K. Abdala, C. Abdala, and D. H. Keefe, Morphological and Functional Ear Development, Human Auditory Development, pp.19-59, 2012.
DOI : 10.1007/978-1-4614-1421-6_2

. Aghakhani, Task control with remote center of motion constraint for minimally invasive robotic surgery, 2013 IEEE International Conference on Robotics and Automation, pp.5807-5812, 2013.
DOI : 10.1109/ICRA.2013.6631412

C. M. Alper, Advanced therapy in otitis media, p.27, 2004.

. Ansó, Feasibility of Using EMG for Early Detection of the Facial Nerve During Robotic Direct Cochlear Access, Otology & Neurotology, vol.35, issue.3, pp.545-554, 2014.
DOI : 10.1097/MAO.0000000000000187

. Aquino, Epidemiology of middle ear and mastoid cholesteatomas: study of 1146 cases, Brazilian Journal of Otorhinolaryngology, vol.77, issue.3, pp.341-347, 2011.
DOI : 10.1590/S1808-86942011000300012

. Awad, Applications of ultrasound in analysis, processing and quality control of food: A review, Food Research International, vol.48, issue.2, pp.410-427, 2012.
DOI : 10.1016/j.foodres.2012.05.004

. Ayache, Otoendoscopy in Cholesteatoma Surgery of the Middle Ear, Otology & Neurotology, vol.29, issue.8, pp.291085-1090, 2008.
DOI : 10.1097/MAO.0b013e318188e8d7

. Azimian, On constrained manipulation in robotics-assisted minimally invasive surgery, 2010 3rd IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, pp.650-655, 2010.
DOI : 10.1109/BIOROB.2010.5627985

. Azizian, , 2014.

, Visual servoing in medical robotics: a survey. part i: endoscopic and direct vision imaging?techniques and applications, The International Journal of Medical Robotics and Computer Assisted Surgery, vol.10, issue.3, pp.263-274

, Value of ear endoscopy in cholesteatoma surgery, Otology & neurotology, vol.23, issue.5, pp.631-635, 2002.

. Badr-el-dine, Instrumentation and Technologies in Endoscopic Ear Surgery, Otolaryngologic Clinics of North America, vol.46, issue.2, pp.211-225, 2013.
DOI : 10.1016/j.otc.2012.10.005

. Barbé, In Vivo Model Estimation and Haptic Characterization of Needle Insertions, The International Journal of Robotics Research, vol.4, issue.1, pp.11-121283, 2007.
DOI : 10.1016/0957-4158(96)00004-9

. Baron, Percutaneous inner-ear access via an image-guided industrial robot system, Proceedings of the Institution of Mechanical Engineers, pp.633-649, 2010.
DOI : 10.1145/325165.325242

. Bell, In Vitro Accuracy Evaluation of Image-Guided Robot System for Direct Cochlear Access, Otology & Neurotology, vol.34, issue.7, pp.341284-1290, 2013.
DOI : 10.1097/MAO.0b013e31829561b6

. Bell, A self-developed and constructed robot for minimally invasive cochlear implantation, Acta Oto-Laryngologica, vol.1, issue.4, pp.355-360, 2012.
DOI : 10.1097/mao.0b013e318157f7d8

D. P. Bertsekas, Nonlinear programming, Athena scientific Belmont, vol.100, p.101, 1999.

. Bettini, Vision-Assisted Control for Manipulation Using Virtual Fixtures, IEEE Transactions on Robotics, vol.20, issue.6, pp.953-966, 2004.
DOI : 10.1109/TRO.2004.829483

. Boctor, Virtual remote center of motion control for needle placement robots, Computer Aided Surgery, vol.9, issue.68, pp.175-183, 2004.
URL : https://hal.archives-ouvertes.fr/inria-00590169

A. Bolopion, S. Régnier, and . Bordure, A Review of Haptic Feedback Teleoperation Systems for Micromanipulation and Microassembly, Otite chronique cholestéatomateuse. aspects cliniques et thérapeutiques, pp.496-502, 2009.
DOI : 10.1109/TASE.2013.2245122
URL : https://hal.archives-ouvertes.fr/hal-00841740

. Bordure, Chirurgie otologique et otoneurologique, p.26, 2005.

. Bowyer, Active Constraints/Virtual Fixtures: A Survey, IEEE Transactions on Robotics, vol.30, issue.1, pp.138-157, 2014.
DOI : 10.1109/TRO.2013.2283410

. Bradley, High-Resolution Microendoscope Images of Middle Ear Cholesteatoma and Surrounding Tissue, Otolaryngology-Head and Neck Surgery, vol.22, issue.4, pp.100-124, 2013.
DOI : 10.1158/1940-6207.CAPR-12-0221

. Brett, An Automatic Technique for Micro-Drilling a Stapedotomy in the Flexible Stapes Footplate, Proceedings of the Institution of Mechanical Engineers, pp.255-262, 1995.
DOI : 10.1109/10.1354

. Brett, A surgical robot for cochleostomy, 2007 29th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, pp.1229-1232, 2007.
DOI : 10.1109/IEMBS.2007.4352519

. Brezinski, , 1997.

