[Robotics. A new dimension in otorhinolaryngology?]

[A surgical micromanipulator in ear surgery: potential and comparison to freehand preparation]

INTRODUCTION

Surgical accuracy in microscopic ear surgery is reduced by limited access and tremor. At this point a micromanipulator could have a positive influence. The goal of the study was: 1. To develop a system that would enable measurements of accuracy, time and precision during a manual approach to the middle ear 2. To apply a manipulator that can easily be a compact part of the regular setup in ear surgery 3. To compare the manual results critically considering accuracy and tremor reduction and to compare these results with those of a manipulator A manipulator in ear surgery does not need to be a highly complex structure with force feedback and multiple degrees of freedom. The surgeon's preparation in middle ear surgery is most of the time straight without potentially applying the 15 degrees of freedom the human hand can offer. The micromanipulator in this study was developed in order to serve as a compact, teleoperated instrument without limiting the surgeon's dexterity. The use of standard instruments facilitates the integration of the system in existing surgical procedures and sterilisation concepts.

MATERIAL AND METHODS

Ten head and neck surgeons simulated an approach to the stapedial footplate on a modified 3D cast of a realistic human skull in an experimental OR. A perforator was moved to a reference point on the stapedial footplate. The movements were detected by means of an image acquisition system. Each trial was repeated more than 200 times, aiming both manually and with the aid of a micromanipulator (> 4,000 measurements).

RESULTS

Accuracy for the manual and micromanipulator approach revealed no considerable differences. In absolute terms, the manual approach was more accurate. However, the learning curves indicated a stronger decrease in deviation when the micromanipulator was used and also less deviation in scatter plots. At the beginning, the time required for pointing increased when using the micromanipulator, but decreased to a greater extent in the course of the trial when compared to the manual approach. The work strain was distinctively lower when the micromanipulator was applied.

CONCLUSION

The micromanipulator gave evidence of a stronger effect as regards individual improvement in accuracy and time span. The micromanipulator shows potential for improvements in accuracy as well as compensation for poor ergonomics.

[Development of an active robot system for multi-modal paranasal sinus surgery]

BACKGROUND

Severe complications in endoscopic paranasal sinus surgery are rare, however, when they occur they are often fatal. Injuries to the optic nerve or the internal carotid artery mostly occur after penetration of the sphenoid sinus' anterior wall.

METHODS

We present the robot system "A 73" with its newly designed 4-canal-microendoscope and special instruments that meets the demands of endoscopic paranasal sinus surgery. A fully automated perforation of the sphenoid sinus' anterior wall was performed in five cadaveric specimens.

RESULTS

The sphenoid sinus' anterior wall could be perforated without damaging the surrounding structures in all cases. Subsequently, the approach was enlarged to the desired diameter using telemanipulation mode. The analysis of both the transformation error and intraopertive accuracy showed values in the submillimeter range.

CONCLUSIONS

Using a newly developed robotic system, a fully automated perforation of the sphenoid sinus' anterior wall was performed precisely and reproducibly. This approach can be enlarged in a telemanipulation mode.

Markerlose Registrierung der Patientenlage

BACKGROUND

Markerless patient registration is a new procedure that may reduce logistical efforts and possibly also the radiation load on the patients prior to a computer-assisted intervention. Congruent surfaces, such as bone surfaces or skin surfaces, represented in a data set and in the surgical site, can be overlapped with the help of surface matching. Hitherto, these techniques were performed by using the periorbital and frontal skin of the face. The present clinical study assessed the usability of the auricle as a skin structure for markerless patient registration in lateral skull base surgery.

PATIENTS AND METHODS

The periauricular precision of the navigation system SSN was investigated clinically in ten patients. Radiopaque registration markers in the periauricular region served as a target in order to evaluate the markerless registration method.

RESULTS

Exact patient registration failed in five cases due to temporary deformation of the auricle caused by the head support during CT imaging. An excellent patient registration (mean target registration error = 0.9+/-0.2 mm) was found as long as the auricles had not been temporarily deformed during CT imaging.

