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. 2014:2014:656325.
doi: 10.1155/2014/656325. Epub 2014 Jul 7.

Feasibility study of a hand guided robotic drill for cochleostomy

Peter Brett  1 , Xinli Du  1 , Masoud Zoka-Assadi  1 , Chris Coulson  2 , Andrew Reid  2 , David Proops  2
Affiliations

Feasibility study of a hand guided robotic drill for cochleostomy

Peter Brett et al. Biomed Res Int. 2014.

Abstract

The concept of a hand guided robotic drill has been inspired by an automated, arm supported robotic drill recently applied in clinical practice to produce cochleostomies without penetrating the endosteum ready for inserting cochlear electrodes. The smart tactile sensing scheme within the drill enables precise control of the state of interaction between tissues and tools in real-time. This paper reports development studies of the hand guided robotic drill where the same consistent outcomes, augmentation of surgeon control and skill, and similar reduction of induced disturbances on the hearing organ are achieved. The device operates with differing presentation of tissues resulting from variation in anatomy and demonstrates the ability to control or avoid penetration of tissue layers as required and to respond to intended rather than involuntary motion of the surgeon operator. The advantage of hand guided over an arm supported system is that it offers flexibility in adjusting the drilling trajectory. This can be important to initiate cutting on a hard convex tissue surface without slipping and then to proceed on the desired trajectory after cutting has commenced. The results for trials on phantoms show that drill unit compliance is an important factor in the design.

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Figures

Figure 1
Figure 1
The surgical robot drilling system used in cochleostomy supported on a fixed flexilock arm.
Figure 2
Figure 2
Simulated coupled drilling feed force and torque (assuming drilling through in cochleostomy) showing principal characteristics [12].
Figure 3
Figure 3
The arm supported drill used in operating room preparing a cochleostomy [12].
Figure 4
Figure 4
Setup of a laser Doppler vibrometer to evaluate disturbance velocity amplitude [14].
Figure 5
Figure 5
Completed hole and corresponding disturbance velocity transients [14].
Figure 6
Figure 6
The experimental hand guided surgical robot drill system.
Figure 7
Figure 7
The hand guided robotic drill unit.
Figure 8
Figure 8
Drilling configurations with the drill unit held by the operator on raw eggshell and porcine cochlea.
Figure 9
Figure 9
Intact underlying membranes following drilling through bone shell tissue of a raw egg and a porcine cochlea, respectively.
Figure 10
Figure 10
Typical coupled force and torque transients of the hand guided drill.
Figure 11
Figure 11
Contrasting force transients between the hand guided and automatically actuated drill in the laboratory.
See this image and copyright information in PMC

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