, Assessing atherosclerotic plaque morphology: comparison of optical coherence tomography and high frequency intravascular ultrasound, Heart, vol.77, issue.5, pp.397-403

. Brown, High-Frequency Ex vivo Ultrasound Imaging of the Auditory System, Ultrasound in Medicine & Biology, vol.35, issue.11, pp.351899-1907, 2009.
DOI : 10.1016/j.ultrasmedbio.2009.05.021

. Budenz, Determinants of Normal Retinal Nerve Fiber Layer Thickness Measured by Stratus OCT, Ophthalmology, vol.114, issue.6, pp.1141046-1052, 2007.
DOI : 10.1016/j.ophtha.2006.08.046

. Burgner, On the computational design of concentric tube robots: Incorporating volume-based objectives, 2013 IEEE International Conference on Robotics and Automation, pp.1193-1198, 2013.
DOI : 10.1109/ICRA.2013.6630723

. Burgner, A bimanual teleoperated system for endonasal skull base surgery, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.2517-2523, 2011.
DOI : 10.1109/IROS.2011.6094722

. Burgner-kahrs, Continuum Robots for Medical Applications: A Survey, IEEE Transactions on Robotics, vol.31, issue.6, pp.311261-1280, 2015.
DOI : 10.1109/TRO.2015.2489500

. Burkhardt, Endoscopic optical coherence tomography device for forward imaging with broad field of view, Journal of Biomedical Optics, vol.17, issue.7, pp.17071302-071302, 2012.
DOI : 10.1117/1.3076198

. Caffier, Laser-assisted cholesteatoma surgery: technical aspects, in vitro implementation and challenge of selective cell destruction, European Archives of Oto-Rhino-Laryngology, vol.107, issue.Suppl I, pp.2651179-1188, 2008.
DOI : 10.1177/000348947708600405

. Camarillo, Mechanics Modeling of Tendon-Driven Continuum Manipulators, IEEE Transactions on Robotics, vol.24, issue.6, pp.1262-1273, 2008.
DOI : 10.1109/TRO.2008.2002311

. Carmena, Learning to Control a Brain???Machine Interface for Reaching and Grasping by Primates, PLoS Biology, vol.20, issue.2, pp.42-82, 2003.
DOI : 10.1371/journal.pbio.0000042.g006

M. P. Carmo, Differential geometry of curves and surfaces, p.123, 1976.

. Carpi, . Pappone, F. Carpi, and C. Pappone, magnetic navigation system for endocardial catheter ablation and gastrointestinal capsule endoscopy, Expert Review of Medical Devices, vol.62, issue.5, pp.487-498, 2009.
DOI : 10.1016/j.biopha.2008.07.057

. Chaumette, F. Hutchinson-]-chaumette, and S. Hutchinson, Visual servo control. I. Basic approaches, IEEE Robotics &amp; Automation Magazine, vol.13, issue.4, pp.82-90, 2006.
DOI : 10.1109/MRA.2006.250573
URL : https://hal.archives-ouvertes.fr/inria-00350638

C. , Sensor-based guidance control of a continuum robot for a semi-autonomous colonoscopy, Robotics and autonomous systems, vol.57, issue.6, pp.712-722, 2008.

. Chiaverini, . Sciavicco, S. Chiaverini, and L. Sciavicco, The parallel approach to force/position control of robotic manipulators, IEEE Transactions on Robotics and Automation, vol.9, issue.4, pp.361-373, 1993.
DOI : 10.1109/70.246048

, Nouveaux concepts de robots à tubes concentriques à micro-actionneurs à base de polymères électro-actifs, p.57, 2016.

D. Schutter, V. Brussel-]-de-schutter, J. Van-brussel, and H. , Compliant Robot Motion II. A Control Approach Based on External Control Loops, The International Journal of Robotics Research, vol.7, issue.4, pp.18-33, 1988.
DOI : 10.1109/T-C.1975.224333

D. Volder, . Reynaerts, M. De-volder, and D. Reynaerts, Pneumatic and hydraulic microactuators: a review, Journal of Micromechanics and Microengineering, vol.20, issue.4, pp.43001-57, 2010.
DOI : 10.1088/0960-1317/20/4/043001

. Dementhon, D. F. Davis-]-dementhon, and L. S. Davis, Model-based object pose in 25 lines of code, International Journal of Computer Vision, vol.5, issue.1-2, pp.123-141, 1995.
DOI : 10.1007/BF01450852

. Dillon, Preliminary testing of a compact bone-attached robot for otologic surgery, SPIE Medical Imaging, volume 9036. International Society for Optics and Photonics. vii, pp.47-62, 2014.

. Djalilian, Imaging the human tympanic membrane using optical coherence tomography in vivo. Otology & neurotology: official publication of the American Otological Society, American Neurotology Society [and] European Academy of Otology and Neurotology, issue.8, pp.291091-1094, 2008.

. Djalilian, Optical coherence tomography of cholesteatoma. Otology & neurotology: official publication of the American Otological Society, American Neurotology Society [and] European Academy of Otology and Neurotology, vol.25, issue.6, pp.31932-935, 2010.

. Djurhuus, Decreasing incidence rate for surgically treated middle ear cholesteatoma in denmark, Dan Med Bull, issue.10, pp.57-4186, 1977.

