Coulson C J, Taylor R P, Reid A P, Griffiths M V, Proops D W, Brett P N
Department of Otolaryngology, University Hospital Birmingham, Birmingham, UK.
Clin Otolaryngol. 2008 Aug;33(4):343-7. doi: 10.1111/j.1749-4486.2008.01703.x.
To produce an autonomous drilling robot capable of performing a bony cochleostomy whilst minimising the damage to the underlying cochlear endosteum.
In this laboratory based study, a robotic drill was designed to measure the changes in force and torque experienced by the tool point during the drilling process. This information is used to predict the point of breakthrough and stop the drill prior to damaging the underlying endosteal membrane.
Aston University.
Five porcine cochleas.
An assessment was made of whether a successful bony cochleostomy was performed, the integrity of endosteal membrane was then assessed.
The autonomous surgical robotic drill successfully performed a bony cochleostomy and stopped without damaging the endosteal membrane in all five cases.
The autonomous surgical robotic drill can perform a cochleostomy whilst minimising the trauma to the endosteal membrane. The system allows information about the state of the drilling process to be derived using force and torque data from the tool point. This information can be used to effectively predict drill breakthrough and implement a control strategy to minimise drill penetration beyond the far surface.
制造一种自主钻孔机器人，能够进行骨性耳蜗开窗术，同时将对下方耳蜗骨内膜的损伤降至最低。
在这项基于实验室的研究中，设计了一种机器人钻，用于测量钻孔过程中刀尖所经历的力和扭矩变化。该信息用于预测突破点，并在损坏下方的骨内膜之前停止钻孔。
阿斯顿大学。
五个猪耳蜗。
评估是否成功进行了骨性耳蜗开窗术，然后评估骨内膜的完整性。
在所有五个案例中，自主手术机器人钻均成功进行了骨性耳蜗开窗术，并在不损坏骨内膜的情况下停止。
自主手术机器人钻可以进行耳蜗开窗术，同时将对骨内膜的创伤降至最低。该系统允许使用来自刀尖的力和扭矩数据得出有关钻孔过程状态的信息。该信息可用于有效预测钻孔突破，并实施控制策略以最大程度地减少钻孔超出远表面的深度。
