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Article Dans Une Revue The Scientific World Journal Année : 2012

Design, kinematic optimization, and evaluation of a teleoperated system for middle ear microsurgery

Résumé

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.

Dates et versions

hal-01148664 , version 1 (05-05-2015)

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Citer

Mathieu Miroir, Yann Nguyen, Jérome Szewczyk, Olivier Sterkers, Alexis Bozorg-Grayeli. Design, kinematic optimization, and evaluation of a teleoperated system for middle ear microsurgery. The Scientific World Journal, 2012, pp.907372. ⟨10.1100/2012/907372⟩. ⟨hal-01148664⟩
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