Modeling, Design, and Evaluation of a Parallel Robot for Cochlear Implant Surgery

Pile, Jason; Simaan, Nabil

doi:10.1109/tmech.2014.2308479

Cited by 40 publications

(20 citation statements)

References 30 publications

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“…A lot of studies have reported this parallel mechanism widely [13][14][15][16], and this structure was used in many areas practically [17,18]. For solving those inherent properties, a lot of control methods have been presented for parallel structure [19][20][21].…”

Section: Instructionmentioning

confidence: 99%

Modal Decoupled Dynamics Feed‐Forward Active Force Control of Spatial Multi‐DOF Parallel Robotic Manipulator

Niu

Yang

Tian

et al. 2019

Mathematical Problems in Engineering

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According to the parallel mechanism theory, this paper proposes a novel intelligent robotic spine brace for the treatment of scoliosis. Nevertheless, this type of parallel mechanism has the following disadvantages: strong dynamic coupling in task space or joint space, adverse effect of system’s gravity, and lower response frequency in roll and pitch orientations, which seriously affect the performance of the system. In order to solve those boring problems, this paper presents a novel active force control structure, modal space dynamic feed-forward (MSDF) force control strategy. Besides, this paper expresses the intelligent robotic brace system model including the dynamic and kinematic models and the electric actuator model with Kane strategy. The stability of the intelligent system with the novel control strategy is proved. In order to evaluate the performance of the presented MSDF force control method, this paper builds the parallel mechanism experimental platform. It can be seen from experimental results that the proposed motion control method solves these boring problems well.

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Section: Instructionmentioning

confidence: 99%

Modal Decoupled Dynamics Feed‐Forward Active Force Control of Spatial Multi‐DOF Parallel Robotic Manipulator

Niu

Yang

Tian

et al. 2019

Mathematical Problems in Engineering

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“…Prior works in automated or robotic EA insertion include insertion of custom electrodes with embedded actuation, parallel robots for insertion, and an automated insertion tool with force sensing, and image guidance . Preoperative imaging was used to guide the insertion process combined with a specialized drilling procedure with a patient‐mounted frame or a robotically drilled narrow mastoidectomy .…”

Section: Introductionmentioning

confidence: 99%

Investigating variability in cochlear implant electrode array alignment and the potential of visualization guidance

Yasin

Dedmon

Dillon

et al. 2019

Robotics Computer Surgery

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Funding information Cochlear BackgroundInternal cochlear anatomy is difficult to discern from external inspection, hindering cochlear implant electrode insertion. MethodsA user study characterized the repeatability of standard surgical technique and examined the role of visual inspection and guidance cues in reducing electrode array insertion misalignment. ResultsWithout guidance, a large spread in angles of insertion, up to 30 • , was observed, highlighting the need for intraoperative guidance. Visual inspection did not significantly improve overall orientation, suggesting the need for alternate intracochlear visualization methods and/or increased training to effectively improve surgeon understanding of the visualized images. Visual cues and guidance software increased repeatability of surgeon performance, reducing one metric of repeatability to ±2 • . ConclusionsThis study establishes a baseline for surgeon variability in cochlear implant insertion and supports the need and lays the groundwork for future intraoperative guidance techniques.

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“…A redundant hybrid manipulator is formed by connected in series n PM j with linear active legs ( j = 1, …, n; 3 ≤ n). Currently, various PM 1 + PM 2 have attracted many attentions because they have higher stiffness than serial manipulators, larger position workspace and better dexterity than one PM [1][2][3][4][5]. Comparing with PM 1 + PM 2 , the redundant hybrid manipulator generally has more DoFs, larger position workspace and larger orientation workspace.…”

Section: Introductionmentioning

confidence: 99%

“…Comparing with the redundant serial robot, the redundant hybrid manipulator with the same DoFs of the redundant serial robot generally has higher rigidity. Therefore, the redundant hybrid manipulator may be applied to snake arm robots [2], elephant nose type robot [3], robot-assisted surgery [4], humanoid robot's arm/leg, complicated assembly unit, rescue robot, in-pipe robot and so on. In the aspect of hybrid manipulators, Zeng and Fang [5] synthesized a type of serial-parallel hybrid mechanisms with spatial multi-loop kinematic chains based on the displacement group theory.…”

Section: Introductionmentioning

confidence: 99%

Dynamics model of redundant hybrid manipulators connected in series by three or more different parallel manipulators with linear active legs

Lü

Dai

2016

Mechanism and Machine Theory

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Modeling, Design, and Evaluation of a Parallel Robot for Cochlear Implant Surgery

Cited by 40 publications

References 30 publications

Modal Decoupled Dynamics Feed‐Forward Active Force Control of Spatial Multi‐DOF Parallel Robotic Manipulator

Modal Decoupled Dynamics Feed‐Forward Active Force Control of Spatial Multi‐DOF Parallel Robotic Manipulator

Investigating variability in cochlear implant electrode array alignment and the potential of visualization guidance

Dynamics model of redundant hybrid manipulators connected in series by three or more different parallel manipulators with linear active legs

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