Image-Guided Mastoidectomy with a Cooperatively Controlled ENT Microsurgery Robot.

Mastoidectomy is a common surgical procedure within otology. Despite being inherently well suited for implementation of robotic assistance, there are no commercially available robotic systems that have demonstrated utility in aiding with this procedure. This article describes a robotic technique for image-guided mastoidectomy with an experimental cooperatively controlled robotic system developed for use within otolaryngology-head and neck surgery.

Applied Force during Piston Prosthesis Placement in a 3D-Printed Model: Freehand vs Robot-Assisted Techniques.

Objectives: To describe a 3D-printed middle ear model that quantifies the force applied to the modeled incus. To compare the forces applied during placement and crimping of a stapes prosthesis between the Robotic ENT Microsurgery System ( REMS) and the freehand technique in this model.

Study Design: Prospective feasibility study.

Real-time robotic airway measurement: An additional benefit of a novel steady-hand robotic platform.

Objective: Describe the secondary capability of a robotic system to provide real-time measurements of airway dimensions with high fidelity.

Methods: Seven unique phantoms of laryngotracheal stenosis (LTS) were modeled using a computer-aided design tool and were three dimensionally printed. These stenoses were of different dimensions and orientations, and some were purposefully oblique.

Development and Experimental Evaluation of Concurrent Control of a Robotic Arm and Continuum Manipulator for Osteolytic Lesion Treatment.

This paper presents the development and evaluation of concurrent control of a robotic system for less-invasive treatment of osteolytic lesions behind an acetabular implant. This system implements safety constraints including a remote center of motion (RCM), virtual walls, and joint limits while operating through the screw holes of the acetabular implant. The formulated linear constrained optimization problem ensures these constraints are satisfied while maintaining precise control of the tip of a Continuum Dexterous Manipulator (CDM) attached to a positioning robot.

Accuracy assessment and kinematic calibration of the robotic endoscopic microsurgical system.

This paper explores the general stereotactic accuracy of the Robotic Endoscopic Microsurgical System (REMS) by calibrating with a standard optical tracking system. Based on a simple yet effective test protocol, the proposed calibration method combines hand-eye calibration with Bernstein polynomials to improve our kinematic pose accuracy.

Robot-assisted three-dimensional registration for cochlear implant surgery using a common-path swept-source optical coherence tomography probe.

Cochlear implantation offers the potential to restore sensitive hearing in patients with severe to profound deafness. However, surgical placement of the electrode array within the cochlea can produce trauma to sensorineural components, particularly if the initial turn of the cochlea is not successfully navigated as the array is advanced. In this work, we present a robot-mounted common-path swept-source optical coherence tomography endoscopic platform for three-dimensional (3-D) optical coherence tomography (OCT) registration and preoperative surgical planning for cochlear implant surgery.