Micro-Macro Telemanipulator for Middle-Ear Microsurgery

摘要

This article describes a medical telemanipulation system for middle ear surgery as a combination of a macro and a micro telemanipulator. The purpose of this work was to offer the surgeon a highly accurate tool for manipulating tissue in microsurgical interventions at the middle ear. By combining a macro-scaled manipulator (normal precision and large workspace) with a micro-scaled manipulator (high precision and small workspace) the advantages of both systems can be united. The surgeon controls directly the system at the operating room table with a small joystick control. With a practical sterilization concept for the manipulator and the joystick control, the system is well suited for standard surgical procedures in close proximity to the surgeon. Keywords: Telemanipulator, middle ear surgery, microsurgery, joystick control, micro-macro robot