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.
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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. |
Publication type: | Article |
Publishing status: | publishedVersion |
Publication date: | 2010 |
Keywords english: | Cochlear implantation, Image-guided industrial robot systems, Kalman filter-based data fusion, Optical tracking, Percutaneous inner-ear access, Petrous apex access, Absolute position, Brain tissue, Calibration procedure, Cochlear implantation, Ear surgery, High-accuracy, Image-guided, Image-guided industrial robot systems, Interventional, Optical tracking, Optical tracking systems, Patient safety, Robot calibration, Robot positions, Sensory information, Differential robots, Image-guided, Inner ear, Optical tracking, Optical tracking systems, petrous apex access, Sensory information, Simplified calibrations, Calibration, Cochlear implants, Data fusion, Industrial robots, Information fusion, Kalman filters, Surgery, Calibration, Cochlear implants, Data fusion, Industrial robots, Kalman filters, Robots, Surgery, Tracking (position), Surgical equipment, algorithm, article, computer assisted surgery, ear surgery, equipment design, human, image processing, image quality, inner ear, instrumentation, methodology, motion, robotics, Algorithms, Ear, Inner, Equipment Design, Humans, Image Processing, Computer-Assisted, Motion, Otologic Surgical Procedures, Phantoms, Imaging, Robotics, Surgery, Computer-Assisted |
DDC: | 610 | Medizin, Gesundheit |
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