CONCLUSION

Laser-scan registration of the auricle reduces logistics in image-guided lateral skull base surgery. The problem of temporary deformation of the auricle during CT imaging might be solved by an appropriate opening in the head support at the level of the auricles.

[Optimization of microsurgical operation technique to insert auditory brainstem implants, taking into account the results of a morphometric study]

STATE OF THE ART

The surgical placement of auditory brainstem implants to stimulate the cochlear nuclear region in patients with acquired bilateral retrocochlear deafness allows limited restitution of hearing. However, there have been few studies on the topographical relations in the target region, particularly the floor of the IVth ventricle.

TOPIC OF THE STUDY

Is it possible to obtain more precise anatomical data in order to improve the surgical approaches and techniques for the placement of auditory brainstem implants? AIMS. To obtain a more precise topo- anatomical orientation in the target region for microsurgical lateral and midline approaches or a stereotactic operative strategy.

METHODS AND RESULTS

Landmarks for the placement of an auditory brainstem implant via the IVth ventricle were examined and measured in a series of formalin-fixed human brainstems ( n=28). These data, and knowledge of their variability, allow a more precise surgical lateral approach. It is essential to precisely localise the target region, as it can only be partly discerned under the microscope during an operation. For this reason, to date its precise localisation has been determined only electrophysiologically.

CONCLUSION

Exact target localisation improves safety. From an anatomical point of view the midline approach gives the chance to enlarge the indication spectrum for an implant. The anatomical data obtained here could also be integrated into a stereotactic surgical strategy.

Restoring Hearing with Active Hearing Implants / Wiederherstellung des Gehörs mit aktiven Hörimplantaten

Due to shortcomings of conventional hearing aid technology, such as unsatisfactory sound quality due to limited frequency range and undesired distortion, occlusion of the outer ear canal, and acoustic feedback with high amplification, but also psychological aspects of stigmatization, a significant of patients in need of hearing aids are actually not wearing them. Active hearing implants can be distinguished in: (1) impedance transformation implants (ITI), (2) cochlear amplifier implants (CAI), (3) cochlear implants (CI), and (4) brain stem implants (BSI). Whereas ITI are designed for patients with middle ear hearing loss, CAI are intended to restore hearing in patients with inner ear hearing loss. Advantages of CAI may be: (1) improved sound fidelity, (2) no occlusion of the outer ear canal, (3) no feedback, and (4) invisibility. However, not all features are true for every device. CI replace inner ear function in deaf or almost deaf patients. This article gives an overview on the range of active hearing implants to restore hearing and outlines the future use of computer and robot aided surgery.

Development of the first force-controlled robot for otoneurosurgery

OBJECTIVE

In some surgical specialties (eg, orthopedics), robots are already used in the operating room for bony milling work. Otological surgery and otoneurosurgery may also greatly benefit from the enhanced precision of robotics.

STUDY DESIGN

Experimental study on robotic milling of oak wood and human temporal bone specimen.

METHODS

A standard industrial robot with a six-degrees-of-freedom serial kinematics was used, with force feedback to proportionally control the robot speed. Different milling modes and characteristic path parameters were evaluated to generate milling paths based on computer-aided design (CAD) geometry data of a cochlear implant and an implantable hearing system.

RESULTS

The best-suited strategy proved to be the spiral horizontal milling mode with the burr held perpendicular to the temporal bone surface. To reduce groove height, the distance between paths should equal half the radius of the cutting burr head. Because of the vibration of the robot's own motors, a high oscillation of the SD of forces was encountered. This oscillation dropped drastically to nearly 0 Newton (N) when the burr head made contact with the dura mater, because of its damping characteristics. The cutting burr could be kept in contact with the dura mater for an extended period without damaging it, because of the burr's blunt head form. The robot moved the burr smoothly according to the encountered resistances.

CONCLUSION

The study reports the first development of a functional robotic milling procedure for otoneurosurgery with force-based speed control. Future plans include implementation of ultrasound-based local navigation and performance of robotic mastoidectomy.