Brunel Institute for Bioengineering, Brunel University, London UB8 3PH, UK.
ENT Department, Queen Elizabeth Hospital, Birmingham B15 2TH, UK.
Biomed Res Int. 2014;2014:656325. doi: 10.1155/2014/656325. Epub 2014 Jul 7.
The concept of a hand guided robotic drill has been inspired by an automated, arm supported robotic drill recently applied in clinical practice to produce cochleostomies without penetrating the endosteum ready for inserting cochlear electrodes. The smart tactile sensing scheme within the drill enables precise control of the state of interaction between tissues and tools in real-time. This paper reports development studies of the hand guided robotic drill where the same consistent outcomes, augmentation of surgeon control and skill, and similar reduction of induced disturbances on the hearing organ are achieved. The device operates with differing presentation of tissues resulting from variation in anatomy and demonstrates the ability to control or avoid penetration of tissue layers as required and to respond to intended rather than involuntary motion of the surgeon operator. The advantage of hand guided over an arm supported system is that it offers flexibility in adjusting the drilling trajectory. This can be important to initiate cutting on a hard convex tissue surface without slipping and then to proceed on the desired trajectory after cutting has commenced. The results for trials on phantoms show that drill unit compliance is an important factor in the design.
受最近应用于临床实践中的一种自动化、手臂支撑式机器人钻头的启发，我们设计了一种手动导向机器人钻头，用于制作耳蜗造瘘术而不穿透骨内膜，从而为插入耳蜗电极做好准备。钻头内的智能触觉感应方案可实时精确控制组织与工具之间的相互作用状态。本文报告了手动导向机器人钻头的开发研究，结果表明，该钻头可实现相同的效果，增强了外科医生的控制和技能，并类似地减少了对听觉器官的诱导干扰。该设备针对因解剖结构差异而导致的不同组织表现进行操作，并展示了控制或避免穿透组织层的能力，以及根据预期而不是外科医生操作者的非自愿运动做出响应的能力。与手臂支撑式系统相比，手动式系统的优势在于它可以灵活调整钻孔轨迹。这对于在硬凸组织表面上开始切割而不滑动，然后在开始切割后沿所需轨迹进行操作非常重要。在对模型进行的试验中，结果表明，钻头组件的顺应性是设计中的一个重要因素。
