title: Design, kinematic optimization, and evaluation of a teleoperated system for middle ear microsurgery.
abstract: 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.
authors.affiliation: Sorbonne Paris Cité, INSERM UMR-S 867, Université Paris Diderot, Paris, France.
authors.forename: Mathieu
authors.initials: M
authors.lastname: Miroir
authors.forename: Yann
authors.initials: Y
authors.lastname: Nguyen
authors.forename: Jérôme
authors.initials: J
authors.lastname: Szewczyk
authors.forename: Olivier
authors.initials: O
authors.lastname: Sterkers
authors.forename: Alexis
authors.initials: A
authors.lastname: Bozorg Grayeli
mesh_terms: D001696:Biomechanical Phenomena; D019295:Computational Biology / Q000379:methods; D004432:Ear, Middle / Q000033:anatomy & histology / Q000601:surgery*; D004867:Equipment Design; D006801:Humans; D008866:Microsurgery / Q000295:instrumentation / Q000379:methods* / Q000592:standards*; D010040:Otosclerosis / Q000601:surgery; D015203:Reproducibility of Results; D012371:Robotics / Q000295:instrumentation / Q000379:methods*; D012680:Sensitivity and Specificity; D012984:Software; D013201:Stapes Surgery / Q000379:methods; D025321:Surgery, Computer-Assisted / Q000295:instrumentation* / Q000379:methods; D013701:Temporal Bone / Q000033:anatomy & histology