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Steerable Robot-assisted Micromanipulation in the Middle Ear: Preliminary Feasibility Evaluation
Rashid Yasin1, Brendan P O'Connell, Haoran Yu
1*Department of Mechanical Engineering, Vanderbilt University †Department of Otolaryngology-Head and Neck Surgery, Vanderbilt University Medical Center, Nashville, Tennessee.
Summary
Robotic assistance with steerable tools significantly expands surgeons' access and precision in challenging middle ear surgeries. This technology enhances workspace and accuracy for delicate procedures.
Area of Science:
- Otolaryngology
- Medical Robotics
- Surgical Innovation
Background:
- Middle ear surgery is limited by confined spaces and restricted access to critical anatomical areas.
- Precise manipulation is essential for successful outcomes in middle ear procedures.
Purpose of the Study:
- To evaluate the feasibility of using a custom-designed robotic manipulator with a dexterously orientable gripper for middle ear surgery.
- To compare robotic telemanipulation with manual control in terms of workspace, accuracy, and tool steadiness.
Main Methods:
- A custom robot with a sideways-reaching gripper was employed for manipulation tasks in simulated middle ear environments.
- Key metrics assessed included reachable workspace, path-following accuracy, and tool steadiness.
- Clinical utility was preliminarily assessed through tasks like prosthesis placement and simulated tissue removal.
Main Results:
- Robotic manipulation provided a significantly greater reachable workspace compared to manual methods.
- Robotic telemanipulation demonstrated reduced error in path-following tasks and enhanced tool steadiness.
- The robot successfully performed tasks including prosthesis placement and accessing difficult anatomical regions.
Conclusions:
- Robotic assistance with steerable tools enables surgeons to access challenging middle ear anatomical regions.
- The study demonstrates coordinated and accurate manipulation capabilities, highlighting the clinical utility of robotic systems in otologic surgery.
