Robotically-assisted cochlear implant system
View Patent ↗A robotic system for cochlear implantation (CI) is described herein. The system includes a robotic tool configured to hold a cochlear implant electrode array and a controller that is operably coupled to the robotic tool. The controller includes a processor and a memory. The memory has computer-executable instructions stored thereon that, when executed by the processor, cause the processor to control the robotic tool with the degrees of freedom of a human hand.
1 . A robotic system for cochlear implantation (CI), comprising:
a robotic tool configured to hold a cochlear implant electrode array; and
a controller operably coupled to the robotic tool, the controller comprising a processor and a memory operably coupled to the processor, the memory having computer-executable instructions stored thereon that, when executed by the processor, cause the processor to control the robotic tool with a plurality of degrees of freedom comparable to a human hand and cause the processor to constrain an end effector of the robotic tool to a region with a largest dimension of 3 mm or less.
2 . The robotic system of claim 1 , wherein the plurality of degrees of freedom comparable to the human hand comprise at least one of pitch, roll, or yaw.
3 . The robotic system of claim 1 , further comprising a sensor operably coupled to the controller, wherein the sensor is configured to detect a surgical procedure quality metric.
4 . The robotic system of claim 3 , wherein the sensor is a force sensor, a pressure sensor, an accelerometer, an inertial sensor, or an electrode.
5 . The robotic system of claim 3 , wherein the memory has further computer-executable instructions stored thereon that, when executed by the processor, cause the processor to receive a feedback signal from the sensor, and control the robotic tool in response to the feedback signal.
6 . The robotic system of claim 1 , wherein the robotic tool comprises a plurality of kinematic elements.
7 . The robotic system of claim 6 , wherein the kinematic elements comprise a prismatic joint, a revolute joint, or combinations thereof.
8 . The robotic system of claim 6 , wherein the kinematic elements comprise one or more kinematic elements configured for gross positioning and rotation, one or more kinematic elements configured for fine rotation, and one or more kinematic elements configured for retracting an end effector of the robotic tool.
9 . The robotic system of claim 1 , wherein the end effector is tapered at a distal end.
10 . The robotic system of claim 1 , wherein the memory has further computer-executable instructions stored thereon that, when executed by the processor, cause the processor to constrain the end effector to a region defined by a subject's posterior tympanotomy.
11 . The robotic system of claim 1 , wherein the memory has further computer-executable instructions stored thereon that, when executed by the processor, cause the processor to constrain the end effector to an about 3 mm×3 mm×3 mm region.
12 . The robotic system of claim 1 , wherein the memory has further computer-executable instructions stored thereon that, when executed by the processor, cause the processor to control a position and an orientation of the robotic tool.
13 . The robotic system of claim 1 , wherein the memory has further computer-executable instructions stored thereon that, when executed by the processor, cause the processor to filter motions applied to a user interface of the robotic system.
14 . The robotic system of claim 1 , wherein the memory has further computer-executable instructions stored thereon that, when executed by the processor, cause the processor to provide a visualization of cochlear insertion.
15 . The robotic system of claim 1 , wherein the memory has further computer-executable instructions stored thereon that, when executed by the processor, cause the processor to provide an alert in response to trauma.
16 . The robotic system of claim 1 , further comprising a user interface operably coupled to the controller, wherein the memory has further computer-executable instructions stored thereon that, when executed by the processor, cause the processor to control the robotic tool in response to commands received at the user interface.
17 . The robotic system of claim 16 , wherein the user interface and the controller are operably coupled by a network.
18 . The robotic system of claim 1 , wherein the robotic tool is configured for attachment to a base.
19 . The robotic system of claim 18 , wherein the base is an operating room bed.