Robot-assisted three-dimensional registration for cochlear implant surgery using a common-path swept-source optical coherence tomography probe

Gurbani, Saumya; Wilkening, Paul; Zhao, Mingtao; Gonenc, Berk; Cheon, Gyeong Woo; Iordachita, Iulian; Taylor, Russell H.; Niparko, John K.; Kang, Jin U.

doi:10.1117/1.jbo.19.5.057004

Cited by 17 publications

(7 citation statements)

References 44 publications

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“…In [12]- [14], the authors discussed the integration of an OCT device into the surgical workflow for providing to the physician a real-time and highresolution visual feedback of the operative site (observed tissues). A miniaturized OCT in the form of millimeter size probe [15] was also considered for such surgical task. OCT usage has also shown significant added clinical value, namely in laser surgery [16].…”

Section: B Backgroundmentioning

confidence: 99%

PCA-Based Visual Servoing Using Optical Coherence Tomography

Dahroug

Tamadazte

Andreff

2020

IEEE Robot. Autom. Lett.

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This article deals with the development of a vision-based control law to achieve high-accuracy automatic six degrees of freedom (DoF) positioning tasks. The objective of this work is to be able to replace a biological sample under an optical device for a non-invasive depth examination at any given time (i.e., performing repetitive and accurate optical characterizations of the sample). The optical examination, also called optical biopsy, is performed thanks to an optical coherence tomography (OCT) system. The OCT device is used to perform a 3-dimensional optical biopsy, and as a sensor to control the robot motion during the repositioning process. The proposed visual servoing controller uses the 3D pose of the studied biological sample estimated directly from the C-scan OCT images using a Principal Component Analysis (PCA) framework. The proposed materials and methods were experimentally validated using a spectral-domain OCT and a 6-DoF robotic platform. The obtained results have demonstrated the pertinence of such methods which offer a positioning accuracy around 0.052 ± 0.03 mm (mean error ± standard deviation) for linear errors and 0.41 ± 0.16 • for angular ones over a 8 × 9 × 3.5 mm 3 workspace.

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Section: B Backgroundmentioning

confidence: 99%

PCA-Based Visual Servoing Using Optical Coherence Tomography

Dahroug

Tamadazte

Andreff

2020

IEEE Robot. Autom. Lett.

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“…Many designs of endoscopic OCT have been proposed, motivated by visualizing a sub-structure inside cavities and hollow organs [38] [39]. In fact, there are many works that deal with OCT for imaging various features in the middle ear, such as structures [40] [41] [42], motion of ossicles [43], chronic otitis media [44] [45], precancer and cancer mucosa [46].…”

Section: Diagnosismentioning

confidence: 99%

Review on Otological Robotic Systems: Toward Microrobot-Assisted Cholesteatoma Surgery

Dahroug¹,

Tamadazte²,

Weber³

et al. 2018

IEEE Rev. Biomed. Eng.

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Otologic surgical procedures over time have become minimally invasive due to the development of medicine, microtechniques, and robotics. This trend then provides an expected reduction in the patient's recovery time and improvement in the accuracy of diagnosis and treatment. One of the most challenging difficulties that such techniques face are precise control of the instrument and supply of an ergonomic system to the surgeon. The objective of this literature review is to present requirements and guidelines for a surgical robotic system dedicated to middle ear surgery. This review is particularly focused on cholesteatoma surgery (diagnosis and surgical tools), which is one of the most frequent pathologies that urge for an enhanced treatment. This review also presents the current robotic systems that are implemented for otologic applications.

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“…Miniaturized fiber-optic OCT probes have been successfully used to perform real-time high-resolution imaging of a range of lumens, including airways, intestines and blood vessels 30 . Early work using side-facing, rotating fiber-optic probes has also shown the potential of OCT to acquire images of the cochlear lumen 31 – 33 . However, these probes are too large (minimal diameter: 0.35 mm) 33 to be inserted simultaneously with the CI sheath (diameter: 0.65 mm) 13 into the ST (proximal width: < 1 mm) 34 .…”

Section: Introductionmentioning

confidence: 99%

An optically-guided cochlear implant sheath for real-time monitoring of electrode insertion into the human cochlea

Starovoyt

Quirk

Putzeys

et al. 2022

Sci Rep

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In cochlear implant surgery, insertion of perimodiolar electrode arrays into the scala tympani can be complicated by trauma or even accidental translocation of the electrode array within the cochlea. In patients with partial hearing loss, cochlear trauma can not only negatively affect implant performance, but also reduce residual hearing function. These events have been related to suboptimal positioning of the cochlear implant electrode array with respect to critical cochlear walls of the scala tympani (modiolar wall, osseous spiral lamina and basilar membrane). Currently, the position of the electrode array in relation to these walls cannot be assessed during the insertion and the surgeon depends on tactile feedback, which is unreliable and often comes too late. This study presents an image-guided cochlear implant device with an integrated, fiber-optic imaging probe that provides real-time feedback using optical coherence tomography during insertion into the human cochlea. This novel device enables the surgeon to accurately detect and identify the cochlear walls ahead and to adjust the insertion trajectory, avoiding collision and trauma. The functionality of this prototype has been demonstrated in a series of insertion experiments, conducted by experienced cochlear implant surgeons on fresh-frozen human cadaveric cochleae.

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Robot-assisted three-dimensional registration for cochlear implant surgery using a common-path swept-source optical coherence tomography probe

Cited by 17 publications

References 44 publications

PCA-Based Visual Servoing Using Optical Coherence Tomography

PCA-Based Visual Servoing Using Optical Coherence Tomography

Review on Otological Robotic Systems: Toward Microrobot-Assisted Cholesteatoma Surgery

An optically-guided cochlear implant sheath for real-time monitoring of electrode insertion into the human cochlea

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