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1. Design, Kinematic Optimization, and Evaluation of a Teleoperated System for Middle Ear Microsurgery

Author

Mathieu Miroir, Yann Nguyen, Jérôme Szewczyk, Olivier Sterkers, and Alexis Bozorg Grayeli

Subjects
Technology, Medicine, Science
Abstract

Middle ear surgery involves the smallest and the most fragile bones of the human body. Since microsurgical gestures and a submillimetric precision are required in these procedures, the outcome can be potentially improved by robotic assistance. Today, there is no commercially available device in this field. Here, we describe a method to design a teleoperated assistance robotic system dedicated to the middle ear surgery. Determination of design specifications, the kinematic structure, and its optimization are detailed. The robot-surgeon interface and the command modes are provided. Finally, the system is evaluated by realistic tasks in experimental dedicated settings and in human temporal bone specimens.

Published
2012
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4. Aging characterization of different nitrile butadiene rubbers for sealing in a pneumatic system: Linking the change of the physicochemical state to the mechanical properties

Author

Adrien Redon, Jean‐Benoît Le Cam, Eric Robin, Mathieu Miroir, Jean‐Charles Fralin, Institut de Physique de Rennes (IPR), Université de Rennes (UR)-Centre National de la Recherche Scientifique (CNRS), Société nationale des Chemins de Fer français - SNCF, and SNCF Voyageurs

Subjects
[PHYS]Physics [physics], Polymers and Plastics, aging, Materials Chemistry, thermo-oxidative degradation, micro-hardness, General Chemistry, nitrile butadiene rubber, Surfaces, Coatings and Films
Abstract

International audience; Nitrile butadiene rubbers (NBR) are widely used in sealing applications, such as O-rings inside the pneumatic system of the French high-speed train (TGV). In this application, a strong hardening of the NBRs alters the sealing function. Predicting the evolution of the mechanical properties during service life, especially the material hardening, is therefore a strategic issue to optimize time in maintenance operations of the TGV's pneumatic system. The main goal of this study is to reproduce the aging observed on a train's pneumatic system by performing thermo-oxidative accelerated aging tests with different commercial nitrile rubbers at several temperatures and up to 2016 h. After achieving similar degradation to specimens aged on trains, aging mechanisms and effects have been investigated through different characterization techniques: infrared spectroscopy, swelling tests, X-ray fluorescence spectrometry, differential scanning calorimetry, thermogravimetric analysis, and micro-hardness measurements. The results obtained enabled us to identify and to relate aging mechanisms to aging conditions and to precisely determine and quantify the effects of physicochemical state evolution on the mechanical properties of each NBR considered. Extra crosslinks and oxidative functionalities form in the different elastomers, making them hard and brittle, and thus impacting the sealing function.

Published
2023
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7. Screening of factors influencing catheter rotation of a vascular interventional surgical robot using design of experiment approach

Author

Camille Apamon, Frédéric Marie, Mathieu Miroir, Ronan Le Breton, Eric Courteille, Bruno Fournier, Institut National des Sciences Appliquées - Rennes (INSA Rennes), Institut National des Sciences Appliquées (INSA), Laboratoire de Génie Civil et Génie Mécanique (LGCGM), Université de Rennes (UR)-Institut National des Sciences Appliquées - Rennes (INSA Rennes), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA), Institut de Physique de Rennes (IPR), Université de Rennes (UR)-Centre National de la Recherche Scientifique (CNRS), Robocath, and Institut National des Sciences Appliquées de Lyon, INSA Lyon

Subjects
Catheter, [PHYS]Physics [physics], Catheters, Rotation, Rolling friction, [SDV]Life Sciences [q-bio], Biomedical Engineering, Biophysics, Robotics, Catheter gripping, body regions, Vascular interventional surgery robot, Minimally Invasive Surgical Procedures, Vascular Surgical Procedures
Abstract

International audience; Over the past decades, Vascular Interventional Surgery Robots (VISR) have been developed to address the risks associated with X-rays used in minimally invasive vascular surgery procedures. Manipulation of over-the-wire catheters is necessary to perform complex surgery but requires high forces on the robot's end effector during rotational movements. The VISR under study mimics the physician's fingers by rolling the catheter between two planar surfaces to rotate it. In this study, an experimental set-up is used to replicate this grasping method, also used in other VISR [1, 2]. The parameters of the gripping surfaces are investigated to maximise the torque delivered to the catheter and minimise the forces required at the robot's end-effector. The implemented design of experiment (DOE) demonstrated that large and soft gripping surfaces could achieve this compromise. By adjusting these parameters, sufficient torque can be achieved on the catheter.

Published
2022
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8. Water jet incremental sheet metal forming: a critical state-of-the-art review and a proposal for technological windows

Author

Mathieu Miroir, Romain Laniel, Antoine Brient, Olivier Kerbrat, Institut de Physique de Rennes (IPR), Université de Rennes (UR)-Centre National de la Recherche Scientifique (CNRS), École normale supérieure - Rennes (ENS Rennes), Institut de Recherche en Génie Civil et Mécanique (GeM), Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST), and Université de Nantes (UN)-Université de Nantes (UN)-École Centrale de Nantes (ECN)-Centre National de la Recherche Scientifique (CNRS)

Subjects
Literature review, [PHYS]Physics [physics], Water jetting, Control and Systems Engineering, Mechanical Engineering, Dieless manufacturing, Sheet metal forming, Technological window, Industrial and Manufacturing Engineering, Software, Computer Science Applications, [SPI.MECA.GEME]Engineering Sciences [physics]/Mechanics [physics.med-ph]/Mechanical engineering [physics.class-ph]
Abstract

