Title :
Modeling, Design, and Evaluation of a Parallel Robot for Cochlear Implant Surgery
Author :
Pile, Jeremy ; Simaan, Nabil
Author_Institution :
Dept. of Mech. Eng., Vanderbilt Univ., Nashville, TN, USA
Abstract :
Cochlear implant surgery is a procedure that requires delicate insertion of an electrode array into the inner ear. This paper reports the clinical motivation, design considerations, analysis, and design optimization of a new robot for electrode arrays insertion. This paper describes a new approach for coordinated insertion of perimodiolar electrode arrays in order to minimize shape discrepancy between the shape of the electrode array and the shape of the inner ear anatomy. A new design of a 3-degrees-of-freedom (DoF) parallel robot with wire-actuated prismatic legs is presented. The dimensional synthesis of the robot design was based on satisfying the accuracy, speed, system size, and workspace requirements. The robot prototype is validated experimentally to execute electrode insertions in plastic models of temporal bones.
Keywords :
cochlear implants; medical robotics; optimisation; surgery; clinical motivation; cochlear implant surgery; design considerations; electrode arrays insertion; inner ear anatomy; parallel robot; perimodiolar electrode arrays; wire-actuated prismatic legs; Arrays; Electrodes; Kinematics; Pistons; Robot sensing systems; Wires; Medical robotics; parallel robots; robot kinematics;
Journal_Title :
Mechatronics, IEEE/ASME Transactions on
DOI :
10.1109/TMECH.2014.2308479