. Djurhuus, Cholesteatoma in Danish children ??? A national study of changes in the incidence rate over 34 years, International Journal of Pediatric Otorhinolaryngology, vol.79, issue.2, pp.79127-130, 2015.
DOI : 10.1016/j.ijporl.2014.11.020

. Dogangil, A review of medical robotics for minimally invasive soft tissue surgery, Proceedings of the Institution of Mechanical Engineers, pp.653-679, 2009.
DOI : 10.1109/TRA.2003.817058

N. Dong, L. Dong, and B. J. Nelson, Tutorial - Robotics in the small Part II: Nanorobotics, IEEE Robotics & Automation Magazine, vol.14, issue.3, pp.111-121, 2007.
DOI : 10.1109/MRA.2007.905335

. Donoghue, Assistive technology and robotic control using motor cortex ensemble-based neural interface systems in humans with tetraplegia, The Journal of Physiology, vol.120, issue.Suppl., pp.603-611, 2007.
DOI : 10.1093/brain/120.1.141

. Dupont, Design and Control of Concentric-Tube Robots, IEEE Transactions on Robotics, vol.26, issue.2, pp.209-225, 2010.
DOI : 10.1109/TRO.2009.2035740

. Entsfellner, Development of universal gripping adapters: Sterile coupling of medical devices and robots using robotic fingers, 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, pp.1464-1469, 2013.
DOI : 10.1109/AIM.2013.6584301

P. Faraz, A. Faraz, and S. Payandeh, Synthesis and Workspace Study of Endoscopic Extenders With Flexible Stem, Journal of Mechanical Design, vol.2, issue.3, pp.412-414, 1997.
DOI : 10.1162/pres.1993.2.1.66

. Fei, The safety issues of medical robotics, Reliability Engineering & System Safety, vol.73, issue.2, pp.183-192, 2001.
DOI : 10.1016/S0951-8320(01)00037-0

. Fenster, Three-dimensional ultrasound imaging, Physics in Medicine and Biology, vol.46, issue.5, pp.67-90, 2001.
DOI : 10.1088/0031-9155/46/5/201

A. F. Fercher, Optical coherence tomography, Journal of Biomedical Optics, vol.1, issue.2, pp.157-173, 1996.
DOI : 10.1117/12.231361

. Fercher, Optical coherence tomography - principles and applications, Reports on Progress in Physics, vol.66, issue.2, pp.239-263, 2003.
DOI : 10.1088/0034-4885/66/2/204

. Fichera, Through the Eustachian Tube and Beyond: A New Miniature Robotic Endoscope to See Into the Middle Ear, IEEE Robotics and Automation Letters, vol.2, issue.3, pp.1488-1494, 2017.
DOI : 10.1109/LRA.2017.2668468

. Fiedler, Middle Ear Surgery in Thuringia, Germany, Otology & Neurotology, vol.34, issue.5, pp.890-897, 2013.
DOI : 10.1097/MAO.0b013e318280dc55

. Flacco, Control of Redundant Robots Under Hard Joint Constraints: Saturation in the Null Space, IEEE Transactions on Robotics, vol.31, issue.3, pp.31637-654, 2015.
DOI : 10.1109/TRO.2015.2418582

. Fleming, Cooperative Robot Assistant for Retinal Microsurgery, International conference on medical image computing and computerassisted intervention, pp.543-550, 2008.
DOI : 10.1097/00006982-200406000-00014
URL : https://link.springer.com/content/pdf/10.1007%2F978-3-540-85990-1_65.pdf

. Frickmann, . Zautner, H. Frickmann, and A. E. Zautner, , 2012.

, Cholesteatoma? a potential consequence of chronic middle ear inflammation, Otolaryngology, vol.5, issue.1, p.22

. Funda, Constrained Cartesian motion control for teleoperated surgical robots, IEEE Transactions on Robotics and Automation, vol.12, issue.3, pp.453-465, 1996.
DOI : 10.1109/70.499826

. Gasparetto, Path Planning and Trajectory Planning Algorithms: A General Overview, Motion and Operation Planning of Robotic Systems, pp.3-27, 2015.
DOI : 10.1007/978-3-319-14705-5_1

. Gerber, Surgical planning tool for robotically assisted hearing aid implantation, International Journal of Computer Assisted Radiology and Surgery, vol.60, issue.4, pp.11-20, 2014.
DOI : 10.1109/TBME.2012.2235439

. Gilbert, Concentric Tube Robots: The State of the Art and Future Directions, Robotics Research, pp.253-269, 2016.
DOI : 10.1007/978-3-319-28872-7_15

. Gora, Endoscopic optical coherence tomography: technologies and clinical applications [Invited], Biomedical Optics Express, vol.8, issue.5, pp.2405-2444, 2017.
DOI : 10.1364/BOE.8.002405

. Gosline, Metal MEMS tools for beating-heart tissue removal, 2012 IEEE International Conference on Robotics and Automation, pp.1921-1926, 2012.
DOI : 10.1109/ICRA.2012.6225210

H. Gray, Anatomy of the human body. Lea & Febiger, 1918.

M. C. , Task-space motion planning of mri-actuated catheters for catheter ablation of atrial fibrillation, Intelligent Robots and Systems 2014 IEEE/RSJ International Conference on, pp.3476-3482, 2014.

