CHEN Ziyun1,2(陈子云), XIE Le1,2? (谢叻), DAI Peidong3 (戴培东), ZHANG Tianyu3 (张天宇)
(1. Institute of Forming Technology & Equipment, Shanghai Jiao Tong University, Shanghai 200030, China; 2. Institute of Medical Robotics, Shanghai Jiao Tong University, Shanghai 200030, China; 3. ENT Institute and Department of Otorhinolaryngology, Eye and ENT Hospital, Fudan University, Shanghai 200031, China)
Abstract: Traditional cochlear implantation surgery has problems such as high surgical accuracy requirement and large trauma, which cause the difficulty of the operation and the high requirements for doctors, so that only a few doctors can complete the operation independently. However, there is no research on robotic cochlear implantation in China. In response to this problem, a robotic cochlear implantation system is proposed. The robot is controlled by robot operating system (ROS). A simulation environment for the overall surgery is established on the ROS based on the real surgery environment. Through the analysis of the kinematics and the motion planning algorithm of the manipulator, an appropriate motion mode is designed to control the motion of the manipulator, and perform the surgery under the simulation environment. A simple and feasible method of navigation is proposed, and through the model experiment, the feasibility of robotic cochlear implantation surgery is verified.
Key Words: cochlear implantation surgery, robot operating system (ROS), manipulator, motion planning
