Middle-Ear Microsurgery Simulation to Improve New Robotic Procedures

Guillaume Kazmitcheff 1, 2 Yann Nguyen 2, 3 Mathieu Miroir 2 Fabien Péan 1 Evelyne Ferrary 2, 3 Stéphane Cotin 1 Olivier Sterkers 2, 3 Christian Duriez 1
1 SHACRA - Simulation in Healthcare using Computer Research Advances
LIFL - Laboratoire d'Informatique Fondamentale de Lille, Inria Lille - Nord Europe, Inria Nancy - Grand Est
2 Réhabilitation Chirurgicale mini-Invasive et Robotisée de l'Audition
3 AP-HP, Otolaryngology Department, Unit of Otology - Auditory Implants and Skull Base Surgery, Hospital Pitié Salpêtrière
Abstract : Otological microsurgery is delicate and requires high dexterity in bad ergonomic conditions. To assist surgeons in these indications, a teleoperated system, called RobOtol, is developed. This robot enhances gesture accuracy and handiness and allows exploration of new procedures for middle ear surgery. To plan new procedures that exploit the capacities given by the robot, a surgical simulator is developed. The simulation reproduces with high fidelity the behavior of the anatomical structures and can also be used as a training tool for an easier control of the robot for surgeons. In the paper, we introduce the middle ear surgical simulation and then we perform virtually two challenging procedures with the robot. We show how interactive simulation can assist in analyzing the benefits of robotics in the case of complex manipulations or ergonomics studies and allow the development of innovative surgical procedures. New robot-based microsurgical procedures are investigated. The improvement offered by RobOtol is also evaluated and discussed.
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Article dans une revue
BioMed Research International , Hindawi Publishing Corporation, 2014, pp.10. 〈10.1155/2014/891742〉
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https://hal.inria.fr/hal-01105278
Contributeur : Guillaume Kazmitcheff <>
Soumis le : mardi 20 janvier 2015 - 10:14:20
Dernière modification le : vendredi 31 août 2018 - 09:02:48

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INRIA | CRISTAL | UPMC | UNIV-LILLE3 | CRISTAL-DEFROST | U1159

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Guillaume Kazmitcheff, Yann Nguyen, Mathieu Miroir, Fabien Péan, Evelyne Ferrary, et al.. Middle-Ear Microsurgery Simulation to Improve New Robotic Procedures. BioMed Research International , Hindawi Publishing Corporation, 2014, pp.10. 〈10.1155/2014/891742〉. 〈hal-01105278〉

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