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Preliminary Testing of a Compact, Bone-Attached Robot for Otologic Surgery.
Neal P Dillon1, Ramya Balachandran2, Antoine Motte Dit Falisse3
1Vanderbilt University, Department of Mechanical Engineering, Nashville, Tennessee, USA.
Summary
This study introduces a novel robotic system for automated mastoidectomy, a crucial step in otologic surgery. The bone-attached robot achieved high accuracy, ensuring safe access to the middle and inner ear with minimal risk to vital structures.
Area of Science:
- Neurosurgery
- Robotics
- Medical Device Engineering
Background:
- Otologic surgery frequently requires mastoidectomy, involving bone removal to access the middle and inner ear.
- Precise milling is essential to prevent damage to critical anatomy, such as the facial nerve.
Purpose of the Study:
- To present the design and prototype of a compact, bone-attached milling robot for automating mastoidectomy.
- To evaluate the accuracy and surgical workflow of the robotic system.
Main Methods:
- A 4 degrees-of-freedom robot was designed to mount onto a skull-attached positioning frame with fiducial markers.
- CT scans were used for manual segmentation of target bone volumes, which were then converted to automated milling paths and robot trajectories.
- System accuracy was assessed, and a milling test was conducted in a phantom material.
Main Results:
- The robotic system demonstrated a mean free space accuracy of 0.50 mm or less at critical locations.
- Milling tests in phantom material confirmed the system's ability to mill the desired volume without violating critical structures.
Conclusions:
- The developed robotic system shows promise for automating mastoidectomy with high precision and safety.
- This technology could enhance the safety and efficiency of otologic surgical procedures.
