摘要
Traditional cochlear implantation surgery has problems such as high surgical accuracy requirement and large trauma,which cause the difficulty of the operation and the high requirements for doctors,so that only a few doctors can complete the operation independently.However,there is no research on robotic cochlear implantation in China.In response to this problem,a robotic cochlear implantation system is proposed.The robot is controlled by robot operating system(ROS).A simulation environment for the overall surgery is established on the ROS based on the real surgery environment.Through the analysis of the kinematics and the motion planning algorithm of the manipulator,an appropriate motion mode is designed to control the motion of the manipulator,and perform the surgery under the simulation environment.A simple and feasible method of navigation is proposed,and through the model experiment,the feasibility of robotic cochlear implantation surgery is verified.
作者
陈子云
谢叻
戴培东
张天宇
CHEN Ziyun;XIE Le;DAI Peidong;ZHANG Tianyu(Institute of Forming Technology&Equipment,Shanghai Jiao Tong University,Shanghai 200030,China;Institute of Medical Robotics,Shanghai Jiao Tong University,Shanghai 200030,China;ENT Institute and Department of Otorhinolaryngology,Eye and ENT Hospital,Fudan University,Shanghai 200031,China)
基金
the National Natural Science Foundation of China(Nos.61973211,62133009,51911540479 and M-0221)
the Science and Technology Commission of Shanghai Municipality(Nos.21550714200 and 20DZ2220400)
the Research Project of Institute of Medical Robotics of Shanghai Jiao Tong University
the Interdisciplinary Program of Shanghai Jiao Tong University(Nos.YG2017ZD03 and ZH2018QNB31)。
