Robotic surgery in otorhinolaryngology.

Otoneurosurgery may greatly benefit from enhanced precision through robotics or from new procedures only made possible with robotic aid. Different implant cavities were milled by a serial robot (Stäubli RX 130) in formaldehyde fixed human skull bones. A variety of sensor data (force, momentum, temperature,...) were measured and evaluated. Ultrasound probes of different frequencies were used to measure skull bone thickness. With a serial robot Stäubli RX 130 it was possible to mill an exact implant cavity for various CI main modules in a human skull specimen. While milling with speed controlled by force feedback, the heat production was tremendously reduced as compared to the non controlled mode. Using coded excitation and a matched-filter technique, a 3D ultrasound scan of the skull bone could be performed in order to plan the drilling task for the robot by means of local navigation. This is the first functional robotic milling procedure for otoneurosurgery with force-based speed control in an experimental setting. Force feedback smoothes the robot's movements and reduces heat damage to surrounding tissues. Ultrasound navigation may replace the need for CT scanning in the future.