Please use this identifier to cite or link to this item: http://buratest.brunel.ac.uk/handle/2438/8852
Title: Feasibility study of a hand guided robotic drill for cochleostomy
Authors: Brett, P
Du, X
Zoka-Assadi, M
Coulson, C
Reid, A
Proops, D
Keywords: Hand guided robotic drill;Cochleostomy;Cochlear electrodes;Robotic surgery
Issue Date: 2014
Publisher: Hindawi Publishing Corporation
Citation: BioMed Research International, 2014: Article no. 656325, 2014
Abstract: The concept of a hand guided robotic drill has been inspired by an automated, arm supported robotic drill recently applied in clinical practice to produce cochleostomies without penetrating the endosteum ready for inserting cochlear electrodes. The smart tactile sensing scheme within the drill enables precise control of the state of interaction between tissues and tools in real-time. This paper reports development studies of the hand guided robotic drill where the same consistent outcomes, augmentation of surgeon control and skill, and similar reduction of induced disturbances on the hearing organ are achieved. The device operates with differing presentation of tissues resulting from variation in anatomy and demonstrates the ability to control or avoid penetration of tissue layers as required and to respond to intended rather than involuntary motion of the surgeon operator. The advantage of hand guided over an arm supported system is that it offers flexibility in adjusting the drilling trajectory. This can be important to initiate cutting on a hard convex tissue surface without slipping and then to proceed on the desired trajectory after cutting has commenced. The results for trials on phantoms show that drill unit compliance is an important factor in the design.
Description: Copyright © 2014 Peter Brett et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
URI: http://www.hindawi.com/journals/bmri/2014/656325/
http://bura.brunel.ac.uk/handle/2438/8852
DOI: http://dx.doi.org/10.1155/2014/656325
ISSN: 2314-6141
Appears in Collections:Brunel Institute for Bioengineering (BIB)

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