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

Show simple item record

dc.identifier.uri http://dx.doi.org/10.15488/3034
dc.identifier.uri http://www.repo.uni-hannover.de/handle/123456789/3064
dc.contributor.author Baron, S.
dc.contributor.author Eilers, H.
dc.contributor.author Munske, B.
dc.contributor.author Toennies, J.L.
dc.contributor.author Balachandran, R.
dc.contributor.author Labadie, R.F.
dc.contributor.author Ortmaier, T.
dc.contributor.author Webster, R.J.
dc.date.accessioned 2018-03-01T12:59:30Z
dc.date.available 2018-03-01T12:59:30Z
dc.date.issued 2010
dc.identifier.citation 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
dc.description.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. eng
dc.language.iso eng
dc.publisher London : SAGE Publications Ltd.
dc.relation.ispartofseries Proceedings of the Institution of Mechanical Engineers, Part H: Journal of Engineering in Medicine 224 (2010), Nr. 5
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 Cochlear implantation eng
dc.subject Image-guided industrial robot systems eng
dc.subject Kalman filter-based data fusion eng
dc.subject Optical tracking eng
dc.subject Percutaneous inner-ear access eng
dc.subject Petrous apex access eng
dc.subject Absolute position eng
dc.subject Brain tissue eng
dc.subject Calibration procedure eng
dc.subject Cochlear implantation eng
dc.subject Ear surgery eng
dc.subject High-accuracy eng
dc.subject Image-guided eng
dc.subject Image-guided industrial robot systems eng
dc.subject Interventional eng
dc.subject Optical tracking eng
dc.subject Optical tracking systems eng
dc.subject Patient safety eng
dc.subject Robot calibration eng
dc.subject Robot positions eng
dc.subject Sensory information eng
dc.subject Differential robots eng
dc.subject Image-guided eng
dc.subject Inner ear eng
dc.subject Optical tracking eng
dc.subject Optical tracking systems eng
dc.subject petrous apex access eng
dc.subject Sensory information eng
dc.subject Simplified calibrations eng
dc.subject Calibration eng
dc.subject Cochlear implants eng
dc.subject Data fusion eng
dc.subject Industrial robots eng
dc.subject Information fusion eng
dc.subject Kalman filters eng
dc.subject Surgery eng
dc.subject Calibration eng
dc.subject Cochlear implants eng
dc.subject Data fusion eng
dc.subject Industrial robots eng
dc.subject Kalman filters eng
dc.subject Robots eng
dc.subject Surgery eng
dc.subject Tracking (position) eng
dc.subject Surgical equipment eng
dc.subject algorithm eng
dc.subject article eng
dc.subject computer assisted surgery eng
dc.subject ear surgery eng
dc.subject equipment design eng
dc.subject human eng
dc.subject image processing eng
dc.subject image quality eng
dc.subject inner ear eng
dc.subject instrumentation eng
dc.subject methodology eng
dc.subject motion eng
dc.subject robotics eng
dc.subject Algorithms eng
dc.subject Ear, Inner eng
dc.subject Equipment Design eng
dc.subject Humans eng
dc.subject Image Processing, Computer-Assisted eng
dc.subject Motion eng
dc.subject Otologic Surgical Procedures eng
dc.subject Phantoms, Imaging eng
dc.subject Robotics eng
dc.subject Surgery, Computer-Assisted eng
dc.subject.ddc 610 | Medizin, Gesundheit ger
dc.title Percutaneous inner-ear access via an image-guided industrial robot system
dc.type article
dc.type Text
dc.relation.issn 0954-4119
dc.relation.doi https://doi.org/10.1243/09544119JEIM781
dc.bibliographicCitation.issue 5
dc.bibliographicCitation.volume 224
dc.bibliographicCitation.firstPage 633
dc.bibliographicCitation.lastPage 649
dc.description.version publishedVersion
tib.accessRights frei zug�nglich


Files in this item

This item appears in the following Collection(s):

Show simple item record

 

Search the repository


Browse

My Account

Usage Statistics