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 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 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 Individual Optimization of the Insertion of a Preformed Cochlear Implant Electrode Array

2015 ◽  
Vol 2015 ◽  
pp. 1-22 ◽  
Author(s):  
Thomas S. Rau ◽  
Thomas Lenarz ◽  
Omid Majdani
Keyword(s):  
Cochlear Implant ◽  
Rating Scale ◽  
Electrode Array ◽  
Anatomical Variations ◽  
Patient Specific ◽  
Electrode Arrays ◽  
Insertion Technique ◽  
Custom Made ◽  
Specific Shape ◽  
Insertion Process

Purpose. The aim of this study was to show that individual adjustment of the curling behaviour of a preformed cochlear implant (CI) electrode array to the patient-specific shape of the cochlea can improve the insertion process in terms of reduced risk of insertion trauma.Methods. Geometry and curling behaviour of preformed, commercially available electrode arrays were modelled. Additionally, the anatomy of each small, medium-sized, and large human cochlea was modelled to consider anatomical variations. Finally, using a custom-made simulation tool, three different insertion strategies (conventional Advanced Off-Stylet (AOS) insertion technique, an automated implementation of the AOS technique, and a manually optimized insertion process) were simulated and compared with respect to the risk of insertion-related trauma. The risk of trauma was evaluated using a newly developed “trauma risk” rating scale.Results. Using this simulation-based approach, it was shown that an individually optimized insertion procedure is advantageous compared with the AOS insertion technique.Conclusion. This finding leads to the conclusion that, in general, consideration of the specific curling behaviour of a CI electrode array is beneficial in terms of less traumatic insertion. Therefore, these results highlight an entirely novel aspect of clinical application of preformed perimodiolar electrode arrays in general.

scholarly journals A simple tool to automate the insertion process in cochlear implant surgery

2020 ◽  
Vol 15 (11) ◽  
pp. 1931-1939
Author(s):  
Thomas S. Rau ◽  
M. Geraldine Zuniga ◽  
Rolf Salcher ◽  
Thomas Lenarz
Keyword(s):  
Cochlear Implant ◽  
Infusion Pump ◽  
Electrode Arrays ◽  
Forward Motion ◽  
Implant Surgery ◽  
Simple Tool ◽  
Cochlear Implant Surgery ◽  
Slow Velocity ◽  
Insertion Tool ◽  
Insertion Process

Abstract Purpose Automated insertion of electrode arrays (EA) in cochlear implant surgery is presumed to be less traumatic than manual insertions, but no tool is widely available in the operating room. We sought (1) to design and create a simple tool able to automate the EA insertion process; and (2) to perform preliminary evaluations of the designed prototype. Methods A first prototype of a tool with maximum simplicity was designed and fabricated to take advantage of hydraulic actuation. The prototype facilitates automated forward motion using a syringe connected to an infusion pump. Initial prototype evaluation included: (1) testing of forward motion at different velocities (2) EA insertion trials into an artificial cochlear model with force recordings, and (3) evaluation of device handling, fixation and positioning using cadaver head specimens and a surgical retractor. Alignment of the tool was explored with CT imaging. Results In this initial phase, the prototype demonstrated easy assembly and ability to respond to hydraulic actuation driven by an infusion pump at different velocities. EA insertions at an ultra-slow velocity of 0.03 mm/s revealed smooth force profiles with mean maximum force of 0.060 N ± 0.007 N. Device positioning with an appropriate insertion axis into the cochlea was deemed feasible and easy to achieve. Conclusions Initial testing of our hydraulic insertion tool did not reveal any serious complications that contradict the initially defined design specifications. Further meticulous testing is needed to determine the safety of the device, its reliability and clinical applicability.

Precise Alignment of Micromachined Electrode Arrays With V1 Functional Maps

2007 ◽  
Vol 97 (5) ◽  
pp. 3781-3789 ◽  
Author(s):  
Ian Nauhaus ◽  
Dario L. Ringach
Keyword(s):  
Receptive Field ◽  
Electrode Array ◽  
Theoretical Models ◽  
Orientation Tuning ◽  
Feedback Signal ◽  
Electrode Arrays ◽  
Tuning Curves ◽  
Alignment Procedure ◽  
Receptive Field Properties ◽  
Orientation Maps

