Development of a Robotic Cochlear Implantation System

doi:10.1007/s12204-021-2381-6

J Shanghai Jiaotong Univ Sci ›› 2022, Vol. 27 ›› Issue (1): 7-14.doi: 10.1007/s12204-021-2381-6

收稿日期:2021-01-06 出版日期:2022-01-28 发布日期:2022-01-14
通讯作者: XIE Le (谢叻),lexie@sjtu.edu.cn

Development of a Robotic Cochlear Implantation System

CHEN Ziyun^1,2(陈子云), XIE Le^1,2∗ (谢叻), DAI Peidong³ (戴培东), ZHANG Tianyu³ (张天宇)

(1. Institute of Forming Technology & Equipment, Shanghai Jiao Tong University, Shanghai 200030, China; 2. Institute of Medical Robotics, Shanghai Jiao Tong University, Shanghai 200030, China; 3. ENT Institute and Department of Otorhinolaryngology, Eye and ENT Hospital, Fudan University, Shanghai 200031, China)

Received:2021-01-06 Online:2022-01-28 Published:2022-01-14

摘要/Abstract

Abstract: Traditional cochlear implantation surgery has problems such as high surgical accuracy requirement and large trauma, which cause the difficulty of the operation and the high requirements for doctors, so that only a few doctors can complete the operation independently. However, there is no research on robotic cochlear implantation in China. In response to this problem, a robotic cochlear implantation system is proposed. The robot is controlled by robot operating system (ROS). A simulation environment for the overall surgery is established on the ROS based on the real surgery environment. Through the analysis of the kinematics and the motion planning algorithm of the manipulator, an appropriate motion mode is designed to control the motion of the manipulator, and perform the surgery under the simulation environment. A simple and feasible method of navigation is proposed, and through the model experiment, the feasibility of robotic cochlear implantation surgery is verified.

中图分类号:

. [J]. J Shanghai Jiaotong Univ Sci, 2022, 27(1): 7-14.

CHEN Ziyun (陈子云), XIE Le (谢叻), DAI Peidong (戴培东), ZHANG Tianyu (张天宇). Development of a Robotic Cochlear Implantation System[J]. J Shanghai Jiaotong Univ Sci, 2022, 27(1): 7-14.

参考文献 15

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