. Gu, , 2016.

G. T. Haar and C. Coussios, Modeling and control of piezo-actuated nanopositioning stages: a survey High intensity focused ultrasound: physical principles and devices, IEEE Transactions on Automation Science and Engineering International Journal of Hyperthermia, vol.13, issue.232, pp.313-33289, 2007.

J. W. Hamilton, Efficacy of the KTP Laser in the Treatment of Middle Ear Cholesteatoma, Otology & Neurotology, vol.26, issue.2, pp.135-139, 2005.
DOI : 10.1097/00129492-200503000-00001

. Hanafusa, Analysis and Control of Articulated Robot Arms with Redundancy, IFAC Proceedings Volumes, pp.1927-1932, 1981.
DOI : 10.1016/S1474-6670(17)63754-6

. Hanna, Minimally invasive functional approach for cholesteatoma surgery. The Laryngoscope, pp.1242386-2392, 2014.

. He, IRIS: Integrated Robotic Intraocular Snake, 2015 IEEE International Conference on Robotics and Automation (ICRA), pp.1764-1769, 2015.
DOI : 10.1109/ICRA.2015.7139426

. Heermann, Erste Anwendungen der optischen Koh??renztomographie (OCT) in der Mittelohrchirurgie, Laryngo-Rhino-Otologie, vol.81, issue.06, pp.400-405, 2002.
DOI : 10.1055/s-2002-32213

S. Hildmann, H. Hildmann, and H. Sudhoff, Middle ear surgery, pp.26-28, 2006.

L. Hogben, Handbook of linear algebra, p.76, 2006.
DOI : 10.1201/9781420010572

M. Howe, R. D. Howe, and Y. Matsuoka, Robotics for Surgery, Annual Review of Biomedical Engineering, vol.1, issue.1, pp.211-240, 1999.
DOI : 10.1146/annurev.bioeng.1.1.211

. Hussong, Conception and design of an automated insertion tool for cochlear implants, 2008 30th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, pp.5593-5596, 2008.
DOI : 10.1109/IEMBS.2008.4650482

. Hutchinson, A tutorial on visual servo control, IEEE Transactions on Robotics and Automation, vol.12, issue.5, pp.651-670, 1996.
DOI : 10.1109/70.538972

I. , Microsurgical robotic system for vitreoretinal surgery, International journal of computer assisted radiology and surgery, vol.7, issue.38, pp.27-34, 2012.

. Ikuta, Multidegree of freedom hydraulic pressure driven safety active catheter, IEEE International Conference on Robotics and Automation, pp.4161-4166, 2006.

. Jang, , 2002.

, Visualization of coronary atherosclerotic plaques in patients using optical coherence tomography: comparison with intravascular ultrasound, Journal of the American College of Cardiology, vol.39, issue.4, pp.604-609

. Jani, A review of shape memory alloy research, applications and opportunities, Materials & Design (1980-2015), vol.56, pp.1078-1113, 2014.
DOI : 10.1016/j.matdes.2013.11.084

. Kanoun, Kinematic Control of Redundant Manipulators: Generalizing the Task-Priority Framework to Inequality Task, IEEE Transactions on Robotics, vol.27, issue.4, pp.785-792, 2011.
DOI : 10.1109/TRO.2011.2142450
URL : https://hal.archives-ouvertes.fr/hal-00486755

. Kapoor, Constrained control for surgical assistant robots, Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006., pp.231-236, 2006.
DOI : 10.1109/ROBOT.2006.1641189

. Karhuketo, Visualization of the middle ear with high resolution computed tomography and superfine fiberoptic videomicroendoscopy. European archives of otorhino-laryngology, pp.277-280, 1988.

H. Kazerooni, On the Robot Compliant Motion Control, Journal of Dynamic Systems, Measurement, and Control, vol.111, issue.3, pp.416-425, 1989.
DOI : 10.1115/1.3153070

. Kemppainen, Epidemiology and aetiology of middle ear cholesteatoma, Acta oto-laryngologica, vol.119, issue.5, pp.568-572, 1999.

. Kettenbach, Ultrasound-, CT- and MR-Guided Robot-Assisted Interventions, Image Processing in Radiology, pp.393-409, 2008.
DOI : 10.1007/978-3-540-49830-8_28

H. K. Khalil, Lyapunov Stability, The control handbook, chapter 56, pp.889-894, 1996.
DOI : 10.1201/b10384-51

D. Khalil, W. Khalil, and E. Dombre, Modelisation, identification and control of robots, p.38, 2002.
URL : https://hal.archives-ouvertes.fr/lirmm-00268633

. Kim, Toward a solution to the snapping problem in a concentric-tube continuum robot: Grooved tubes with anisotropy New strategies for high precision surgery of the temporal bone using a robotic approach for cochlear implantation, IEEE International Conference on Robotics and Automation (ICRA), pp.5871-5876955, 2009.

