Fig. 1: Overview of the CI robot and surgical scenario. | Nature Communications

Fig. 1: Overview of the CI robot and surgical scenario.

From: Multi-axis robotic forceps with decoupled pneumatic actuation and force sensing for cochlear implantation

Fig. 1

A Deployment of the robot, patient, and microscope. The microscope is positioned above the head of a side-lying patient, and the robot is placed on the upper side of the patient’s head to accommodate CI of the left or right ear. B Detailed composition: The designed surgical forceps comprises a curved F/T sensor and a pneumatic gripper. By setting the remote center to coincide with the pneumatic gripper center, the gripper’s independent 3-DOF translations and 3-DOF rotations can be provided by the robotic arm and SPM respectively during CI. C Surgical scenario: Illustration of the relationship between the designed surgical forceps and temporal bone anatomy when performing CI. The side view of temporal bone is shown above, and the sectional view is shown below. The EA is gripped by the pneumatic gripper, avoiding the facial nerve, and inserted into the cochlea through the round window.

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