Abstract
In this paper a surgical robotic device for cochlear implantation surgery is described that is able to discriminate tissue interfaces and other controlling parameters ahead of a drill tip. The advantage in surgery is that tissues at interfaces can be preserved. The smart tool is able to control interaction with respect to the flexing tissue to avoid penetration control the extent of protrusion with respect to the real-time position of the tissue. To interpret drilling conditions, and conditions leading up to breakthrough at a tissue interface, the sensing scheme used enables discrimination between the variety of conditions posed in the drilling environment. The result is a robust fully autonomous system able to respond to tissue type, behaviour and deflection in real-time. The paper describes the robotic tool that has been designed to be used in the surgical environment where it has been used in the operating room.
| Original language | English |
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| Title of host publication | International Conference on Automation, Robotics and Control Systems 2010, ARCS 2010 |
| Editors | Dimitrios A. Karras, Kamal A.F. Moustafa, Daisy Tang |
| Pages | 43-46 |
| Number of pages | 4 |
| Publication status | Published - 1 Dec 2010 |
| Event | 2010 International Conference on Automation, Robotics and Control Systems - Orlando, FL, United States Duration: 12 Jul 2010 → 14 Jul 2010 |
Conference
| Conference | 2010 International Conference on Automation, Robotics and Control Systems |
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| Abbreviated title | ARCS 2010 |
| Country/Territory | United States |
| City | Orlando, FL |
| Period | 12/07/10 → 14/07/10 |