A Novel Surgical Robotic System for Cochlear Implantation via the Tympanic Antrum Approach

摘要

With the advancement of surgical robots, researches on the cochlear implantation (CI) using robotic systems has become increasingly robust. However, due to the narrowness of the human facial recess, even the precision of the most advanced robotic systems for CI cannot completely eliminate risks. Therefore, this study proposes a robot-assisted curved channel CI method. This method integrates technologies such as CBCT image segmentation, electromagnetic navigation, and path prediction of pre-tensioned flexible body to ensure that the electrode array (EA) can smoothly move through the curved channels and be implanted into the cochlea. Cadaver experiments have demonstrated that our method significantly enhances the safety of the surgery, with each individual technological component exhibiting excellent reliability.