. Korb, Risk analysis and safety assessment in surgical robotics: A case study on a biopsy robot, Minimally Invasive Therapy & Allied Technologies, vol.54, issue.1, pp.23-31, 2005.
DOI : 10.1016/S0951-8320(96)00091-9

. Kösling, . Bootz, S. Kösling, and F. Bootz, CT and MR imaging after middle ear surgery, European Journal of Radiology, vol.40, issue.2, pp.113-118, 2001.
DOI : 10.1016/S0720-048X(01)00379-5

. Kratchman, Design of a Bone-Attached Parallel Robot for Percutaneous Cochlear Implantation, IEEE Transactions on Biomedical Engineering, vol.58, issue.10, pp.582904-2910, 2011.
DOI : 10.1109/TBME.2011.2162512

E. Kreyszig, Differential geometry, p.125, 1991.

. Krulevitch, Thin film shape memory alloy microactuators, Journal of Microelectromechanical Systems, vol.5, issue.4, pp.270-282, 1996.
DOI : 10.1109/84.546407

. Krupa, Combined image-based and depth visual servoing applied to robotized laparoscopic surgery, IEEE/RSJ International Conference on Intelligent Robots and System, pp.323-329, 2002.
DOI : 10.1109/IRDS.2002.1041409

. Kuo, Kinematic design considerations for minimally invasive surgical robots: an overview, The International Journal of Medical Robotics and Computer Assisted Surgery, vol.21, issue.6, pp.127-145, 2012.
DOI : 10.1109/TRO.2005.853494

. Labadie, Customized, rapid-production microstereotactic table for surgical targeting: description of concept and in vitro validation, International Journal of Computer Assisted Radiology and Surgery, vol.28, issue.3, pp.273-280, 2009.
DOI : 10.1007/s11548-009-0292-3

. Lademann, Application of optical non-invasive methods in skin physiology: a comparison of laser scanning microscopy and optical coherent tomography with histological analysis, Skin Research and Technology, vol.13, issue.2, pp.119-132, 2007.
DOI : 10.1046/j.1469-7580.1998.19240489.x

. Lanchon, Augmented Reality Using Transurethral Ultrasound for Laparoscopic Radical Prostatectomy: Preclinical Evaluation, The Journal of Urology, vol.196, issue.1, pp.244-250, 2016.
DOI : 10.1016/j.juro.2016.01.094
URL : https://hal.archives-ouvertes.fr/hal-01424500

. Lapierre, L. Lapierre, and B. Jouvencel, Robust Nonlinear Path-Following Control of an AUV, IEEE Journal of Oceanic Engineering, vol.33, issue.2, pp.89-102, 2008.
DOI : 10.1109/JOE.2008.923554
URL : https://hal.archives-ouvertes.fr/lirmm-00326227

. Lay and D. C. Lay, Linear algebra and its applications, p.77, 2012.

. Lefebvre, , 2005.

, Active compliant motion: a survey, Advanced Robotics, vol.19, issue.5, pp.479-499

. Legent, Cahiers d'anatomie ORL, p.16, 1968.

. Leinung, Robotic-guided minimally-invasive cochleostomy: first results, GMS CURAC, 2. vi, p.44, 2007.

. Lesinski, . Giesken, S. G. Lesinski, and K. Giesken, Optical Fiber for CO2 Laser Otosclerosis Surgery, Otolaryngology-Head and Neck Surgery, vol.139, issue.2_suppl, pp.57-57, 2008.
DOI : 10.1016/j.otohns.2008.05.184

. Levy, Optical imaging with a high-resolution microendoscope to identify cholesteatoma of the middle ear, The Laryngoscope, vol.25, issue.4, pp.1016-1020, 2013.
DOI : 10.1046/j.1467-2494.2003.00176.x

. Lim, Image-guided robotic mastoidectomy using human-robot collaboration control, 2011 IEEE International Conference on Mechatronics and Automation, pp.549-554, 2011.
DOI : 10.1109/ICMA.2011.5985720

. Liu, Cadaveric Feasibility Study of da Vinci Si???Assisted Cochlear Implant With Augmented Visual Navigation for Otologic Surgery, JAMA Otolaryngology???Head & Neck Surgery, vol.140, issue.3, pp.208-214, 2014.
DOI : 10.1001/jamaoto.2013.6443

. Loeve, Scopes Too Flexible...and Too Stiff, IEEE Pulse, vol.1, issue.3, pp.26-41, 2010.
DOI : 10.1109/MPUL.2010.939176

. Luenberger, Linear and nonlinear programming, p.101, 1984.
DOI : 10.1007/978-3-319-18842-3

. Maciejewski, . Klein, A. A. Maciejewski, C. A. Klein, and . Maier, Obstacle avoidance for kinematically redundant manipulators in dynamically varying environments . The international journal of robotics research Distance measurement in middle ear surgery using a telemanipulator, Medical Image Computing and Computer-Assisted Intervention?MICCAI, pp.109-117, 1985.

