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Micro-Robotic Cholesteatoma Surgery : clinical requirements analysis and image-based control under constraints

Abstract : A disease called cholesteatoma affects the middle ear, in the absence of treatment, it could lead to serious complications. The only treatment in current medical practice is a surgical procedure. Incidences of residual or recurrent cholesteatoma are high and the patient may have more than one surgical procedure. Therefore, a novel robotic system was proposed to eliminate the incidence of residual cholesteatoma by removing efficiently all infected cells from the first surgery, and make a less invasive surgery. Thus, this manuscript shows the different challenges that face the surgeon through such a micro-procedure. It also is specified the requirements for achieving a futuristic system dedicated to cholesteatoma surgery. In addition, a controller is proposed as a first step toward the ideal system. Such a controller allows to guide a rigid surgical tool for following a reference path under the constraints of the incision hole. The proposed controller can guide either a straight tool or a curved one. Indeed, the proposed controller is a high level control which is formulated in the task-space (or Cartesian-space). This controller is a modular layer which can be added to different robotics structures. The proposed controller showed a good results in term of accuracy while assessed on a parallel robot and a serial one.
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Submitted on : Monday, August 27, 2018 - 4:09:07 PM
Last modification on : Wednesday, October 14, 2020 - 4:02:54 AM
Long-term archiving on: : Wednesday, November 28, 2018 - 3:19:22 PM


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  • HAL Id : tel-01862715, version 1


Bassem Dahroug. Micro-Robotic Cholesteatoma Surgery : clinical requirements analysis and image-based control under constraints. Automatic. Université Bourgogne Franche-Comté, 2018. English. ⟨NNT : 2018UBFCD016⟩. ⟨tel-01862715⟩



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