Optimal Path Planning for Robotic Insertion of Steerable Electrode Arrays in Cochlear Implant Surgery

2008 ◽  
Vol 3 (1) ◽  
Author(s):  
Jian Zhang ◽  
J. Thomas Roland ◽  
Spiros Manolidis ◽  
Nabil Simaan
Keyword(s):  
Path Planning ◽  
Cochlear Implant ◽  
Optimal Path ◽  
Electrode Array ◽  
Scala Tympani ◽  
Electrode Arrays ◽  
Insertion Force ◽  
Optimal Path Planning ◽  
Cochlear Implant Surgery ◽  
Electrode Insertion

This paper presents an optimal path planning method of steerable electrode arrays for robot-assisted cochlear implant surgery. In this paper, the authors present a novel design of steerable electrode arrays that can actively bend at the tip. An embedded strand in the electrode array provides an active steering degrees-of-freedom (DoF). This paper addresses the calibration of the steerable electrode array and the optimal path planning for inserting it into planar and three-dimensional scala tympani models. The goal of the path planning is to minimize the intracochlear forces that the electrode array applies on the walls of the scala tympani during insertion. This problem is solved by designing insertion path planning algorithms that provide best fit between the shape of the electrode array and the curved scala tympani during insertion. Optimality measures that account for shape discrepancies between the steerable electrode array and the scala tympani are used to solve for the optimal path planning of the robot. Different arrangements of DoF and insertion speed force feedback (ISFF) are simulated and experimentally validated in this paper. A quality of insertion metric describing the gap between the steerable electrode array and the scala tympani model is presented and its correspondence to the insertion force is shown. The results of using 1DoF, 2DoF, and 4DoF electrode array insertion setups are compared. The 1DoF insertion setup uses nonsteerable electrode arrays. The 2DoF insertion setup uses single axis insertion with steerable electrode arrays. The 4DoF insertion setup allows full control of the insertion depth and the approach angle of the electrode with respect to the cochlea while using steerable electrode arrays. It is shown that using steerable electrode arrays significantly reduces the maximal insertion force (59.6% or more) and effectively prevents buckling of the electrode array. The 4DoF insertion setup further reduces the maximal electrode insertion forces. The results of using ISFF for steerable electrodes show a slight decrease in the insertion forces in contrast to a slight increase for nonsteerable electrodes. These results show that further research is required in order to determine the optimal ISFF control law and its effectiveness in reducing electrode insertion forces.

scholarly journals Frictional Behavior of Cochlear Electrode Array Is Dictated by Insertion Speed and Impacts Insertion Force

2021 ◽  
Vol 11 (11) ◽  
pp. 5162
Author(s):  
Dana Dohr ◽  
Nicklas Fiedler ◽  
Wolfram Schmidt ◽  
Niels Grabow ◽  
Robert Mlynski ◽  
...  
Keyword(s):  
Friction Coefficient ◽  
Cochlear Implant ◽  
Electrode Array ◽  
Mechanical Trauma ◽  
Electrode Arrays ◽  
Friction Behavior ◽  
Insertion Force ◽  
Friction Coefficients ◽  
Electrode Insertion ◽  
The Impact

Background: During cochlear implantation, the electrode array has significant friction with the sensitive endocochlear lining and causes mutual mechanical trauma while the array is being inserted. Both, the impact of insertion speed on electrode friction and the relationship of electrode insertion force and friction have not been adequately investigated to date. Methods: In this study, friction coefficients between a CI electrode array (31.5 mm) and a tissue simulating the endocochlear lining have been acquired, depending on different insertion speeds (0.1, 0.5, 1.0, 1.5, and 2.0 mm/s). Additionally, the electrode insertion forces during the placing into a scala tympani model were recorded and correlated with the friction coefficient. Results: It was shown that the friction coefficient reached the lowest value at an insertion speed of 0.1 mm/s (0.24 ± 0.13), a maximum occurred at 1.5 mm/s (0.59 ± 0.12), and dropped again at 2 mm/s (0.45 ± 0.11). Similar patterns were observed for the insertion forces. Consequently, a high correlation coefficient (0.9) was obtained between the insertion forces and friction coefficients. Conclusion: The present study reveals a non-linear increase in electrode array friction, when insertion speed raises and reports a high correlation between friction coefficient and electrode insertion force. This dependence is a relevant future parameter to evaluate and reduce cochlear implant insertion trauma. Significance statement: Here, we demonstrated a dependence between cochlear electrode insertion speed and its friction behavior and a high correlation to insertion force. Our study provides valuable information for the evaluation and prevention of cochlear implant insertion trauma and supports the optimization of cochlear electrode arrays regarding friction characteristics.