. Maier, A new Micromanipulator System for middle ear surgery, 2010 IEEE International Conference on Robotics and Automation, pp.1568-1573, 2010.
DOI : 10.1109/ROBOT.2010.5509594

. Majdani, A robot-guided minimally invasive approach for cochlear implant surgery: preliminary results of a temporal bone study, International Journal of Computer Assisted Radiology and Surgery, vol.9, issue.5, pp.475-486, 2009.
DOI : 10.1258/0022215011907451

. Mansard, . Khatib, N. Mansard, and O. Khatib, Continuous control law from unilateral constraints, 2008 IEEE International Conference on Robotics and Automation, pp.3359-3364, 2008.
DOI : 10.1109/ROBOT.2008.4543723

. Marchand, ViSP for visual servoing: a generic software platform with a wide class of robot control skills, IEEE Robotics & Automation Magazine, vol.12, issue.4, pp.40-52, 2005.
DOI : 10.1109/MRA.2005.1577023
URL : https://hal.archives-ouvertes.fr/inria-00351899

. Marchioni, Endoscopic Anatomy of the Middle Ear, Indian Journal of Otolaryngology and Head & Neck Surgery, vol.99, issue.5???6, pp.101-113, 2011.
DOI : 10.3109/00016488509182260

. Marinho, A programmable remote center-of-motion controller for minimally invasive surgery using the dual quaternion framework, 5th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, pp.339-344, 2014.
DOI : 10.1109/BIOROB.2014.6913799

C. Martin, F. N. Martin, and J. G. Clark, Introduction to audiology, p.17, 1997.

. Maurin, A new robotic system for CT-guided percutaneous procedures with haptic feedback, International Congress Series, pp.515-520, 2004.
DOI : 10.1016/j.ics.2004.03.326

. Mayer, Kinematics and Modelling of a System for Robotic Surgery, On Advances in Robot Kinematics, pp.181-190, 2004.
DOI : 10.1007/978-1-4020-2249-4_20

. Springer, , p.68

C. Mcjunkin, J. Mcjunkin, and R. Chole, Clinical Utility of MRI for Cholesteatoma Recurrence, Current Surgery Reports, vol.74, issue.3, pp.1-7, 2014.
DOI : 10.1016/j.ijporl.2009.12.011

. Millan, Noninvasive brain-actuated control of a mobile robot by human eeg, IEEE Transactions on biomedical Engineering, issue.6, pp.511026-1033, 2004.

. Miroir, RobOtol: from design to evaluation of a robot for middle ear surgery, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.850-856, 2010.
DOI : 10.1109/IROS.2010.5650390
URL : https://hal.archives-ouvertes.fr/hal-01148658

. Miroir, Design of a robotic system for minimally invasive surgery of the middle ear, 2008 2nd IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, pp.747-752, 2008.
DOI : 10.1109/BIOROB.2008.4762795
URL : https://hal.archives-ouvertes.fr/hal-01148659

M. , A. Mitra, S. Acharya, and T. , Gesture recognition: A survey, IEEE Transactions on Systems, Man, and Cybernetics, Part C (Applications and Reviews), vol.37, issue.3, pp.311-324, 2007.

. Muldoon, Subcellular-resolution molecular imaging within living tissue by fiber microendoscopy, Optics Express, vol.15, issue.25, pp.1516413-16423, 2007.
DOI : 10.1364/OE.15.016413.m002

. Nageotte, Visual Servoing-Based Endoscopic Path Following for Robot-Assisted Laparoscopic Surgery, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.2364-2369, 2006.
DOI : 10.1109/IROS.2006.282647

. Nakamura, Task-Priority Based Redundancy Control of Robot Manipulators, The International Journal of Robotics Research, vol.6, issue.2, pp.3-15, 1987.
DOI : 10.1115/1.3426611

. Nathoo, In Touch with Robotics: Neurosurgery for the Future, Neurosurgery, vol.51, issue.3, pp.56421-433, 2005.
DOI : 10.1227/01.NEU.0000309121.39958.26

. Nelson, Microrobots for Minimally Invasive Medicine, Annual Review of Biomedical Engineering, vol.12, issue.1, pp.55-85, 2010.
DOI : 10.1146/annurev-bioeng-010510-103409

. Nguyen, Noninvasive in vivo optical detection of biofilm in the human middle ear, Proceedings of the National Academy of Sciences, pp.9529-9534, 2012.
DOI : 10.1109/TBME.2010.2096816

. Nguyen, From Conception to Application of a Tele-Operated Assistance Robot for Middle Ear Surgery, Surgical Innovation, vol.142, issue.3, pp.241-251, 2001.
DOI : 10.1016/j.jtcvs.2007.08.043
URL : https://hal.archives-ouvertes.fr/hal-01148665

. Noble, Automatic Identification and 3D Rendering of Temporal Bone Anatomy, Otology & Neurotology, vol.30, issue.4, p.436, 2009.
DOI : 10.1097/MAO.0b013e31819e61ed

. Noble, Automatic segmentation of the facial nerve and chorda tympani in CT images using spatially dependent feature values, Medical Physics, vol.1, issue.12, pp.355375-5384, 2008.
DOI : 10.1007/BF01386390

A. M. Okamura, Methods for haptic feedback in teleoperated robot???assisted surgery, Industrial Robot: An International Journal, vol.31, issue.6, pp.31499-508, 2004.
DOI : 10.1109/87.491198

. Olds, Preliminary evaluation of a new microsurgical robotic system for head and neck surgery, 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.1276-1281, 2014.
DOI : 10.1109/IROS.2014.6942721

. Olszewska, Etiopathogenesis of cholesteatoma, European Archives of Oto-Rhino-Laryngology, vol.261, issue.1, pp.6-24, 2004.
DOI : 10.1007/s00405-003-0623-x

