METHOD AND APPARATUS FOR ROBOTICALLY ASSISTED COCHLEAR IMPLANT SURGERY
First Claim
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1. A method for robotically assisted implant surgery for cooperatively controlled robots, comprising:
- scanning a narrow cavity in a patient'"'"'s body with an imaging device;
forming a model of the cavity;
using a cooperatively controlled robot to manipulate an implant and an implant delivery device into the cavity; and
using models of the cavity to implement virtual fixtures.
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Abstract
A novel sensing system and methods for preventing damage to the cochlea during cochlear implant surgery are disclosed, using optical sensing to determine the distance of a stylet or the end of the implant itself from the interior wall of the scalar tympani. A variety of feedback methods are proposed to enable the surgeon to perform the procedure safely without damage to the basilar membrane or other delicate anatomic structures. Although a number of embodiments are disclosed, one preferred embodiment comprises a robotically manipulated end-effector.
132 Citations
52 Claims
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1. A method for robotically assisted implant surgery for cooperatively controlled robots, comprising:
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scanning a narrow cavity in a patient'"'"'s body with an imaging device; forming a model of the cavity; using a cooperatively controlled robot to manipulate an implant and an implant delivery device into the cavity; and using models of the cavity to implement virtual fixtures. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22)
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23. A system for robotically assisted implant surgery for a cooperatively controlled robot, comprising:
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a tool holder for receiving a surgical tool, imaging device, or implant adapted to be held by the cooperatively controlled robot and a surgeon; an imaging device for scanning a narrow cavity in a patient'"'"'s body; and a processor for forming a model of the cavity based upon images from the imaging device. - View Dependent Claims (24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44)
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45. A tooling device for cooperatively controlled robots, comprising:
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a tool holder a surgical tool, imaging device, or implant adapted to be held by a robot and a surgeon; a first grasper for holding an implant delivery device; a second grasper for holding an electrode array of an implant, said second grasper including means for allowing engagement and disengagement of said electrode array; and wherein said first and second graspers are mounted on a rotational stage, said rotational stage including an aperture along an axis of a microscope to be viewed by the surgeon. - View Dependent Claims (46, 47, 48, 49, 50, 51, 52)
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Specification