CochleRob: Parallel-Serial Robot to Position a Magnetic Actuator around a Patient's Head for Intracochlear Microrobot Navigation

被引：4

作者：

Nadour, Housseyne ^{[1
]}

Grayeli, Alexis Bozorg ^{[2
,3
]}

Poisson, Gerard ^{[4
]}

Belharet, Karim ^{[5
]}

机构：

[1] CNRS, ED EEATS, GIPSA Lab, F-38100 Grenoble, France

[2] Dijon Univ Hosp, Dept Otolaryngol Head & Neck Surg, F-21000 Dijon, France

[3] CNRS, UMR 6306, Le2i Res Lab, F-21078 Dijon, France

[4] Univ Orleans, PRISME EA 4229, F-45100 Orleans, France

[5] JUNIA HEI, PRISME EA 4229, 2 Allee Jean Vaille, F-36000 Chateauroux, France

来源：

SENSORS | 2023年 / 23卷 / 06期

关键词：

hearing loss; remote drug delivery; drug administration; cochlea; microrobots; magnetic actuator; medical robot; control; ROUND WINDOW;

D O I：

10.3390/s23062973

中图分类号：

O65 [分析化学];

学科分类号：

070302 ; 081704 ;

摘要：

Our work introduces a new robotic solution named CochleRob, which is used for the administration of super-paramagnetic antiparticles as drug carriers into the human cochlea for the treatment of hearing loss caused by damaged cochlea. This novel robot architecture presents two key contributions. First, CochleRob has been designed to meet specifications pertaining to ear anatomy, including workspace, degrees of freedom, compactness, rigidity, and accuracy. The first objective was to develop a safer mathod to administer drugs to the cochlea without the need for catheter or CI insertion. Secondly, we aimed at developing and validating the mathemathical models, including forward, inverse, and dynamic models, to support the robot function. Our work provides a promising solution for drug administration into the inner ear.

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页数：30