. Orosco, Fluorescence Imaging in Surgery, IEEE Reviews in Biomedical Engineering, vol.6, pp.178-187, 2013.
DOI : 10.1109/RBME.2013.2240294

. Osa, Framework of automatic robot surgery system using Visual servoing, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.1837-1842, 2010.
DOI : 10.1109/IROS.2010.5650301

. Patwari, Assessment of coronary plaque with optical coherence tomography and high-frequency ultrasound, The American Journal of Cardiology, vol.85, issue.5, pp.641-644, 2000.
DOI : 10.1016/S0002-9149(99)00825-5

T. M. Peters, Image-guidance for surgical procedures, Physics in Medicine and Biology, vol.51, issue.14, pp.505-59, 2006.
DOI : 10.1088/0031-9155/51/14/R01

. Pham, Analysis of a moving remote center of motion for roboticsassisted minimally invasive surgery, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp.1440-1446, 2015.

. Pham, Current Methods in Medical Image Segmentation, Annual Review of Biomedical Engineering, vol.2, issue.1, pp.315-337, 2000.
DOI : 10.1146/annurev.bioeng.2.1.315

S. Pile, J. Pile, and N. Simaan, Modeling, Design, and Evaluation of a Parallel Robot for Cochlear Implant Surgery, IEEE/ASME Transactions on Mechatronics, vol.19, issue.6, pp.1746-1755, 2014.
DOI : 10.1109/TMECH.2014.2308479

. Pitris, High-Resolution Imaging of the Middle Ear With Optical Coherence Tomography, Archives of Otolaryngology???Head & Neck Surgery, vol.127, issue.6, pp.637-642, 2011.
DOI : 10.1001/archotol.127.6.637

. Pott, Today's state of the art in surgical robotics, Computer Aided Surgery, vol.10, issue.2, pp.101-132, 2005.

A. Rautaray, S. S. Rautaray, and A. Agrawal, Vision based hand gesture recognition for human computer interaction: a survey, Artificial Intelligence Review, vol.36, issue.3, pp.1-54, 2012.
DOI : 10.1201/9781420064995-c34

. Riga, Evaluation of robotic endovascular catheters for arch vessel cannulation, Journal of Vascular Surgery, vol.54, issue.3, pp.799-809, 2011.
DOI : 10.1016/j.jvs.2011.03.218

L. B. Rosenberg, Virtual fixtures: Perceptual tools for telerobotic manipulation, Proceedings of IEEE Virtual Reality Annual International Symposium, pp.76-82, 1993.
DOI : 10.1109/VRAIS.1993.380795

. Rothbaum, Robot-Assisted Stapedotomy: Micropick Fenestration of the Stapes Footplate, Otolaryngology-Head and Neck Surgery, vol.17, issue.5, pp.417-426, 2002.
DOI : 10.3758/BF03205550
URL : http://www.cs.jhu.edu/CIRL/publications/pdf/rothbaum_fenestration.pdf

H. Sajjadi, Endoscopic middle ear and mastoid surgery for cholesteatoma, Iranian journal of otorhinolaryngology, vol.25, issue.21, pp.63-70, 2013.

. Salami, Piezosurgery in otologic surgery: Four years of experience, Otolaryngology-Head and Neck Surgery, vol.9, issue.3, pp.412-418, 2009.
DOI : 10.1007/BF00243505

C. Samson, Control of chained systems application to path following and time-varying point-stabilization of mobile robots, IEEE Transactions on Automatic Control, vol.40, issue.1, pp.64-77, 1993.
DOI : 10.1109/9.362899

J. F. Schenck and . Seon, Health and Physiological Effects of Human Exposure to Whole-Body Four-Tesla Magnetic Fields during MRI, Annals of the New York Academy of Sciences, vol.93, issue.1 Biological Ef, pp.285-301, 1992.
DOI : 10.1109/20.104443

. Sergeev, In vivo endoscopic OCT imaging of precancer and cancer states of human mucosa, Optics Express, vol.1, issue.13, pp.432-440, 1997.
DOI : 10.1364/OE.1.000432

. Sheehy, Cholesteatoma Surgery: Residual and Recurrent Disease, Annals of Otology, Rhinology & Laryngology, vol.86, issue.4, pp.451-462, 1977.
DOI : 10.1001/archotol.1963.00750020314012

. Shoa, Conducting polymer based active catheter for minimally invasive interventions inside arteries, 2008 30th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, pp.2063-2066, 2008.
DOI : 10.1109/IEMBS.2008.4649598

J. H. Shuhaiber, Augmented Reality in Surgery, Archives of Surgery, vol.139, issue.2, pp.170-174, 2004.
DOI : 10.1001/archsurg.139.2.170

B. Siciliano, Kinematic control of redundant robot manipulators: A tutorial, Journal of Intelligent and Robotic Systems, vol.4, issue.2, pp.201-212, 1990.
DOI : 10.1109/TSMC.1984.6313329

K. Siciliano, B. Siciliano, and O. Khatib, Springer handbook of robotics, p.38, 2008.

R. H. Silverman, High-resolution ultrasound imaging of the eye - a review, Clinical & Experimental Ophthalmology, vol.24, issue.206, pp.54-67, 2009.
DOI : 10.1016/S0886-3350(13)80162-9

. Spong, Robot modeling and control, p.38, 2006.

