A force sensing automated insertion tool for cochlear electrode implantation

authored by: Daniel Schurzig, Robert F. Labadie, Andreas Hussong, Thomas S. Rau, Robert J. Webster
Abstract: Cochlear electrode insertion is a challenging manual procedure. One technique requires the physician to coordinate the motions of an electrode array approximately 1mm in diameter and the smaller stylet within it, using miniature forceps. A new minimally invasive access technique precludes forceps insertion because the electrode must travel through a small-diameter drilled hole to reach the cochlear access point. To address this, we present an automated insertion tool. This second generation device not only enables deployment in the minimally invasive setting, but also makes insertion velocity profiles repeatable and can sense insertion forces. Force sensing is essential because insertion forces can indicate impending damage to cochlear membranes, but are below the thresholds that can be sensed by human hands. The Automated Insertion Tool we present is designed to be compact and lightweight for straightforward integration into the operating room environment. It is able to insert an electrode with a resolution of less than 1μm, achieve velocities of up to 5mm/sec and resolve forces as small as 0.005 N.
Organisation(s): Institute of Mechatronic Systems
External Organisation(s): Vanderbilt University
Hannover Medical School (MHH)
Type: Conference contribution
Pages: 3674-3679
No. of pages: 6
Publication date: 2010
Publication status: Published
Peer reviewed: Yes
ASJC Scopus subject areas: Software, Control and Systems Engineering, Artificial Intelligence, Electrical and Electronic Engineering
Electronic version(s): https://doi.org/10.1109/ROBOT.2010.5509341 (Access: Unknown)

BibTeX

@inproceedings{11dd90863c3c47e2bc208f2a8a26392c,
title = "A force sensing automated insertion tool for cochlear electrode implantation",
abstract = "Cochlear electrode insertion is a challenging manual procedure. One technique requires the physician to coordinate the motions of an electrode array approximately 1mm in diameter and the smaller stylet within it, using miniature forceps. A new minimally invasive access technique precludes forceps insertion because the electrode must travel through a small-diameter drilled hole to reach the cochlear access point. To address this, we present an automated insertion tool. This second generation device not only enables deployment in the minimally invasive setting, but also makes insertion velocity profiles repeatable and can sense insertion forces. Force sensing is essential because insertion forces can indicate impending damage to cochlear membranes, but are below the thresholds that can be sensed by human hands. The Automated Insertion Tool we present is designed to be compact and lightweight for straightforward integration into the operating room environment. It is able to insert an electrode with a resolution of less than 1μm, achieve velocities of up to 5mm/sec and resolve forces as small as 0.005 N.",
keywords = "Automated insertion tool, Cochlear implants, Force sensor, Image-guided surgery",
author = "Daniel Schurzig and Labadie, {Robert F.} and Andreas Hussong and Rau, {Thomas S.} and Webster, {Robert J.}",
year = "2010",
doi = "10.1109/ROBOT.2010.5509341",
language = "English",
isbn = "9781424450381",
series = "Proceedings - IEEE International Conference on Robotics and Automation",
pages = "3674--3679",
booktitle = "2010 IEEE International Conference on Robotics and Automation, ICRA 2010",
note = "2010 IEEE International Conference on Robotics and Automation, ICRA 2010 ; Conference date: 03-05-2010 Through 07-05-2010",
}