Evaluation of virtual fixtures for robot-assisted cochlear implant insertion

Paul Wilkening; Wade Chien; Berk Gonenc; John Niparko; Jin U. Kang; Iulian Iordachita; Russell H. Taylor

doi:10.1109/biorob.2014.6913798

Evaluation of virtual fixtures for robot-assisted cochlear implant insertion

Paul Wilkening, Wade Chien, Berk Gonenc, John Niparko, Jin U. Kang, Iulian Iordachita, Russell H. Taylor

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

5 Scopus citations

Abstract

Cochlear implantation requires the placement of an electrode array into the cochlea of patients with severe to profound hearing loss. As the array is placed without direct visualization, robotic guidance has significant potential to improve upon the precision of electrode placement within the cochlea. Here, we evaluate the repeatability of robot-assisted placement of an implant array to an optimal deployment point within a phantom cochlea. This system guides the insertion of the implant by enacting virtual fixtures. When compared to the standard manual method of insertion, we observed a 61.7% reduction in the mean error.

Original language	English (US)
Title of host publication	"2014 5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014
Editors	Raffaella Carloni, Lorenzo Masia, Jose Maria Sabater-Navarro, Marko Ackermann, Sunil Agrawal, Arash Ajoudani, Panagiotis Artemiadis, Matteo Bianchi, Antonio Padilha Lanari Bo, Maura Casadio, Kevin Cleary, Ashish Deshpande, Domenico Formica, Matteo Fumagalli, Nicolas Garcia-Aracil, Sasha Blue Godfrey, Islam S.M. Khalil, Olivier Lambercy, Rui C. V. Loureiro, Leonardo Mattos, Victor Munoz, Hyung-Soon Park, Luis Eduardo Rodriguez Cheu, Roque Saltaren, Adriano A. G. Siqueira, Valentina Squeri, Arno H.A. Stienen, Nikolaos Tsagarakis, Herman Van der Kooij, Bram Vanderborght, Nicola Vitiello, Jose Zariffa, Loredana Zollo
Publisher	IEEE Computer Society
Pages	332-338
Number of pages	7
ISBN (Electronic)	9781479931262
DOIs	https://doi.org/10.1109/biorob.2014.6913798
State	Published - Sep 30 2014
Event	5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014 - Sao Paulo, Brazil Duration: Aug 12 2014 → Aug 15 2014

Publication series

Name	Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
ISSN (Print)	2155-1774

Other

Other	5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014
Country/Territory	Brazil
City	Sao Paulo
Period	8/12/14 → 8/15/14

ASJC Scopus subject areas

Artificial Intelligence
Biomedical Engineering
Mechanical Engineering

Access to Document

10.1109/biorob.2014.6913798

Cite this

Wilkening, P., Chien, W., Gonenc, B., Niparko, J., Kang, J. U., Iordachita, I., & Taylor, R. H. (2014). Evaluation of virtual fixtures for robot-assisted cochlear implant insertion. In R. Carloni, L. Masia, J. M. Sabater-Navarro, M. Ackermann, S. Agrawal, A. Ajoudani, P. Artemiadis, M. Bianchi, A. P. Lanari Bo, M. Casadio, K. Cleary, A. Deshpande, D. Formica, M. Fumagalli, N. Garcia-Aracil, S. B. Godfrey, I. S. M. Khalil, O. Lambercy, R. C. V. Loureiro, L. Mattos, V. Munoz, H.-S. Park, L. E. Rodriguez Cheu, R. Saltaren, A. A. G. Siqueira, V. Squeri, A. H. A. Stienen, N. Tsagarakis, H. Van der Kooij, B. Vanderborght, N. Vitiello, J. Zariffa, ... L. Zollo (Eds.), "2014 5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014 (pp. 332-338). Article 6913798 (Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics). IEEE Computer Society. https://doi.org/10.1109/biorob.2014.6913798

