Robotic Cochlear Implant Insertion with Virtual Fixtures
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Solution Overview
Problem
Current methods for cochlear implant surgery, such as stylet-based insertion techniques, risk damaging the cochlea due to lack of precise feedback on implant placement, and existing robotic systems are cumbersome and require delicate force sensing mechanisms.
Innovation Solution
A method and device for robotically assisted cochlear implant surgery using a cooperatively controlled robot with an imaging device to scan and model the cochlea, allowing for virtual fixtures to guide the implant placement and prevent over-insertion, incorporating a tool holder and graspers for precise control of the electrode array.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If stylet-based insertion techniques are used to advance the implant into the cochlea, then the implant can be inserted to a desired depth, but the contact forces can damage the cochlea
Solution Approach 1:
The patent incorporates force sensing capabilities into the robotic insertion mechanism to detect contact between the implant and cochlear structures. This feedback allows the system to identify when the implant has reached the appropriate depth or encountered resistance, enabling the surgeon to stop insertion before causing damage. The force sensor provides real-time information about insertion forces, allowing precise control of the implant placement depth.
Solution Approach 2:
The patent replaces the traditional stylet-based mechanical insertion system with a robotically-controlled insertion mechanism. The robot provides more precise and controllable force application compared to manual stylet manipulation. The robotic system can be programmed to follow precise trajectories and apply controlled forces, reducing the risk of cochlear damage while maintaining implant placement precision.
2Object-affected harmful factors
If robotic systems with force sensing capabilities are used to assist implant insertion, then damage to the cochlea can be avoided, but the robotic mechanism becomes large and cumbersome
Solution Approach 1:
The patent integrates multiple functions into a unified robotic system that can both image the cochlea and perform the implant insertion. The same robotic arm holds both the imaging probe and the implant delivery device, eliminating the need for separate imaging and insertion systems. This multi-functionality reduces overall device complexity and eliminates the need for additional force sensing mechanisms in separate systems.
Solution Approach 2:
The patent combines the imaging function and insertion function into a single robotic workflow. The imaging probe and implant delivery device are both manipulated by the same robotic arm, allowing real-time imaging guidance during insertion. This integration eliminates the need for separate force sensing mechanisms and reduces the overall complexity of the surgical system.
3Ease of operation
If existing robotic insertion tools are used, then implant placement can be assisted, but the tools require extremely delicate force sensing mechanisms
Solution Approach 1:
The robotic system uses the surgeon's own hand forces and the natural interaction between the implant and cochlear structures as the sensing mechanism. The force sensing is derived from the surgical environment itself rather than requiring separate delicate force sensing mechanisms. The system leverages the existing mechanical interaction to provide force feedback, simplifying the overall system design.
Data Source
AI summary
A novel sensing system and methods for preventing damage to the cochlea during cochlear implant surgery are disclosed, using optical sensing to determine the distance of a stylet or the end of the implant itself from the interior wall of the scalar tympani. A variety of feedback methods are proposed to enable the surgeon to perform the procedure safely without damage to the basilar membrane or other delicate anatomic structures. Although a number of embodiments are disclosed, one preferred embodiment comprises a robotically manipulated end-effector.