Int J Comput Assist Radiol Surg - Surgical planning tool for robotically assisted hearing aid implantation.

Tópicos

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Resumo

RPOSE: For the facilitation of minimally invasive robotically performed direct cochlea access (DCA) procedure, a surgical planning tool which enables the surgeon to define landmarks for patient-to-image registration, identify the necessary anatomical structures and define a safe DCA trajectory using patient image data (typically computed tomography (CT) or cone beam CT) is required. To this end, a dedicated end-to-end software planning system for the planning of DCA procedures that addresses current deficiencies has been developed.METHODS: Efficient and robust anatomical segmentation is achieved through the implementation of semiautomatic algorithms; high-accuracy patient-to-image registration is achieved via an automated model-based fiducial detection algorithm and functionality for the interactive definition of a safe drilling trajectory based on case-specific drill positioning uncertainty calculations was developed.RESULTS: The accuracy and safety of the presented software tool were validated during the conduction of eight DCA procedures performed on cadaver heads. The plan for each ear was completed in less than 20 min, and no damage to vital structures occurred during the procedures. The integrated fiducial detection functionality enabled final positioning accuracies of 0.15 ? 0.08 mm.CONCLUSIONS: Results of this study demonstrated that the proposed software system could aid in the safe planning of a DCA tunnel within an acceptable time.

Resumo Limpo

rpose facilit minim invas robot perform direct cochlea access dca procedur surgic plan tool enabl surgeon defin landmark patienttoimag registr identifi necessari anatom structur defin safe dca trajectori use patient imag data typic comput tomographi ct cone beam ct requir end dedic endtoend softwar plan system plan dca procedur address current defici developedmethod effici robust anatom segment achiev implement semiautomat algorithm highaccuraci patienttoimag registr achiev via autom modelbas fiduci detect algorithm function interact definit safe drill trajectori base casespecif drill posit uncertainti calcul developedresult accuraci safeti present softwar tool valid conduct eight dca procedur perform cadav head plan ear complet less min damag vital structur occur procedur integr fiduci detect function enabl final posit accuraci mmconclus result studi demonstr propos softwar system aid safe plan dca tunnel within accept time

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