Development of a Robotic Cochlear Implantation System

doi:10.1007/s12204-021-2381-6

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.

Key words: cochlear implantation surgery, robot operating system (ROS), manipulator, motion planning

CLC Number:

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.

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