title: Mechatronic feasibility of minimally invasive, atraumatic cochleostomy.
abstract: Robotic assistance in the context of lateral skull base surgery, particularly during cochlear implantation procedures, has been the subject of considerable research over the last decade. The use of robotics during these procedures has the potential to provide significant benefits to the patient by reducing invasiveness when gaining access to the cochlea, as well as reducing intracochlear trauma when performing a cochleostomy. Presented herein is preliminary work on the combination of two robotic systems for reducing invasiveness and trauma in cochlear implantation procedures. A robotic system for minimally invasive inner ear access was combined with a smart drilling tool for robust and safe cochleostomy; evaluation was completed on a single human cadaver specimen. Access to the middle ear was successfully achieved through the facial recess without damage to surrounding anatomical structures; cochleostomy was completed at the planned position with the endosteum remaining intact after drilling as confirmed by microscope evaluation.
authors.affiliation: ARTORG Center for Biomedical Engineering Research, University of Bern, 3010 Bern, Switzerland.
authors.forename: Tom
authors.identifier: 0000-0001-7986-1302
authors.initials: T
authors.lastname: Williamson
authors.affiliation: Brunel Institute for Bioengineering, Brunel University, Uxbridge UB8 3PH, UK.
authors.forename: Xinli
authors.identifier: 0000-0003-2604-0804
authors.initials: X
authors.lastname: Du
authors.affiliation: ARTORG Center for Biomedical Engineering Research, University of Bern, 3010 Bern, Switzerland.
authors.forename: Brett
authors.identifier: 0000-0003-2264-0589
authors.initials: B
authors.lastname: Bell
authors.affiliation: Department of Otolaryngology, Queen Elizabeth Hospital, Birmingham B15 2TH, UK.
authors.forename: Chris
authors.identifier: 0000-0002-3991-5473
authors.initials: C
authors.lastname: Coulson
authors.affiliation: Department of ENT, Head and Neck Surgery, Inselspital, University of Bern, 3010 Bern, Switzerland.
authors.forename: Marco
authors.initials: M
authors.lastname: Caversaccio
authors.affiliation: Department of Otolaryngology, Queen Elizabeth Hospital, Birmingham B15 2TH, UK.
authors.forename: David
authors.initials: D
authors.lastname: Proops
authors.affiliation: Brunel Institute for Bioengineering, Brunel University, Uxbridge UB8 3PH, UK.
authors.forename: Peter
authors.initials: P
authors.lastname: Brett
authors.affiliation: ARTORG Center for Biomedical Engineering Research, University of Bern, 3010 Bern, Switzerland.
authors.forename: Stefan
authors.identifier: 0000-0002-0395-7102
authors.initials: S
authors.lastname: Weber
mesh_terms: D003051:Cochlea / Q000601:surgery*; D003198:Computer Simulation; D004424:Ear Canal / Q000601:surgery; D005240:Feasibility Studies; D006801:Humans; D019060:Minimally Invasive Surgical Procedures / Q000379:methods*; D010030:Ostomy; D012371:Robotics / Q000379:methods*; D019415:Torque
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