期刊
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART H-JOURNAL OF ENGINEERING IN MEDICINE
卷 224, 期 H5, 页码 632-648出版社
SAGE PUBLICATIONS LTD
DOI: 10.1243/09544119JEIM781
关键词
percutaneous inner-ear access; image-guided industrial robot systems; optical tracking; Kalman filter-based data fusion; cochlear implantation; petrous apex access
资金
- German Research Association (DFG) [SPP1124, MA-4038/1-1, HE-2445/19-1]
- National Institute of Biomedical Imaging and Bioengineering [R21 EB006044-01A1]
- NATIONAL INSTITUTE OF BIOMEDICAL IMAGING AND BIOENGINEERING [R21EB006044] Funding Source: NIH RePORTER
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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