Interaction-aware dexterous robot for minimally invasive transcanal inner ear interventions

Area of Science:

• Biomedical Engineering
• Robotics
• Otolaryngology

Background:

• Inner ear diseases require advanced diagnostic and therapeutic tools.
• Current medical devices face limitations due to the inner ear's complex anatomy and the need for miniaturization.
• Intracochlear theranostics, including targeted drug delivery and microsampling, hold significant promise.

Purpose of the Study:

• To develop a miniaturized, dexterous robotic system for intracochlear interventions.
• To overcome anatomical constraints in the inner ear for precise medical procedures.
• To integrate diagnostic and therapeutic capabilities within a single device for inner ear theranostics.

Main Methods:

• Design and fabrication of a low-aspect-ratio, dual-segment continuum robot with integrated catheter, endoscopic, and instrumental functions.
• Utilizing antagonistic cables and saddle-shaped joints for precise motion control and a minimum bending radius of 1.9 mm.
• Embedding a microneedle end-effector with Fiber Bragg grating sensors for accurate positioning and force measurement.

Main Results:

• The robot demonstrated programmable C-/S-shaped configurations for effective anatomical navigation.
• Achieved a microneedle positioning accuracy of 17.9 ± 4.1 μm.
• Successful validation in cadavers and in vivo animals, proving a transcanal, atraumatic robotic approach.

Conclusions:

• The developed robotic system offers a practical and accessible solution for intracochlear diagnosis and treatment.
• This technology advances precision medicine for inner ear conditions.
• Enables minimally invasive procedures, potentially improving outcomes for underserved areas.