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Development of the first force-controlled robot for otoneurosurgery
Philipp A Federspil1, Urban W Geisthoff, Dominik Henrich
1Department of Otolaryngology-Head and Neck Surgery, University of Saarland, Kirrberger Strasse, D-66421 Homburg (Saar), Germany. Ph.Federspil@uniklinik-saarland.de
The Laryngoscope
|March 5, 2003
Summary
This study demonstrates a novel robotic milling technique for otoneurosurgery, utilizing force feedback for precise control. The system safely milled human temporal bone, paving the way for robotic-assisted ear and skull base surgeries.
Area of Science:
- Neurosurgery
- Robotics
- Biomedical Engineering
Background:
- Robotic systems are increasingly utilized in surgical specialties like orthopedics for precise bone milling.
- Otological surgery and otoneurosurgery stand to benefit significantly from the enhanced precision offered by robotic technology.
Purpose of the Study:
- To develop and evaluate a robotic milling procedure for otoneurosurgery.
- To investigate the feasibility of using a force-feedback-controlled industrial robot for milling human temporal bone specimens.
Main Methods:
- An experimental study was conducted using a six-degrees-of-freedom industrial robot with force feedback for speed control.
- Milling paths were generated using computer-aided design (CAD) data for cochlear implants and implantable hearing systems.
- Different milling modes, including spiral horizontal milling, were evaluated on oak wood and human temporal bone.
Main Results:
- The spiral horizontal milling mode with the burr perpendicular to the bone surface was found to be optimal.
- Force feedback enabled the robot to adjust speed, and contact with the dura mater significantly reduced force oscillations due to its damping properties.
- The blunt burr head allowed safe, prolonged contact with the dura mater without damage, demonstrating smooth, resistance-aware robotic movement.
Conclusions:
- This research presents the first functional robotic milling procedure for otoneurosurgery with force-based speed control.
- The developed technique shows promise for precise bone milling in delicate neurosurgical procedures.
- Future work will focus on integrating ultrasound-based navigation and performing robotic mastoidectomy.