A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy.

Journal: International journal of computer assisted radiology and surgery
Published Date: Jul 1, 2023

Abstract

PURPOSE: Robotic assistance in otologic surgery can reduce the task load of operating surgeons during the removal of bone around the critical structures in the lateral skull base. However, safe deployment into the anatomical passageways necessitates the development of advanced sensing capabilities to actively limit the interaction forces between the surgical tools and critical anatomy.

Authors

  • Yuxin Chen
    School of Resources and Safety Engineering, Central South University, Changsha, China.
  • Anna Goodridge
    Laboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD, USA.
  • Manish Sahu
    Zuse Institute Berlin, Berlin, Germany. sahu@zib.de.
  • Aditi Kishore
    Laboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD, USA.
  • Seena Vafaee
    Laboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD, USA.
  • Harsha Mohan
    Laboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD, USA.
  • Katherina Sapozhnikov
    Laboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD, USA.
  • Francis X Creighton
    Department of Otolaryngology-Head and Neck Surgery, Johns Hopkins University, Baltimore, MD, USA.
  • Russell H Taylor
    Johns Hopkins University, Baltimore, MD, USA.
  • Deepa Galaiya
    Department of Otolaryngology-Head and Neck Surgery, Johns Hopkins University School of Medicine, Baltimore, Maryland, USA.

Keywords

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