Percutaneous inner-ear access via an image-guided industrial robot system

Area of Science:

• Robotics
• Medical Robotics
• Neurosurgery

Background:

• Image-guided robots are common in surgery but less so in inner-ear procedures due to high accuracy needs and proximity to critical structures.
• Developing robotic systems for inner-ear surgery presents unique challenges related to precision and safety.

Purpose of the Study:

• To develop and validate two image-guided industrial robot systems for accessing challenging inner-ear surgical targets.
• To enhance patient safety and system accuracy for complex otological procedures.

Main Methods:

• Utilized optical tracking for robot base and tool positioning relative to the patient.
• Implemented Kalman filter-based data fusion of redundant sensory information (encoders, optical tracking).
• Employed control of differential robot positions for simplified calibration and reduced reliance on absolute robot calibration.

Main Results:

• Successfully developed two image-guided industrial robot systems for inner-ear surgery.
• Phantom validation experiments demonstrated the systems' capability for simulated cochlear implantation and petrous apex access.
• The approach achieved enhanced patient safety through fused sensory data and differential position control.

Conclusions:

• The developed image-guided robotic systems show promise for improving access and safety in challenging inner-ear surgeries.
• The methodology allows for simplified calibration and robust accuracy, crucial for otological procedures.
• Further development and clinical trials are warranted to translate these findings into surgical practice.