scholarly journals The Importance of Intraoperative Plain Radiographs during Cochlear Implant Surgery in Patients with Normal Anatomy

2021 ◽  
Vol 11 (9) ◽  
pp. 4144
Author(s):  
Ohad Cohen ◽  
Jean-Yves Sichel ◽  
Chanan Shaul ◽  
Itay Chen ◽  
J. Thomas Roland ◽  
...  
Keyword(s):  
Cochlear Implant ◽  
Electrode Array ◽  
Cost Effective ◽  
X Rays ◽  
Normal Anatomy ◽  
Electrode Arrays ◽  
Plain Radiographs ◽  
Hearing Function ◽  
Tertiary Center ◽  
Cochlear Implant Surgery

Although malpositioning of the cochlear implant (CI) electrode array is rare in patients with normal anatomy, when occurring it may result in reduced hearing outcome. In addition to intraoperative electrophysiologic tests, imaging is an important modality to assess correct electrode array placement. The purpose of this report was to assess the incidence and describe cases in which intraoperative plain radiographs detected a malpositioned array. Intraoperative anti-Stenver’s view plain X-rays are conducted routinely in all CI surgeries in our tertiary center before awakening the patient and breaking the sterile field. Data of patients undergoing 399 CI surgeries were retrospectively analyzed. A total of 355 had normal inner ear and temporal bone anatomy. Patients with intra or extracochlear malpositioned electrode arrays demonstrated in the intraoperative X-ray were described. There were four cases of electrode array malposition out of 355 implantations with normal anatomy (1.1%): two tip fold-overs, one extracochlear placement and one partial insertion. All electrodes were reinserted immediately; repeated radiographs were normal and the patients achieved good hearing function. Intraoperative plain anti-Stenver’s view X-rays are valuable to confirm electrode array location, allowing correction before the conclusion of surgery. These radiographs are cheaper, faster, and emit much less radiation than other imaging options, making them a viable cost-effective tool in patients with normal anatomy.

scholarly journals Evaluation of Intracochlear Trauma Caused by Insertion of Cochlear Implant Electrode Arrays through Different Quadrants of the Round Window

2015 ◽  
Vol 2015 ◽  
pp. 1-9 ◽  
Author(s):  
Graziela de Souza Queiroz Martins ◽  
Rubens Vuono Brito Neto ◽  
Robinson Koji Tsuji ◽  
Eloisa Maria Mello Santiago Gebrim ◽  
Ricardo Ferreira Bento
Keyword(s):  
Cochlear Implant ◽  
Round Window ◽  
Electrode Array ◽  
Hearing Preservation ◽  
Round Window Membrane ◽  
Residual Hearing ◽  
Electrode Arrays ◽  
Minimal Trauma ◽  
Electrode Insertion ◽  
Temporal Bones

Hypothesis. This study aimed to evaluate whether there is a difference in the degree of intracochlear trauma when the cochlear implant electrode arrays is inserted through different quadrants of the round window membrane.Background. The benefits of residual hearing preservation in cochlear implant recipients have promoted the development of atraumatic surgeries. Minimal trauma during electrode insertion is crucial for residual hearing preservation.Methods. In total, 25 fresh human temporal bones were subjected to mastoidectomy and posterior tympanotomy. The cochlear implant electrode array was inserted through the anterosuperior quadrant of the round window membrane in 50% of the bones and through the anteroinferior quadrant in the remaining 50%. The temporal bones were dehydrated, embedded in epoxy, serially polished, stained, viewed through a stereomicroscope, and photographed with the electrode arraysin situ. The resulting images were analyzed for signs of intracochlear trauma.Results. Histological examinations revealed varying degrees of damage to the intracochlear structures, although the incidence and severity of intracochlear trauma were not influenced by the quadrant of insertion.Conclusions. The incidence and severity of intracochlear trauma were similar in all samples, irrespective of electrode array insertion through the anterosuperior or anteroinferior quadrant of the round window membrane.

