title: Feasibility study of a hand guided robotic drill for cochleostomy.
abstract: The concept of a hand guided robotic drill has been inspired by an automated, arm supported robotic drill recently applied in clinical practice to produce cochleostomies without penetrating the endosteum ready for inserting cochlear electrodes. The smart tactile sensing scheme within the drill enables precise control of the state of interaction between tissues and tools in real-time. This paper reports development studies of the hand guided robotic drill where the same consistent outcomes, augmentation of surgeon control and skill, and similar reduction of induced disturbances on the hearing organ are achieved. The device operates with differing presentation of tissues resulting from variation in anatomy and demonstrates the ability to control or avoid penetration of tissue layers as required and to respond to intended rather than involuntary motion of the surgeon operator. The advantage of hand guided over an arm supported system is that it offers flexibility in adjusting the drilling trajectory. This can be important to initiate cutting on a hard convex tissue surface without slipping and then to proceed on the desired trajectory after cutting has commenced. The results for trials on phantoms show that drill unit compliance is an important factor in the design.
authors.affiliation: Brunel Institute for Bioengineering, Brunel University, London UB8 3PH, UK.
authors.forename: Peter
authors.initials: P
authors.lastname: Brett
authors.affiliation: Brunel Institute for Bioengineering, Brunel University, London UB8 3PH, UK.
authors.forename: Xinli
authors.identifier: 0000-0003-2604-0804
authors.initials: X
authors.lastname: Du
authors.affiliation: Brunel Institute for Bioengineering, Brunel University, London UB8 3PH, UK.
authors.forename: Masoud
authors.initials: M
authors.lastname: Zoka-Assadi
authors.affiliation: ENT Department, Queen Elizabeth Hospital, Birmingham B15 2TH, UK.
authors.forename: Chris
authors.identifier: 0000-0001-6622-0813
authors.initials: C
authors.lastname: Coulson
authors.affiliation: ENT Department, Queen Elizabeth Hospital, Birmingham B15 2TH, UK.
authors.forename: Andrew
authors.initials: A
authors.lastname: Reid
authors.affiliation: ENT Department, Queen Elizabeth Hospital, Birmingham B15 2TH, UK.
authors.forename: David
authors.initials: D
authors.lastname: Proops
mesh_terms: D000818:Animals; D001696:Biomechanical Phenomena; D002645:Chickens; D003051:Cochlea / Q000601:surgery*; D003198:Computer Simulation; D004528:Egg Shell; D005240:Feasibility Studies; D006225:Hand; D006801:Humans; D009873:Operating Rooms; D010030:Ostomy / Q000295:instrumentation*; D012371:Robotics / Q000295:instrumentation*; D025321:Surgery, Computer-Assisted / Q000295:instrumentation*; D034421:Sus scrofa; D019415:Torque
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