RobOtol: from design to evaluation of a robot for middle ear surgery

摘要

Middle ear surgery requires micro-surgical techniques and may benefit from robotic assistance. A prototype of tele-operated system is presented. Methods to determine design specifications, kinematic structure and optimization of the micro-manipulator are described. First evaluation of the robot by a stapedial removal through the external auditory meatus in human temporal bone specimens, simulating the surgery of otosclerosis, is presented. In this procedure, the robot yielded accessibility to the target area with a reduced visual impairment and, an enhanced tool stability compared to the surgeon's hand.