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Semi-manual mastoidectomy assisted by human-robot collaborative control - A temporal bone replica study.

Hoon Lim¹, Nozomu Matsumoto², Byunghyun Cho³

¹Department of Electronic, Electrical, Control and Instrumentation Engineering, Hanyang University, Seoul, Republic of Korea.

Auris, Nasus, Larynx

|September 16, 2015

Summary

A new collaborative robot for otological surgery protects vital organs by providing haptic feedback, preventing drills from entering forbidden zones during procedures like mastoidectomy.

Keywords:

Image guidance Mastoidectomy Warning system

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Area of Science:

Robotics in Medicine
Surgical Technology
Otolaryngology

Background:

Otological surgery requires precise instrument control to avoid damaging critical anatomical structures.
Existing robotic systems may limit surgeon dexterity or replace surgeon control entirely.

Purpose of the Study:

To develop a novel five degree-of-freedom otological robot.
To create a system that enhances surgeon control while ensuring organ protection through human-robot collaboration.

Main Methods:

A five degree-of-freedom robot was designed for otological surgery, emphasizing surgeon manipulation.
The system employs human-robot collaborative control, allowing surgeons to operate freely until a forbidden zone is approached.
Haptic feedback is provided, simulating a "wall" when the surgical drill nears critical areas.

Main Results:

During a mastoidectomy simulation, the robot consistently protected the facial nerve with a margin exceeding 2.5mm.
This safety margin closely matched the pre-set 3mm safety parameter.

Conclusions:

Semi-manual drilling with human-robot collaborative control is a feasible approach for otological surgery.
This technology shows realistic potential for near-future clinical application in otology.