一种用于人体尸体耳蜗造孔术的手动引导机器人钻。
A hand-guided robotic drill for cochleostomy on human cadavers.
作者信息
Du Xinli, Brett Peter N, Zhang Yu, Begg Philip, Mitchell-Innes Alistair, Coulson Chris, Irving Richard
机构信息
Brunel Institute for Bioengineering, Brunel University London, Uxbridge, UK,
University of Southern Queensland, Toowoomba, QLD, Australia.
出版信息
Robot Surg. 2018 Mar 20;5:13-18. doi: 10.2147/RSRR.S142562. eCollection 2018.
BACKGROUND
An arm supported robotic drill has been recently demonstrated for preparing cochleostomies in a pilot research clinical trial. In this paper, a hand-guided robotic drill is presented and tested on human cadaver trials.
METHODS
The innovative smart tactile approach can automatically detect drilling mediums and decided when to stop drilling to prevent penetrating the endosteum. The smart sensing scheme has been implemented in a concept of a hand guided robotic drill.
RESULTS
Experiments were carried out on two adult cadaveric human bodies for verifying the drilling process and successfully finished cochleostomy on three cochlea. The advantage over a system supported by a mechanical arm includes the flexibility in adjusting the trajectory to initiate cutting without slipping. Using the same concept as a conventional drilling device, the user will also be benefit from the lower setup time and cost, and lower training overhead.
CONCLUSION
The hand-guided robotic drill was recently developed for testing on human cadavers. The robotic drill successfully prepared cochleostomies in all three cases.
背景
最近在一项初步研究临床试验中展示了一种手臂支撑的机器人钻用于制备耳蜗造口术。本文介绍了一种手动引导的机器人钻并在人体尸体试验中进行了测试。
方法
创新的智能触觉方法可以自动检测钻孔介质并决定何时停止钻孔以防止穿透骨内膜。智能传感方案已在手动引导机器人钻的概念中实现。
结果
在两具成年人体尸体上进行了实验以验证钻孔过程，并在三个耳蜗上成功完成了耳蜗造口术。与由机械臂支撑的系统相比，其优势包括在调整轨迹以开始切割时不会打滑的灵活性。使用与传统钻孔设备相同的概念，用户还将受益于更短的设置时间和成本以及更低的培训费用。
结论
最近开发了手动引导的机器人钻用于人体尸体测试。该机器人钻在所有三个案例中均成功制备了耳蜗造口术。
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