Automatic laser steering for middle ear surgery
Jae-Hun So, J\'er\^ome Szewczyk, Brahim Tamadazte

TL;DR
This paper presents an automated laser steering system for minimally invasive middle ear surgery, combining macro and micro robotic systems with image-based control to precisely target residual infected tissues.
Contribution
It introduces a novel robotic platform with automated trajectory planning and image-based control for laser surgery inside the middle ear.
Findings
Achieved high accuracy in laser targeting
Validated system effectiveness experimentally
Met clinical requirements for laser surgery
Abstract
This paper deals with the control of laser spot in the context of minimally invasive surgery of the middle ear, e.g., cholesteatoma removal. More precisely, our work is concerned with the exhaustive burring of residual infected cells after primary mechanical resection of the pathological tissues since the latter cannot guarantee the treatment of all the infected tissues, the remaining infected cells cause regeneration of the diseases in 20%-25\-% of cases, which require a second surgery 12-18 months later. To tackle such a complex surgery, we have developed a robotic platform that consists of the combination of a macro-scale system (7 degrees of freedom (DoFs) robotic arm) and a micro-scale flexible system (2 DoFs) which operates inside the middle ear cavity. To be able to treat the residual cholesteatoma regions, we proposed a method to automatically generate optimal laser scanning…
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Taxonomy
TopicsEar Surgery and Otitis Media · Soft Robotics and Applications · Reconstructive Facial Surgery Techniques
