Fig. 5: Human cadaver studies. | Nature Communications

Fig. 5: Human cadaver studies.

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

Fig. 5

A Left: Scene of the surgeon performing robotic CI. Middle: An isolated temporal bone serves as the study subject of robotic CI. Right: A human cadaver head serves as the study subject of robotic CI. B Key frames recorded from the microscope perspective during the temporal bone study. C Force sensing and torque sensing graphs during the temporal bone study. D After completion of the robotic CI, microscopic observation, and cone beam CT (CBCT) scans are used to evaluate whether the EA is completely inserted.

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