Recent theoretical models of primary visual cortex predict a relationship between receptive field properties and the location of the neuron within the orientation maps. Testing these predictions requires the development of new methods that allow the recording of single units at various locations across the orientation map. Here we present a novel technique for the precise alignment of functional maps and array recordings. Our strategy consists of first measuring the orientation maps in V1 using intrinsic optical imaging. A micromachined electrode array is subsequently implanted in the same patch of cortex for electrophysiological recordings, including the measurement of orientation tuning curves. The location of the array within the map is obtained by finding the position that maximizes the agreement between the preferred orientations measured electrically and optically. Experimental results of the alignment procedure from two implementations in monkey V1 are presented. The estimated accuracy of the procedure is evaluated using computer simulations. The methodology should prove useful in studying how signals from the local neighborhood of a neuron, thought to provide a dominant feedback signal, shape the receptive field properties in V1.

scholarly journals Design and development of a multichannel potentiometer for monitoring an electrode array and its application in flow analysis

2002 ◽  
Vol 24 (4) ◽  
pp. 105-110 ◽  
Author(s):  
Jarbas J. R. Rohwedder ◽  
Celio Pasquini ◽  
Ivo M. Raimundo, Jr. ◽  
M. Conceiçao ◽  
B. S. M. Montenegro ◽  
...  
Keyword(s):  
Standard Deviation ◽  
Flow Analysis ◽  
Reference Electrode ◽  
Electrode Array ◽  
Ion Selective Electrodes ◽  
Electrode Arrays ◽  
Figures Of Merit ◽  
Flow Through ◽  
The Individual ◽  
Intense Signal

A versatile potentiometer that works with electrode arrays in flow injection and/or monosegmented flow systems is described. The potentiometer is controlled by a microcomputer that allows individual, sequential multiplexed or random accesses to eight electrodes while employing only one reference electrode. The instrument was demonstrated by monitoring an array of seven flow-through ion-selective electrodes for Ag+and for three electrodes for Cl-, Ca2+and K+. The figures of merit of the individual and multiplexed (summed) readings of the electrode array were compared. The absolute standard deviation of the measurements made by summing the potential of two or more electrodes was maintained constant, thus improving the precision of the measurements. This result shows that an attempt to combine the signals of the electrodes to produce a more intense signal in the Hadamard strategy is feasible and accompanied by a proportional improvement in the precision of individual measurements. The preliminary tests suggest that the system can allow for 270 determinations per hour, with a linear range from1.0×10−2to1.0×10−4mol l-1for the three di¡erent analytes. Detection limits were estimated as3.1×10−5,3.0×10−6and1.0×10−5mol l-1for Cl-, Ca2+and K+, respectively.

Preservation of Residual Hearing After Cochlear Implant Surgery With Deep Insertion Electrode Arrays

2019 ◽  
Vol 40 (4) ◽  
pp. e373-e380 ◽  
Author(s):  
Cristina Sierra ◽  
Manuela Calderón ◽  
Eduardo Bárcena ◽  
Alexandra Tisaire ◽  
Eduardo Raboso
Keyword(s):  
Cochlear Implant ◽  
Residual Hearing ◽  
Electrode Arrays ◽  
Implant Surgery ◽  
Deep Insertion ◽  
Cochlear Implant Surgery

scholarly journals CRSP, numerical results for an electrical resistivity array to detect underground cavities

2017 ◽  
Vol 9 (1) ◽  
Author(s):  
Amin Amini ◽  
Hamidreza Ramazi
Keyword(s):  
Electrical Resistivity ◽  
Geophysical Methods ◽  
Electrode Array ◽  
Electrode Configuration ◽  
Electrode Arrays ◽  
Wide Range ◽  
Underground Cavities ◽  
Conventional Electrode

AbstractThis paper is devoted to the application of the Combined Resistivity Sounding and Profiling electrode configuration (CRSP) to detect underground cavities. Electrical resistivity surveying is among the most favorite geophysical methods due to its nondestructive and economical properties in a wide range of geosciences. Several types of the electrode arrays are applied to detect different certain objectives. In one hand, the electrode array plays an important role in determination of output resolution and depth of investigations in all resistivity surveys. On the other hand, they have their own merits and demerits in terms of depth of investigations, signal strength, and sensitivity to resistivity variations. In this article several synthetic models, simulating different conditions of cavity occurrence, were used to examine the responses of some conventional electrode arrays and also CRSP array. The results showed that CRSP electrode configuration can detect the desired objectives with a higher resolution rather than some other types of arrays. Also a field case study was discussed in which electrical resistivity approach was conducted in Abshenasan expressway (Tehran, Iran) U-turn bridge site for detecting potential cavities and/or filling loose materials. The results led to detect an aqueduct tunnel passing beneath the study area.

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