Design of a Bone-Attached Parallel Robot for Percutaneous Cochlear Implantation

作者：Kratchman Louis B^*; Blachon Gregoire S; Withrow Thomas J; Balachandran Ramya; Labadie Robert F; Webster Robert J III

来源：IEEE Transactions on Biomedical Engineering, 2011, 58(10): 2904-2910.

DOI：10.1109/TBME.2011.2162512

• Bone-attached robot
• cochlear implant
• Gough-Stewart platform
• microtable
• minimally invasive surgery (MIS)
• parallel robot

Access to the cochlea requires drilling in close proximity to bone-embedded nerves, blood vessels, and other structures, the violation of which can result in complications for the patient. It has recently been shown that microstereotactic frames can enable an image-guided percutaneous approach, removing reliance on human experience and hand-eye coordination, and reducing trauma. However, constructing current microstereotactic frames disrupts the clinical workflow, requiring multiday intrasurgical manufacturing delays, or an on-call machine shop in or near the hospital. In this paper, we describe a new kind of microsterotactic frame that obviates these delay and infrastructure issues by being repositionable. Inspired by the prior success of bone-attached parallel robots in knee and spinal procedures, we present an automated image-guided microstereotactic frame. Experiments demonstrate a mean accuracy at the cochlea of 0.20 +/- 0.07 mm in phantom testing with trajectories taken from a human clinical dataset. We also describe a cadaver experiment evaluating the entire image-guided surgery pipeline, where we achieved an accuracy of 0.38 mm at the cochlea.

• 出版日期2011-10