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Robot-Assisted Transcanal Endoscopic Ear Surgery for Congenital Cholesteatoma
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Shared Control Schemes for Middle Ear Surgery.

Jae-Hun So1, Stéphane Sobucki1, Jérôme Szewczyk1

  • 1CNRS UMR 7222, INSERM U1150, ISIR, F-75005, Sorbonne Université, Paris, France.

Frontiers in Robotics and AI
|April 8, 2022
PubMed
Summary
This summary is machine-generated.

This study introduces novel shared control laws for robotic arms in middle ear surgery. These laws simplify complex tasks like peg-in-hole insertion by combining operator control with automated visual guidance.

Keywords:
comanipulationmedical roboticsrobot controltele-operationvisual servoing

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Area of Science:

  • Robotics
  • Surgical Technology
  • Control Systems

Background:

  • Minimally invasive middle ear surgery presents challenges in precision and dexterity.
  • Existing robotic control systems for surgery often require extensive operator training and can be complex to manage.

Purpose of the Study:

  • To develop and validate shared control laws for a redundant cobot arm performing peg-in-hole insertion in simulated middle ear surgery.
  • To enhance surgical precision and reduce operator workload through integrated visual and force/position feedback.

Main Methods:

  • Investigated classical position-based tele-operation and comanipulation controllers.
  • Developed novel shared control schemes combining visual feedback with position/force sensor data.
  • Implemented controllers on a 7-Degrees of Freedom (DoF) robot arm with integrated sensors for simulated surgical tasks.

Main Results:

  • The proposed shared controllers successfully enabled teleoperation of linear Degrees of Freedom (DoF) while vision-based control managed rotational Degrees of Freedom (DoF).
  • Task complexity was significantly reduced, simplifying the peg-in-hole insertion for the operator.
  • Experiments demonstrated high accuracy, improved ergonomics, and rapidity in the simulated surgical procedure.

Conclusions:

  • Shared control laws integrating visual and sensor feedback offer a promising approach for robotic-assisted middle ear surgery.
  • This method enhances operator control and task efficiency for intricate surgical maneuvers.
  • The validated controllers have the potential to improve outcomes in minimally invasive surgical procedures.