Automatic laser steering for middle ear surgery

So, Jae-Hun; Szewczyk, Jérôme; Tamadazte, Brahim

doi:10.1109/iros47612.2022.9982176

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A Towards a New Surgical Protocol1

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2023

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“…After that, a bendable actuated tool [24] could be used to guide a laser fibre. This fibre carbonizes the residual cholesteatoma (resulting from the mechanical resection phase) [25], [26]. Both mechanical resection and laser ablation should be performable either in automatic or semi-automatic mode.…”

Section: A Towards a New Surgical Protocolmentioning

confidence: 99%

Robotic Guidance of a Surgical Tool Under Constrained Motions

Dahroug

Tamadazte

Rougeot

et al. 2023

IEEE Trans. Med. Robot. Bionics

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This article formulates a generic representation of a path-following controller operating under contained motion, which was developed in the context of surgical robotics. It reports two types of constrained motion: i) Bilateral Constrained Motion, also called Remote Centre Motion (RCM), and ii) Unilaterally Constrained Motion (UCM). To deal with the constrained motion of a surgical tool when performing a path-following task inside a cavity, we investigated methods that combine the two tasks operating in a hierarchical manner. The proposed solutions were successfully evaluated, first on our simulator that mimics realistic conditions of middle ear surgery, then on an experimental platform. Different validation scenarios were carried out experimentally to assess quantitatively and qualitatively each developed approach. Although ultimate precision was not the goal of this work, our concept is validated with enough accuracy (≤ 100 µm) for the ear surgery.

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Section: A Towards a New Surgical Protocolmentioning

confidence: 99%