Evaluation of virtual fixtures for robot-assisted cochlear implant insertion. / Wilkening, Paul; Chien, Wade; Gonenc, Berk et al.
"2014 5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014. ed. / Raffaella Carloni; Lorenzo Masia; Jose Maria Sabater-Navarro; Marko Ackermann; Sunil Agrawal; Arash Ajoudani; Panagiotis Artemiadis; Matteo Bianchi; Antonio Padilha Lanari Bo; Maura Casadio; Kevin Cleary; Ashish Deshpande; Domenico Formica; Matteo Fumagalli; Nicolas Garcia-Aracil; Sasha Blue Godfrey; Islam S.M. Khalil; Olivier Lambercy; Rui C. V. Loureiro; Leonardo Mattos; Victor Munoz; Hyung-Soon Park; Luis Eduardo Rodriguez Cheu; Roque Saltaren; Adriano A. G. Siqueira; Valentina Squeri; Arno H.A. Stienen; Nikolaos Tsagarakis; Herman Van der Kooij; Bram Vanderborght; Nicola Vitiello; Jose Zariffa; Loredana Zollo. IEEE Computer Society, 2014. p. 332-338 6913798 (Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Wilkening, P, Chien, W, Gonenc, B, Niparko, J, Kang, JU, Iordachita, I & Taylor, RH 2014, Evaluation of virtual fixtures for robot-assisted cochlear implant insertion. in R Carloni, L Masia, JM Sabater-Navarro, M Ackermann, S Agrawal, A Ajoudani, P Artemiadis, M Bianchi, AP Lanari Bo, M Casadio, K Cleary, A Deshpande, D Formica, M Fumagalli, N Garcia-Aracil, SB Godfrey, ISM Khalil, O Lambercy, RCV Loureiro, L Mattos, V Munoz, H-S Park, LE Rodriguez Cheu, R Saltaren, AAG Siqueira, V Squeri, AHA Stienen, N Tsagarakis, H Van der Kooij, B Vanderborght, N Vitiello, J Zariffa & L Zollo (eds), "2014 5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014., 6913798, Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, IEEE Computer Society, pp. 332-338, 5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014, Sao Paulo, Brazil, 8/12/14. https://doi.org/10.1109/biorob.2014.6913798

Wilkening P, Chien W, Gonenc B, Niparko J, Kang JU, Iordachita I et al. Evaluation of virtual fixtures for robot-assisted cochlear implant insertion. In Carloni R, Masia L, Sabater-Navarro JM, Ackermann M, Agrawal S, Ajoudani A, Artemiadis P, Bianchi M, Lanari Bo AP, Casadio M, Cleary K, Deshpande A, Formica D, Fumagalli M, Garcia-Aracil N, Godfrey SB, Khalil ISM, Lambercy O, Loureiro RCV, Mattos L, Munoz V, Park HS, Rodriguez Cheu LE, Saltaren R, Siqueira AAG, Squeri V, Stienen AHA, Tsagarakis N, Van der Kooij H, Vanderborght B, Vitiello N, Zariffa J, Zollo L, editors, "2014 5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014. IEEE Computer Society. 2014. p. 332-338. 6913798. (Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics). doi: 10.1109/biorob.2014.6913798

Wilkening, Paul ; Chien, Wade ; Gonenc, Berk et al. / Evaluation of virtual fixtures for robot-assisted cochlear implant insertion. "2014 5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014. editor / Raffaella Carloni ; Lorenzo Masia ; Jose Maria Sabater-Navarro ; Marko Ackermann ; Sunil Agrawal ; Arash Ajoudani ; Panagiotis Artemiadis ; Matteo Bianchi ; Antonio Padilha Lanari Bo ; Maura Casadio ; Kevin Cleary ; Ashish Deshpande ; Domenico Formica ; Matteo Fumagalli ; Nicolas Garcia-Aracil ; Sasha Blue Godfrey ; Islam S.M. Khalil ; Olivier Lambercy ; Rui C. V. Loureiro ; Leonardo Mattos ; Victor Munoz ; Hyung-Soon Park ; Luis Eduardo Rodriguez Cheu ; Roque Saltaren ; Adriano A. G. Siqueira ; Valentina Squeri ; Arno H.A. Stienen ; Nikolaos Tsagarakis ; Herman Van der Kooij ; Bram Vanderborght ; Nicola Vitiello ; Jose Zariffa ; Loredana Zollo. IEEE Computer Society, 2014. pp. 332-338 (Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics).

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title = "Evaluation of virtual fixtures for robot-assisted cochlear implant insertion",

abstract = "Cochlear implantation requires the placement of an electrode array into the cochlea of patients with severe to profound hearing loss. As the array is placed without direct visualization, robotic guidance has significant potential to improve upon the precision of electrode placement within the cochlea. Here, we evaluate the repeatability of robot-assisted placement of an implant array to an optimal deployment point within a phantom cochlea. This system guides the insertion of the implant by enacting virtual fixtures. When compared to the standard manual method of insertion, we observed a 61.7% reduction in the mean error.",

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AB - Cochlear implantation requires the placement of an electrode array into the cochlea of patients with severe to profound hearing loss. As the array is placed without direct visualization, robotic guidance has significant potential to improve upon the precision of electrode placement within the cochlea. Here, we evaluate the repeatability of robot-assisted placement of an implant array to an optimal deployment point within a phantom cochlea. This system guides the insertion of the implant by enacting virtual fixtures. When compared to the standard manual method of insertion, we observed a 61.7% reduction in the mean error.

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ER -

Evaluation of virtual fixtures for robot-assisted cochlear implant insertion

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