Design of Underactuated Steerable Electrode Arrays for Optimal Insertions

2013 ◽  
Vol 5 (1) ◽  
Author(s):  
Jian Zhang ◽  
Nabil Simaan
Keyword(s):  
Path Planning ◽  
Minimum Energy ◽  
Electrode Array ◽  
Elastic Model ◽  
Robotic Assistance ◽  
Electrode Arrays ◽  
Continuum Robots ◽  
Cochlear Implant Surgery ◽  
Process Simulations ◽  
Insertion Process

This paper addresses the design of wire actuated steerable electrode arrays for optimal insertions in cochlear implant surgery. These underactuated electrode arrays are treated as continuum robots which have an embedded actuation strand inside their flexible medium. By pulling on the actuation strand, an electrode array assumes a minimum-energy shape. The problems of designing optimal actuation strand placement are addressed in this paper. Based on the elastic modeling of the steerable electrode arrays proposed in this paper, an analytical solution of the strand placement is solved to minimize the shape discrepancy between a bent electrode array and a given target curve defined by the anatomy. Using the solved strand placement inside the steerable electrode array, an optimized insertion path planning with robotic assistance is proposed to execute the insertion process. Later, an optimization algorithm is presented to minimize the shape discrepancy between an inserted electrode array and a given target curve during the whole insertion process. Simulations show a steerable electrode array bending using the elastic model and robot insertion path planning with optimized strand placement. Two experiments have been conducted to validate the elastic model and algorithms.

Optimal path generation in scala tympani and path planning for robotic cochlear implant of perimodiolar electrode

2020 ◽  
Vol 234 (6) ◽  
pp. 578-589
Author(s):  
Zuo Wang ◽  
Jianjun Li ◽  
Yongzhen Wu ◽  
Ruifeng Zhu ◽  
Binrui Wang ◽  
...  
Keyword(s):  
Path Planning ◽  
Cochlear Implant ◽  
Cross Sections ◽  
Interpolation Method ◽  
Spline Interpolation ◽  
Optimal Path ◽  
Path Generation ◽  
Scala Tympani ◽  
Micro Computed Tomography ◽  
Computed Tomography Images

In this study, a new idea of the optimal path generation method was proposed and a path planning strategy for robotic cochlear implant of perimodiolar electrode was designed. The centerline of scala tympani channel was taken as the optimal implant path of the perimodiolar electrode, which aimed to reduce the damage of the electrode to the cochlea during implantation. First, the three-dimensional cochlear model was reconstructed based on the micro-computed tomography images of cochlea, and it was re-segmented to obtain the cross sections of the scala tympani at different angles. Then, the image processing method was used to determine the central point of the scala tympani cross sections. The cubic B-spline interpolation method was used to fit these discrete central points to generate the optimal path. Finally, the coordinate information of the optimal path was combined with the stylet extraction state of perimodiolar electrode to conduct the path planning for robotic cochlear implant, and the result was sent to the robot for kinematic inverse solution to obtain the robot motion trajectory. The robotic cochlear implant experiment was performed with the model of scala tympani. The results showed that the maximum implant force based on path planning was 0.084 N, and the maximum implant force without path planning was 0.134 N. The optimal path generation and the path planning method effectively help to reduce the damage of the electrode to the cochlea.

Preservation of residual hearing following cochlear implantation: comparison between three surgical techniques

2007 ◽  
Vol 122 (3) ◽  
pp. 246-252 ◽  
Author(s):  
S Berrettini ◽  
F Forli ◽  
S Passetti
Keyword(s):  
Cochlear Implant ◽  
Cochlear Implantation ◽  
Surgical Techniques ◽  
Electrode Array ◽  
Lateral Wall ◽  
Hearing Preservation ◽  
Acoustic Stimulation ◽  
Residual Hearing ◽  
Electrode Arrays ◽  
Electrode Insertion

