Cochlear implant with improved electrode array and controller

1. A method of inserting a cochlear implant, wherein the cochlear implant includes a deformable flexible strip including a biological compatible material and having a plurality of conductive strips arranged in a predetermined pattern disposed therein and positioned about a longitudinal axis so as to form a spiral, the method comprising the following steps:

providing a multi-joint robot comprised of a series of actuator units;

placing the deformable and stretchable flexible strip about an outer surface of the multi-joint robot;

guiding the multi-joint robot into an inner ear of a patient;

monitoring a position of the multi-joint robot relative to a non-conductive portion of the patient; and

applying current to the multi-joint robot so as to adjust one of the yaw and pitch position of one or more of the actuator units.

2. The method of claim 1 , wherein the monitoring step includes using scanning electrochemical microscopy.

3. The method of claim 2 , wherein using the scanning electrochemical microscopy includes using scanning electrochemical microscopy in negative mode.

4. The method of claim 2 , wherein the cochlear implant includes exposed electrode windows sized to be detected by the scanning electrochemical microscopy so as to indicate a positional separation from the non-conductive portion.

5. A multi joint robotic cochlear implant for implantation into a cochlear duct of a patient, the multi joint robot comprising:

a plurality of multi-joint actuator units interconnected mechanically and controllable electronically;

each of the plurality of multi-joint actuator units including at least two central discs, an inner column disposed between the central discs, and at least three wires in communication with the central discs; and

each of the plurality of multi-joint actuator units being capable of independent remote activation by electronic communication.

6. The multi-joint robot of claim 5 , wherein the plurality of multi-joint actuator units includes at least ten independent multi-joint actuator units.

7. The multi-joint robot of claim 5 , wherein the connecting wires are distributed at equiangular points along the periphery of the central discs.

8. The multi-joint robot of claim 5 , wherein the multi-joint actuator units are independently activated by selective application of a current to at least one of the connecting wires, wherein the current causes a tilt in the selected multi-joint actuator unit.

9. The multi-joint robot of claim 5 , wherein the connecting wires include nitinol.

10. The multi-joint robot of claim 5 , wherein the outer surface of the multi-joint robot is configured and arranged to receive a deformable stretchable flexible strip.

11. A non-transitory computer-readable medium having computer-executable instructions for performing a method comprising the following steps:

controlling a linear micromanipulator to advance a robotic cochlear implant into a cochlear duct of a patient, the robotic cochlear implant including a plurality of actuator units;

recording the longitudinal distance of the robotic cochlear implant in the cochlear duct;

receiving signals from a distance sensor included in the robotic cochlear implant to monitor the position of the robotic cochlear implant relative to a non-conductive portion of the patient;

applying current to a wire associated with a first actuator unit in the robotic cochlear implant so as to contract the wire to adjust one of a yaw and a pitch position of the first actuator unit; and

monitoring the impedance of the wire to thereby determine a contraction length of the wire.