Method and apparatus for robotically assisted cochlear implant surgery
AssigneeThe Johns Hopkins University
InventorsRussell H. Taylor, John Niparko, Iulian Ioan Iordachita, Wade Wei-De Chien
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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.
Claims52
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.
A system for robotically assisted implant surgery for a cooperatively controlled robot, comprising:
- 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.
A tooling device for cooperatively controlled robots, comprising:
- 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.
Dependencies are inferred from the claim text.