AbstractThe preservation of residual hearing is becoming a high priority in cochlear implant surgery. It allows better speech understanding and ensures long-lasting and stable performance; it also allows the possibility, in selected cases, of combining electro-acoustic stimulation in the same ear.We present the results of a retrospective study of the conservation of residual hearing in three different groups of patients who had undergone cochlear implantation using three different cochlear implant electrode arrays, combined with three different surgical techniques for the cochleostomy. The study aimed to evaluate which approach allowed greater preservation of residual hearing.The best residual hearing preservation results (i.e. preservation in 81.8 per cent of patients) were achieved with the Contour Advance electrode array, using the Advance Off-Stylet technique and performing a modified anterior inferior cochleostomy; this combination enabled reduced trauma to the lateral wall of the cochlea during electrode insertion.

scholarly journals Refined Surgical Technique for Insertion of Banded Electrode Array

1987 ◽  
Vol 96 (1_suppl) ◽  
pp. 15-17 ◽  
Author(s):  
B. K-H. G. Franz ◽  
G. M. Clark
Keyword(s):  
Surgical Technique ◽  
Cochlear Implant ◽  
Round Window ◽  
Electrode Array ◽  
Scala Tympani ◽  
Insertion Technique ◽  
Electrode Insertion ◽  
The Right

A refined electrode insertion technique is presented for the multichannel cochlear implant. It comprises two basic steps. The first step is the removal of the anteroinferior overhang of the round window and crista fenestrae, or alternatively an opening drilled into the scala tympani anteroinferior to the round window. The second is rotation of the electrode during insertion, counterclockwise in the right ear and clockwise in the left ear.

scholarly journals Cochlear Size Assessment Predicts Scala Tympani Volume and Electrode Insertion Force- Implications in Robotic Assisted Cochlear Implant Surgery

2021 ◽  
Vol 8 ◽  
Author(s):  
Anandhan Dhanasingh ◽  
Chloe Swords ◽  
Manohar Bance ◽  
Vincent Van Rompaey ◽  
Paul Van de Heyning
Keyword(s):  
Cochlear Implant ◽  
B Value ◽  
Scala Tympani ◽  
Insertion Force ◽  
B Values ◽  
Robotic Assisted ◽  
A Value ◽  
Straight Portion ◽  
The Mean ◽  
Electrode Insertion

Objectives: The primary aim was to measure the volume of the scala tympani (ST) and the length of the straight portion of the cochlear basal turn from micro-computed tomography (μCT) images. The secondary aim was to estimate the electrode insertion force based on cochlear size and insertion speed. Both of these objectives have a direct clinical relevance in robotic assisted cochlear implant (CI) surgery.Methods: The ST was segmented in thirty μCT datasets to create a three-dimensional (3D) model and calculate the ST volume. The diameter (A-value), the width (B-value), and the straight portion of the cochlear basal turn (S-value) were measured from the oblique coronal plane. Electrode insertion force was measured in ST models of two different sizes, by inserting FLEX24 (24 mm) and FLEX28 (28 mm) electrode arrays at five different speeds (0.1, 0.5, 1, 2, and 4 mm/s).Results: The mean A-, B-, and S-values measured from the 30 μCT datasets were 9.0 ± 0.5, 6.7 ± 0.4, and 6.9 mm ± 0.5, respectively. The mean ST volume was 34.2 μl ± 7 (range 23–50 μl). The ST volume increased linearly with an increase in A- and B-values (Pearson's coefficient r = 0.55 and 0.56, respectively). The A-value exhibited linear positive correlation with the B-value and S-value (Pearson's coefficient r = 0.64 and r = 0.66, respectively). In the smaller of the two ST models, insertion forces were higher across the range of insertion speeds during both array insertions, when compared to the upscaled model. Before the maximum electrode insertion depths, a trend toward lower insertion force for lower insertion speed and vice-versa was observed.Conclusion: It is important to determine pre-operative cochlear size as this seems to have an effect upon electrode insertion forces. Higher insertion forces were seen in a smaller sized ST model across two electrode array lengths, as compared to an upscaled larger model. The ST volume, which cannot be visualized on clinical CT, correlates with clinical cochlear parameters. This enabled the creation of an equation capable of predicting ST volume utilizing A- and B-values, thus enabling pre-operative prediction of ST volume.

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