Design, Kinematic Optimization, and Evaluation of a Teleoperated System for Middle Ear Microsurgery
Middle ear surgery involves the smallest and the most fragile bones of the human body. Since microsurgical gestures and a submillimetric precision are required in these procedures, the outcome can be potentially improved by robotic assistance. Today, there is no commercially available device in this...
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| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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Wiley
2012-01-01
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| Series: | The Scientific World Journal |
| Online Access: | http://dx.doi.org/10.1100/2012/907372 |
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| _version_ | 1832546185839116288 |
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| author | Mathieu Miroir Yann Nguyen Jérôme Szewczyk Olivier Sterkers Alexis Bozorg Grayeli |
| author_facet | Mathieu Miroir Yann Nguyen Jérôme Szewczyk Olivier Sterkers Alexis Bozorg Grayeli |
| author_sort | Mathieu Miroir |
| collection | DOAJ |
| description | Middle ear surgery involves the smallest and the most fragile bones of the human body. Since microsurgical gestures and a submillimetric precision are required in these procedures, the outcome can be potentially improved by robotic assistance. Today, there is no commercially available device in this field. Here, we describe a method to design a teleoperated assistance robotic system dedicated to the middle ear surgery. Determination of design specifications, the kinematic structure, and its optimization are detailed. The robot-surgeon interface and the command modes are provided. Finally, the system is evaluated by realistic tasks in experimental dedicated settings and in human temporal bone specimens. |
| format | Article |
| id | doaj-art-319111d566b14856bbed6fbe53617833 |
| institution | Kabale University |
| issn | 1537-744X |
| language | English |
| publishDate | 2012-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | The Scientific World Journal |
| spelling | doaj-art-319111d566b14856bbed6fbe536178332025-02-03T07:23:33ZengWileyThe Scientific World Journal1537-744X2012-01-01201210.1100/2012/907372907372Design, Kinematic Optimization, and Evaluation of a Teleoperated System for Middle Ear MicrosurgeryMathieu Miroir0Yann Nguyen1Jérôme Szewczyk2Olivier Sterkers3Alexis Bozorg Grayeli4Sorbonne Paris Cité, INSERM UMR-S 867, Université Paris Diderot, 75018 Paris, FranceSorbonne Paris Cité, INSERM UMR-S 867, Université Paris Diderot, 75018 Paris, FranceISIR, CNRS UMR 7222, Université Pierre et Marie Curie, 75005 Paris, FranceSorbonne Paris Cité, INSERM UMR-S 867, Université Paris Diderot, 75018 Paris, FranceSorbonne Paris Cité, INSERM UMR-S 867, Université Paris Diderot, 75018 Paris, FranceMiddle ear surgery involves the smallest and the most fragile bones of the human body. Since microsurgical gestures and a submillimetric precision are required in these procedures, the outcome can be potentially improved by robotic assistance. Today, there is no commercially available device in this field. Here, we describe a method to design a teleoperated assistance robotic system dedicated to the middle ear surgery. Determination of design specifications, the kinematic structure, and its optimization are detailed. The robot-surgeon interface and the command modes are provided. Finally, the system is evaluated by realistic tasks in experimental dedicated settings and in human temporal bone specimens.http://dx.doi.org/10.1100/2012/907372 |
| spellingShingle | Mathieu Miroir Yann Nguyen Jérôme Szewczyk Olivier Sterkers Alexis Bozorg Grayeli Design, Kinematic Optimization, and Evaluation of a Teleoperated System for Middle Ear Microsurgery The Scientific World Journal |
| title | Design, Kinematic Optimization, and Evaluation of a Teleoperated System for Middle Ear Microsurgery |
| title_full | Design, Kinematic Optimization, and Evaluation of a Teleoperated System for Middle Ear Microsurgery |
| title_fullStr | Design, Kinematic Optimization, and Evaluation of a Teleoperated System for Middle Ear Microsurgery |
| title_full_unstemmed | Design, Kinematic Optimization, and Evaluation of a Teleoperated System for Middle Ear Microsurgery |
| title_short | Design, Kinematic Optimization, and Evaluation of a Teleoperated System for Middle Ear Microsurgery |
| title_sort | design kinematic optimization and evaluation of a teleoperated system for middle ear microsurgery |
| url | http://dx.doi.org/10.1100/2012/907372 |
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