon to cope with these challenges. This paper presents a minimally-invasive approach to cochlea implantation, using an image guided surgery system (IGS) and a robotic manipulator equipped with a surgical drill. This includes computer assisted 3D-planning of the drill coordinates to ensure a maximum safety margin of the drill canal to the vital parts, such as the facial nerve. In order to determine the system's accuracy, preliminary measurements were done using a laser pointer and a camera based appraisal of laser pointer movements. Finally, the drilling was successfully performed on five cadaveric specimens of the human temporal bone. This contribution presents hardware and software components of this approach as well as the results of the robotic assisted drilling experiments.
机译：由于对高精度外科手术的需求不断增长，因此机器人辅助正成为一种新兴且要求很高的技术。特别是在微创手术领域，缺少解剖标志和可见度受限限制了外科医生的控制，因此限制了手术干预。特别地，人工耳蜗（CI）手术是该过程的一个示例，其特征在于高度的复杂性和所需的准确性。使用机电设备，可为外科医生提供解决方案以应对这些挑战。本文介绍了一种使用图像引导手术系统（IGS）和配备手术钻的机器人操纵器进行的微创耳蜗植入方法。这包括钻头坐标的计算机辅助3D计划，以确保钻道对重要部位（例如面神经）的最大安全裕度。为了确定系统的准确性，使用激光指示器和基于摄像机的激光指示器移动评估来进行初步测量。最后，在人类颞骨的五个尸体标本上成功进行了钻孔。该文稿介绍了此方法的硬件和软件组件，以及机器人辅助钻孔实验的结果。

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