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Design of steerable electrode arrays...

Zhang, Jian.

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Design of steerable electrode arrays and optimal insertion path planning for robot-assisted cochlear implant surgery.

紀錄類型:	書目-語言資料,印刷品 : Monograph/item
正題名/作者:	Design of steerable electrode arrays and optimal insertion path planning for robot-assisted cochlear implant surgery./
作者:	Zhang, Jian.
面頁冊數:	221 p.
附註:	Source: Dissertation Abstracts International, Volume: 71-11, Section: B, page: 7052.
Contained By:	Dissertation Abstracts International71-11B.
標題:	Engineering, Biomedical. -
電子資源:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=3428687
ISBN:	9781124283784

Design of steerable electrode arrays and optimal insertion path planning for robot-assisted cochlear implant surgery.
Zhang, Jian.

Design of steerable electrode arrays and optimal insertion path planning for robot-assisted cochlear implant surgery. - 221 p.

Source: Dissertation Abstracts International, Volume: 71-11, Section: B, page: 7052.

Thesis (Ph.D.)--Columbia University, 2010.

The goal of this dissertation is to design a robotic system for cochlear implant surgery to reduce trauma and improve surgical outcomes. We focused on all aspects of robot-assisted cochlear implantation including: design, modeling, and optimization of steerable electrode arrays; optimally robotic electrode insertion path planning; parallel robot design; Insertion Speed Force Feedback (ISFF) control law design; and insertion force predictive modeling.

ISBN: 9781124283784Subjects--Topical Terms:

1017684
Engineering, Biomedical.

Design of steerable electrode arrays and optimal insertion path planning for robot-assisted cochlear implant surgery.
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245 1 0 $a Design of steerable electrode arrays and optimal insertion path planning for robot-assisted cochlear implant surgery.
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500 $a Source: Dissertation Abstracts International, Volume: 71-11, Section: B, page: 7052.
502 $a Thesis (Ph.D.)--Columbia University, 2010.
520 $a The goal of this dissertation is to design a robotic system for cochlear implant surgery to reduce trauma and improve surgical outcomes. We focused on all aspects of robot-assisted cochlear implantation including: design, modeling, and optimization of steerable electrode arrays; optimally robotic electrode insertion path planning; parallel robot design; Insertion Speed Force Feedback (ISFF) control law design; and insertion force predictive modeling.
520 $a A novel steerable electrode array was proposed and fabricated. Optimal steerable electrode insertion path planning algorithms have been implemented and simulated to show the advantages of using steerable electrode arrays with robotic assistance to better control electrode placement and reduce insertion force. A planar robot prototype was used to demonstrate the effectiveness of the optimal robot path planning algorithms. Results showed that using steerable electrode arrays reduced insertion forces by 59.6% or more. An ISFF control law was proposed and proved to be effective in reducing insertion forces when using steerable electrode arrays.
520 $a A compact six Degrees-of-Freedom (DoF) parallel robot for cochlear implant surgery was then designed for operating room conditions. The parallel robot aims to adapt the steerable electrode and other commercial electrodes. It can be controlled under a masterslave mode or a fully automated mode. The robot also incorporates a 6 DoF force and torque sensor for real-time insertion force measurement and feedback.
520 $a The novel steerable electrode array we proposed has an embedded strand which bends the electrode to predetermined shapes. Experiment-based kinematic modeling methods were presented to calibrate the steerable electrode. Later, an elastic model was formulated to characterize its bending properties. A virtual calibration replaced the experiment-based calibration and optimal embedded strand placement was analytically solved for a given target curve. Further, an optimization algorithm was proposed to solve for the optimal strand placement throughout the whole insertion process.
520 $a We also discovered insertion force decreases with increased insertion speed for outer-wall electrode. Our investigation on insertion force leads to a predictive friction model based on statistical data collected using outer-wall electrode. Finally, in vitro experiments were conducted and expanded our planar friction model to three-dimensional.
590 $a School code: 0054.
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650 4 $a Engineering, Robotics. $3 1018454
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791 $a Ph.D.
792 $a 2010
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