Skip to Main Content
 

Global Search Box

 
 
 
 

Files

File List


16203.pdf (6.03 MB)

ETD Abstract Container

Abstract Header

Stewart Platform Actuator for Direct Access Cochlear Implant

Patil, Gaurav
http://orcid.org/0000-0003-0608-0403
http://rave.ohiolink.edu/etdc/view?acc_num=ucin1439296078

Abstract Details

2015, MS, University of Cincinnati, Engineering and Applied Science: Mechanical Engineering.
This thesis is focused on devising a setup to perform a posterior tympanotomy part of the Cochlear Implant Surgery using a Stewart Platform Actuator, which is a six degrees-of-freedom robot, with six linear actuators. The work described in this thesis covers (1) redesign of the actuator, (2) algorithm for its operation based on the inverse kinematics of the Stewart Platform, (3) surgical path planning based on conversion of CT-scan images into 3D models (4) registration of the actuator position using anchor screws and (5) a non-invasive registration technique for the actuator using 3D laser scanning technique. Cochlear implantation surgery requires the surgeon to drill through the temporal bone and end by opening up at the basal turn of the cochlear tissue. The surgeon has to excavate through a large volume of bone to identify and avoid the important anatomical structures. We are going to prototype a robotic device to aid in the process in order to increase the accuracy while minimizing the risk to patients. This robot is different from others in that it is designed specifically for cochlear implantation surgery and other surgeries requiring drilling through the temporal bone, which will optimize the device’s effectiveness and minimize the cost. The actuator that we have developed is based on the concept of Stewart Platform robot which has a bottom platform with six spherical joints attached to six linear actuators which then connect to spherical joints to support a top plate. The top plate is attached to a surgical drill which protrudes downward through the center of the bottom hole of the platform. The plan is to fix the bottom platform on the top of the patient’s head and then feed the path to the robot for drilling the hole. The challenge here is to find a straight non-collision path (Direct access Cochlear Implant) from the surface of the mastoid to the basal turn of the cochlea. This path will be determined by using the CT-scan images of the patient’s skull which will then be converted into 3D models using a software called Amira. The next important part of this project includes accurate positioning of the robot’s bottom plate on top of the patient’s head. In the first approach discussed by this thesis, the plan is to fix 3 or more anchor screws into the patient’s skull before collecting the CT-scan images. Then a personalized 3D printed fixture will be designed, using the 3D models from Amira, which will then attach to the bottom of the plate and also screw on to the anchor screws. In the second approach we have set the groundwork to make the positioning non-invasive with the use of 3D-laser scanning technology and eliminating the anchor screws. Initial tests show feasibility of this kind of procedure and further improvements can lead to a foolproof system for Cochlear Implantation surgery. The future work for this project includes making this robot semi-automatic with the use of haptic feedback. The non-invasive registration processes will also be explored in depth.
Vasille Nistor, Ph.D. (Committee Chair)
David Thompson, Ph.D. (Committee Chair)
Manish Kumar, Ph.D. (Committee Member)
Grant Schaffner, Ph.D. (Committee Member)
61 p.
Biomedical Research
Cochlear Implant; Stewart Platform; Robotic Surgery; Non-invasive Registration; Surgery Planning; Laser Scanning

Recommended Citations

Citations

  • Patil, G. (2015). Stewart Platform Actuator for Direct Access Cochlear Implant [Master's thesis, University of Cincinnati]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=ucin1439296078

    APA Style (7th edition)

  • Patil, Gaurav. Stewart Platform Actuator for Direct Access Cochlear Implant. 2015. University of Cincinnati, Master's thesis. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=ucin1439296078.

    MLA Style (8th edition)

  • Patil, Gaurav. "Stewart Platform Actuator for Direct Access Cochlear Implant." Master's thesis, University of Cincinnati, 2015. http://rave.ohiolink.edu/etdc/view?acc_num=ucin1439296078

    Chicago Manual of Style (17th edition)

ucin1439296078
560
© 2015, all rights reserved.
This open access ETD is published by University of Cincinnati and OhioLINK.