Highly invasive surgical procedures, such as the implantation of a prosthetic device, require correct force delivery to achieve desirable outcomes and minimize trauma induced during the operation. Improvement in surgeon technique can reduce the chances of excessive force application and lead to optimal placement of the electrode array. The fundamental factors that affect the degree of success for cochlear implant recipients are identified through empirical methods. Insertion studies are performed to assess force administration and electrode trajectories during implantations of the Nucleus reg 24 Contourtrade and Nucleus reg 24 Contour Advancetrade electrodes into a synthetic model of the human Scala Tympani, using associated methods. Results confirm that the advance off-stylet insertion of the soft-tipped contour advance electrode gives an overall reduction in insertion force. Analysis of force delivery and electrode positioning during cochlear implantation can help identify and control key factors for improvement of insertion method. Based on the findings, suggestions are made to enhance surgeon technique.
Disciplines
Physical Sciences and Mathematics
Publication DetailsThis article was originally published as Todd, C Naghdy,
An innovative wave-based Time Domain Passivity Approach (TDPA) applied to a four-channel (4-CH) nonlinear teleoperation system is proposed. The primary objective of this approach is to enhance system transparency while maintaining stability in the presence of random time delays. The system stability for different scenarios of human and environment condition is analyzed. The method is validated through experimental work based on a 3-DOF bilateral teleoperation system. The experimental results show that the proposed control algorithm can robustly guarantee the system stability and simultaneously provide better performance than methods developed in previous work.
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