Toward automated cochlear implant insertion using tubular manipulators

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dc.identifier.uri Granna, Josephine Rau, Thomas S. Nguyen, Thien-Dang Lenarz, Thomas Majdani, Omid Burgner-Kahrs, Jessica
dc.contributor.editor Webster, Robert J.
dc.contributor.editor Yaniv, Ziv R. 2017-12-12T11:54:19Z 2017-12-12T11:54:19Z 2016
dc.identifier.citation Granna, J.; Rau, T.S.; Nguyen, T.-D.; Lenarz, T.; Majdani, O.; Burgner-Kahrs, J.: Toward automated cochlear implant insertion using tubular manipulators. In: Proceedings of SPIE 9786 (2016), 97861F. DOI:
dc.description.abstract During manual cochlear implant electrode insertion the surgeon is at risk to damage the intracochlear fine-structure, as the electrode array is inserted through a small opening in the cochlea blindly with little force-feedback. This paper addresses a novel concept for cochlear electrode insertion using tubular manipulators to reduce risks of causing trauma during insertion and to automate the insertion process. We propose a tubular manipulator incorporated into the electrode array composed of an inner wire within a tube, both elastic and helically shaped. It is our vision to use this manipulator to actuate the initially straight electrode array during insertion into the cochlea by actuation of the wire and tube, i.e. translation and slight axial rotation. In this paper, we evaluate the geometry of the human cochlea in 22 patient datasets in order to derive design requirements for the manipulator. We propose an optimization algorithm to automatically determine the tube set parameters (curvature, torsion, diameter, length) for an ideal final position within the cochlea. To prove our concept, we demonstrate that insertion can be realized in a follow-the-leader fashion for 19 out of 22 cochleas. This is possible with only 4 different tube/wire sets. © 2016 SPIE. eng
dc.language.iso eng
dc.publisher Bellingham, Wash. : SPIE
dc.relation.ispartof Medical Imaging 2016: Image-Guided Procedures, Robotic Interventions, and Modeling : 28 February-1 March 2016, San Diego, California, United States
dc.relation.ispartofseries Proceedings of SPIE 9786 (2016)
dc.rights 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.
dc.subject continuum robots eng
dc.subject robot assisted surgery eng
dc.subject tubular manipulators eng
dc.subject Algorithms eng
dc.subject Cochlear implants eng
dc.subject Curve fitting eng
dc.subject Electrodes eng
dc.subject Medical imaging eng
dc.subject Optimization eng
dc.subject Robotic surgery eng
dc.subject Robotics eng
dc.subject Cochlear electrodes eng
dc.subject Cochlear implant electrodes eng
dc.subject Continuum robot eng
dc.subject Electrode arrays eng
dc.subject Follow the leaders eng
dc.subject Insertion process eng
dc.subject Optimization algorithms eng
dc.subject Robot-assisted surgery eng
dc.subject Manipulators eng
dc.subject.classification Konferenzschrift ger
dc.subject.ddc 620 | Ingenieurwissenschaften und Maschinenbau ger
dc.title Toward automated cochlear implant insertion using tubular manipulators eng
dc.type BookPart
dc.type Text
dc.relation.essn 0277-786X
dc.relation.isbn 978-1-5106-0021-8
dc.relation.issn 1996-756X
dc.bibliographicCitation.volume 9786
dc.bibliographicCitation.firstPage 97861F
dc.description.version publishedVersion
tib.accessRights frei zug�nglich

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