Percutaneous inner-ear access via an image-guided industrial robot system

Download statistics - Document (COUNTER):

Baron, S.; Eilers, H.; Munske, B.; Toennies, J.L.; Balachandran, R. et al.: Percutaneous inner-ear access via an image-guided industrial robot system. In: Proceedings of the Institution of Mechanical Engineers, Part H: Journal of Engineering in Medicine 224 (2010), Nr. 5, S. 633-649. DOI: https://doi.org/10.1243/09544119JEIM781

Repository version

To cite the version in the repository, please use this identifier: https://doi.org/10.15488/3034

Selected time period:

year: 
month: 

Sum total of downloads: 53




Thumbnail
Abstract: 
Image-guided robots have been widely used for bone shaping and percutaneous access to interventional sites. However, due to high-accuracy requirements and proximity to sensitive nerves and brain tissues, the adoption of robots in inner-ear surgery has been slower. In this paper the authors present their recent work towards developing two image-guided industrial robot systems for accessing challenging inner-ear targets. Features of the systems include optical tracking of the robot base and tool relative to the patient and Kalman filter-based data fusion of redundant sensory information (from encoders and optical tracking systems) for enhanced patient safety. The approach enables control of differential robot positions rather than absolute positions, permitting simplified calibration procedures and reducing the reliance of the system on robot calibration in order to ensure overall accuracy. Lastly, the authors present the results of two phantom validation experiments simulating the use of image-guided robots in inner-ear surgeries such as cochlear implantation and petrous apex access.
License of this version: Es gilt deutsches Urheberrecht. Das Dokument darf zum eigenen Gebrauch kostenfrei genutzt, aber nicht im Internet bereitgestellt oder an Außenstehende weitergegeben werden. Dieser Beitrag ist aufgrund einer (DFG-geförderten) Allianz- bzw. Nationallizenz frei zugänglich.
Document Type: article
Publishing status: publishedVersion
Issue Date: 2010
Appears in Collections:Fakultät für Maschinenbau

distribution of downloads over the selected time period:

downloads by country:

pos. country downloads
total perc.
1 image of flag of Germany Germany 49 92.45%
2 image of flag of Italy Italy 1 1.89%
3 image of flag of France France 1 1.89%
4 image of flag of Spain Spain 1 1.89%
5 image of flag of China China 1 1.89%

Further download figures and rankings:


Hinweis

Zur Erhebung der Downloadstatistiken kommen entsprechend dem „COUNTER Code of Practice for e-Resources“ international anerkannte Regeln und Normen zur Anwendung. COUNTER ist eine internationale Non-Profit-Organisation, in der Bibliotheksverbände, Datenbankanbieter und Verlage gemeinsam an Standards zur Erhebung, Speicherung und Verarbeitung von Nutzungsdaten elektronischer Ressourcen arbeiten, welche so Objektivität und Vergleichbarkeit gewährleisten sollen. Es werden hierbei ausschließlich Zugriffe auf die entsprechenden Volltexte ausgewertet, keine Aufrufe der Website an sich.

Search the repository


Browse