Theory and Application of High-Precision Preoperative Positioning for Cochlear Surgical Robot

According to a World Health Organization survey report in 2021, 430 million people worldwide currently suffer from moderate or severe hearing impairment. Cochlear implant surgery is one of the most effective ways to restore hearing impairment, however, it can be very difficult for doctors. Therefore, surgery with the help of surgical robots has become a popular research topic. To meet the needs of surgery, there are strict requirements for the precision of surgical robots, such as the cochlear implant robot we designed in this paper. So we mainly design a complete precision evaluation theory for this cochlear implant robot in this paper. By analyzing the jacobian matrix of the manipulator, the surgical position and posture of the robot with optimal precision can be calculated based on this theory. This new computational theory enables the robot to meet surgical precision requirements within a limited area, and to make this theory more practical, we developed a vision-based system to assist doctors during preoperative positioning and ensure that the surgical area is in the robot's optimal precision area.