. Strang, Introduction to linear algebra, p.77, 1993.

D. J. Struik, Lectures on Classical Differential Geometry, p.125, 1988.

. Subhash, Feasibility of spectral-domain phasesensitive optical coherence tomography for middle ear vibrometry, Journal of biomedical optics, issue.6, pp.170605051-0605053, 2012.

. Swaney, Design of a Quadramanual Robot for Single-Nostril Skull Base Surgery, Volume 3: Renewable Energy Systems; Robotics; Robust Control; Single Track Vehicle Dynamics and Control; Stochastic Models, Control and Algorithms in Robotics; Structure Dynamics and Smart Structures;, pp.387-393, 2012.
DOI : 10.1115/DSCC2012-MOVIC2012-8536

. Swaney, Design, Fabrication, and Testing of a Needle-Sized Wrist for Surgical Instruments, Journal of Medical Devices, vol.11, issue.1, pp.14501-172, 2017.
DOI : 10.1115/1.4034575
URL : http://europepmc.org/articles/pmc5188854?pdf=render

. Tabrizi, Robotic Otology, Atlas of Head and Neck Robotic Surgery, pp.161-174, 2017.
DOI : 10.1080/00016480902998281

. Taylor, Remote center-of-motion robot for surgery, p.66, 1995.

S. Taylor, R. H. Taylor, and D. Stoianovici, Medical robotics in computer-integrated surgery, IEEE Transactions on Robotics and Automation, vol.19, issue.5, pp.765-781, 2003.
DOI : 10.1109/TRA.2003.817058

. Thomassin, , 1993.

, Endoscopic-guided otosurgery in the prevention of residual cholesteatomas. The Laryngoscope, pp.939-943

. Torbatian, Imaging the auditory system: A new application of highfrequency ultrasound, Ultrasonics Symposium (IUS), pp.236-239, 2009.

. Tran, In vivo endoscopic optical coherence tomography by use of a rotational microelectromechanical system probe, Optics Letters, vol.29, issue.11, pp.291236-1238, 2004.
DOI : 10.1364/OL.29.001236

. Van-krevelen, . Poelman, D. Van-krevelen, and R. Poelman, A survey of augmented reality technologies, applications and limitations, International Journal of Virtual Reality, vol.9, issue.2, pp.1-170, 2010.
URL : https://hal.archives-ouvertes.fr/hal-01530500

. Vercruysse, The value of diffusion-weighted MR imaging in the diagnosis of primary acquired and residual cholesteatoma: a surgical verified study of 100 patients, European Radiology, vol.46, issue.7, pp.161461-1467, 2006.
DOI : 10.1148/radiology.176.2.2367654

. Vitiello, Emerging Robotic Platforms for Minimally Invasive Surgery, IEEE International Conference on Robotics and Automation (ICRA), pp.111-126, 2005.
DOI : 10.1109/RBME.2012.2236311

. Voros, Automatic Detection of Instruments in Laparoscopic Images: A First Step Towards High-level Command of Robotic Endoscopic Holders, The International Journal of Robotics Research, vol.4, issue.1, pp.11-121173, 2007.
DOI : 10.1109/34.888718
URL : https://hal.archives-ouvertes.fr/hal-00385028

I. D. Walker, Continuous backbone â??continuumâ?? robot manipulators, ISRN Robotics, p.52, 2013.

. Weber, Instrument flight to the inner ear, Science Robotics, vol.38, issue.4, pp.4916-62, 2017.
DOI : 10.1097/00004691-200210000-00007

R. J. Webster and B. A. Jones, Design and Kinematic Modeling of Constant Curvature Continuum Robots: A Review, The International Journal of Robotics Research, vol.54, issue.494, p.57, 2010.
DOI : 10.1109/TRO.2008.924266

. Williamson, Estimation of Tool Pose Based on Force???Density Correlation During Robotic Drilling, IEEE Transactions on Biomedical Engineering, vol.60, issue.4, p.44
DOI : 10.1109/TBME.2012.2235439

Z. Xu, K. Xu, and X. Zheng, Configuration comparison for surgical robotic systems using a single access port and continuum mechanisms, 2012 IEEE International Conference on Robotics and Automation, pp.3367-3374, 2012.
DOI : 10.1109/ICRA.2012.6224663

. Yokoyama, Cooperative works by a human and a humanoid robot, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422), pp.2985-2991, 2003.
DOI : 10.1109/ROBOT.2003.1242049

. York, A wrist for needle-sized surgical robots, 2015 IEEE International Conference on Robotics and Automation (ICRA), pp.1776-1781, 2015.
DOI : 10.1109/ICRA.2015.7139428

. Zhang, Path Planning and Workspace Determination for Robot-Assisted Insertion of Steerable Electrode Arrays for Cochlear Implant Surgery, Medical Image Computing and Computer-Assisted Intervention. MICCAI 2008. 30th Annual International Conference of the IEEE, pp.692-700, 2008.
DOI : 10.1109/TBME.2007.891937

. Zhang, A Pilot Study of Robot-Assisted Cochlear Implant Surgery Using Steerable Electrode Arrays, Medical Image Computing and Computer-Assisted Intervention?MICCAI 2006, pp.33-40, 2006.
DOI : 10.1007/11866565_5