title: Middle-ear microsurgery simulation to improve new robotic procedures.
abstract: Otological microsurgery is delicate and requires high dexterity in bad ergonomic conditions. To assist surgeons in these indications, a teleoperated system, called RobOtol, is developed. This robot enhances gesture accuracy and handiness and allows exploration of new procedures for middle ear surgery. To plan new procedures that exploit the capacities given by the robot, a surgical simulator is developed. The simulation reproduces with high fidelity the behavior of the anatomical structures and can also be used as a training tool for an easier control of the robot for surgeons. In the paper, we introduce the middle ear surgical simulation and then we perform virtually two challenging procedures with the robot. We show how interactive simulation can assist in analyzing the benefits of robotics in the case of complex manipulations or ergonomics studies and allow the development of innovative surgical procedures. New robot-based microsurgical procedures are investigated. The improvement offered by RobOtol is also evaluated and discussed.
authors.affiliation: INSERM, "Minimally Invasive Robot-Based Hearing Rehabilitation", UMR_S 1159, 75005 Paris, France ; Sorbonne University, UPMC Univ Paris 06, UMR_S 1159, 75005 Paris, France ; Shacra, INRIA, University Lille 1, 59650 Villeneuve d'Ascq, France.
authors.forename: Guillaume
authors.initials: G
authors.lastname: Kazmitcheff
authors.affiliation: INSERM, "Minimally Invasive Robot-Based Hearing Rehabilitation", UMR_S 1159, 75005 Paris, France ; Sorbonne University, UPMC Univ Paris 06, UMR_S 1159, 75005 Paris, France ; AP-HP, Otolaryngology Department, Unit of Otology, Auditory Implants and Skull Base Surgery, Hospital Pitié Salpêtrière, 75013 Paris, France.
authors.forename: Yann
authors.initials: Y
authors.lastname: Nguyen
authors.affiliation: INSERM, "Minimally Invasive Robot-Based Hearing Rehabilitation", UMR_S 1159, 75005 Paris, France ; Sorbonne University, UPMC Univ Paris 06, UMR_S 1159, 75005 Paris, France.
authors.forename: Mathieu
authors.initials: M
authors.lastname: Miroir
authors.affiliation: Shacra, INRIA, University Lille 1, 59650 Villeneuve d'Ascq, France.
authors.forename: Fabien
authors.initials: F
authors.lastname: Péan
authors.affiliation: INSERM, "Minimally Invasive Robot-Based Hearing Rehabilitation", UMR_S 1159, 75005 Paris, France ; Sorbonne University, UPMC Univ Paris 06, UMR_S 1159, 75005 Paris, France ; AP-HP, Otolaryngology Department, Unit of Otology, Auditory Implants and Skull Base Surgery, Hospital Pitié Salpêtrière, 75013 Paris, France.
authors.forename: Evelyne
authors.initials: E
authors.lastname: Ferrary
authors.affiliation: Shacra, INRIA, University Lille 1, 59650 Villeneuve d'Ascq, France.
authors.forename: Stéphane
authors.initials: S
authors.lastname: Cotin
authors.affiliation: INSERM, "Minimally Invasive Robot-Based Hearing Rehabilitation", UMR_S 1159, 75005 Paris, France ; Sorbonne University, UPMC Univ Paris 06, UMR_S 1159, 75005 Paris, France ; AP-HP, Otolaryngology Department, Unit of Otology, Auditory Implants and Skull Base Surgery, Hospital Pitié Salpêtrière, 75013 Paris, France.
authors.forename: Olivier
authors.initials: O
authors.lastname: Sterkers
authors.affiliation: Shacra, INRIA, University Lille 1, 59650 Villeneuve d'Ascq, France.
authors.forename: Christian
authors.initials: C
authors.lastname: Duriez
mesh_terms: D000465:Algorithms; D003198:Computer Simulation; D004432:Ear, Middle / Q000601:surgery*; D020342:Finite Element Analysis; D006801:Humans; D008866:Microsurgery / Q000379:methods*; D012371:Robotics / Q000379:methods*; D017216:Telemedicine