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Robot Assisted Stapedotomy With an Active Handheld Instrument

Robotic-assisted surgery is a rapid growing field, facing challenging tasks and demands from surgeons, in particular in minimally invasive and microsurgery. However many of the present robotic systems are not well integrated in the surgical workflow, too big or too expensive. Micron is an innovative fully handheld active micromanipulator that helps surgeons to improve position accuracy and precision in microsurgery by cancelling the normal hand tremor. This thesis proposes an improvement and development of Micron, considering as target the stapedotomy procedure, microsurgery performed at the middle ear that aims to restore the hearing impairments. Two tools, a handle and a brace were designed and prototyped and the control was adapted; at the end the entire system was assessed through some experiments. Promising results were obtained in terms of tremor cancellation but further research is needed in order to reach clear advantages.

Identiferoai:union.ndltd.org:UPSALLA1/oai:DiVA.org:kth-162923
Date January 2015
CreatorsVendrametto, Tobia
PublisherKTH, Skolan för teknik och hälsa (STH), Politecnico di Milano
Source SetsDiVA Archive at Upsalla University
LanguageEnglish
Detected LanguageEnglish
TypeStudent thesis, info:eu-repo/semantics/bachelorThesis, text
Formatapplication/pdf
Rightsinfo:eu-repo/semantics/openAccess
RelationTRITA-STH ; 2014:120

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