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http://bura.brunel.ac.uk/handle/2438/17000
Title: | A hand-guided robotic drill for cochleostomy on human cadavers |
Authors: | Du, X Brett, PN Zhang, Y Begg, P Mitchell-Innes, A Coulson, C Irving, R |
Keywords: | surgical robot;hand guided robot;smart sensing;drilling cochleostomies;hearing preservation;cochlear implantation |
Issue Date: | 2018 |
Publisher: | Dove Medical Press |
Citation: | Robotic Surgery: Research and Reviews, 2018, Volume 5 pp. 13 - 18 |
Abstract: | Background: An arm supported robotic drill has been recently demonstrated for preparing cochleostomies in a pilot research clinical trial. In this paper, a hand-guided robotic drill is presented and tested on human cadaver trials. Methods: The innovative smart tactile approach can automatically detect drilling mediums and decided when to stop drilling to prevent penetrating the endosteum. The smart sensing scheme has been implemented in a concept of a hand guided robotic drill. Results: Experiments were carried out on two adult cadaveric human bodies for verifying the drilling process and successfully finished cochleostomy on three cochlea. The advantage over a system supported by a mechanical arm includes the flexibility in adjusting the trajectory to initiate cutting without slipping. Using the same concept as a conventional drilling device, the user will also be benefit from the lower setup time and cost, and lower training overhead. Conclusion: The hand-guided robotic drill was recently developed for testing on human cadavers. The robotic drill successfully prepared cochleostomies in all three cases. |
URI: | http://bura.brunel.ac.uk/handle/2438/17000 |
DOI: | http://dx.doi.org/10.2147/RSRR.S142562 |
ISSN: | http://dx.doi.org/10.2147/RSRR.S142562 2324-5344 |
Appears in Collections: | Dept of Mechanical and Aerospace Engineering Research Papers |
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Fulltext.pdf | 2.79 MB | Adobe PDF | View/Open |
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