Dual-scale robotic solution for middle ear surgery

Jae-Hun So (1) , Brahim Tamadazte (1) , Naresh Marturi (2) , Jérôme Szewczyk (1)

1 ISIR - Institut des Systèmes Intelligents et de Robotique
2 University of Birmingham [Birmingham]

This paper deals with the control of a redundant robotic system for middle ear surgery (i.e., cholesteatoma tissues removal). The targeted robotic system is a macro-micro-scale robot composed of a redundant seven degrees of freedom (DoFs) on which is attached a two DoFs robotized flexible fiberscope. Two different control architectures are proposed to achieve a defined surgical procedure to remove the pathological tissue inside the middle ear cavity. The first proposed control mode is based on the position-based tele-operation of the entire system using a joystick (Phantom Omni) as a master arm. The second one combines comanipulation of the seven DoFs robotic arm using an embedded force/torque sensor and an end-frame tele-operation of the remaining two DoFs fiberscope using a lab-made in-hand joystick. Experimental validation is performed to evaluate and compare the performance of both developed control schemes. The obtained results using the labmade platform and the proposed controllers are discussed.

Domaines: Automatique / Robotique; Ingénierie biomédicale; Chirurgie; Organes des sens

Jae-Hun So, Brahim Tamadazte, Naresh Marturi, Jérôme Szewczyk. Dual-scale robotic solution for middle ear surgery. IEEE International Conference on Robotics and Automation (ICRA 2022), May 2022, Philadelphie, PA, United States. ⟨hal-03716322⟩