International audience; Nowadays the development of innovative processes is a major challenge for industries which want to prototype functional workpieces. Incremental sheet forming (ISF) is a good alternative for sheet metal prototyping to ensure flexibility, accuracy of the part produced, and cost effectiveness. A derived process, the Water Jet Incremental Sheet Forming (WJISF), has been undergoing development since 2001 and this paper purpose to give its state of the art. Different eclectic industrial fields could be concerned by WJISF process: automotive, micro-electronics, medical, and aerospace industry, for example. As the ISF process, the WJISF device needs a multi-axial machine, but it also needs a pressure pump with a sufficient flow rate and pressure. In an environmental point of view, this process can be seen as a "green" one giving that the water can be recycled and there is no lubricant. A general methodology has been defined to rigorously investigate this process and focus on researchers' teams, technological feasibility, numerical simulations, machine-tool uses, and real parts manufacturing. The study presented here provides summarizing evidence, especially technological windows, which give quick view of the actual knowledges and will help scientists and industrials to find WJISF parameters related to their needs. A lot of simple tests have been carried out with numerical and experimental comparisons. Nevertheless, few real parts have been manufactured, and the complex shape obtained by WJISF remains a scientific field to explore.

Published
2022
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9. Stored energy accompanying cyclic deformation of filled rubber

Author

J.-B. Le Cam, Guillaume Corvec, M.T. Loukil, P. Garnier, Mathieu Miroir, Eric Robin, Institut de Physique de Rennes (IPR), Université de Rennes (UR)-Centre National de la Recherche Scientifique (CNRS), CNRS, Centre National de la Recherche Scientifique, Université de Rennes 1 (UR1), and Université de Rennes (UNIV-RENNES)-Université de Rennes (UNIV-RENNES)-Centre National de la Recherche Scientifique (CNRS)

Subjects
Materials science, Polymers and Plastics, Energy balance, General Physics and Astronomy, Elastomer, 02 engineering and technology, Filler effects, [PHYS.MECA.MEMA]Physics [physics]/Mechanics [physics]/Mechanics of materials [physics.class-ph], Condensed Matter::Materials Science, 0203 mechanical engineering, Natural rubber, Materials Chemistry, Composite material, Mechanical energy, Viscosity, Organic Chemistry, Elastic energy, Dissipation, 021001 nanoscience & nanotechnology, IR thermography, Hysteresis, 020303 mechanical engineering & transports, visual_art, Stored energy, visual_art.visual_art_medium, Deformation (engineering), 0210 nano-technology
Abstract

International audience; The hysteresis observed in the mechanical response of filled rubbers is classically assumed to be due to viscosity. In this study, a complete energy balance is carried out during cyclic deformation of a filled acrylonitrile-butadiene rubber. Results show that for the studied material, viscosity is not the preponderant contribution to the hysteresis loop: the mechanical energy brought to the material is not entirely dissipated into heat but a contrario is mainly used by the material to change its microstructure. Moreover, no significant hysteresis loop is observed in the unfilled material. Hence, the filler network stores elastic energy during its deformation, leading to a change in the internal energy. The higher the stretch applied, the higher the relative stored energy, but the higher the stretch rate applied, the lower the relative stored energy in the filler network. This has been evidenced by defining a ratio γ se in terms of energy. As hysteresis loop in rubbers does not systematically mean that intrinsic dissipation is produced, predicting changes in temperature, and consequently the self-heating, is not possible from the mechanical response only. To conclude, this study presents the first estimation of stored energy in a filled rubber.

Published
2018
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10. Definition of Metrics to Evaluate Cochlear Array Insertion Forces Performed with Forceps, Insertion Tool, or Motorized Tool in Temporal Bone Specimens

Author

Evelyne Ferrary, Guillaume Kazmitcheff, Mathieu Miroir, Daniele De Seta, Yann Nguyen, Olivier Sterkers, Réhabilitation Chirurgicale mini-Invasive et Robotisée de l'Audition, Université Pierre et Marie Curie - Paris 6 (UPMC)-Institut National de la Santé et de la Recherche Médicale (INSERM), CHU Pitié-Salpêtrière [AP-HP], Sorbonne Université (SU)-Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP), Service d'oto-rhino-laryngologie, Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-Université Paris Diderot - Paris 7 (UPD7)-Hôpital Beaujon [AP-HP], Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP), Auditory Implants and Skull Base Surgery, Hospital Pitié Salpêtrière (AP-HP, Otolaryngology Department, Unit of Otology), and Assistance publique - Hôpitaux de Paris (AP-HP) (APHP)-Université Paris Diderot - Paris 7 (UPD7)-Hôpital Beaujon

Subjects
Models, Anatomic, medicine.medical_specialty, Article Subject, Neural Prostheses, Computer science, Forceps, lcsh:Medicine, General Biochemistry, Genetics and Molecular Biology, Manual insertion, Force sensor, [SPI.AUTO]Engineering Sciences [physics]/Automatic, metrics, Random order, cochlear implants, Temporal bone, Electrode array, medicine, Humans, Electrodes, ComputingMilieux_MISCELLANEOUS, General Immunology and Microbiology, lcsh:R, insertion forces, temporal bone, Work (physics), [SPI.MECA.BIOM]Engineering Sciences [physics]/Mechanics [physics.med-ph]/Biomechanics [physics.med-ph], General Medicine, Surgical Instruments, Cochlea, [SPI.MECA.GEME]Engineering Sciences [physics]/Mechanics [physics.med-ph]/Mechanical engineering [physics.class-ph], Surgery, Ear, Inner, Lateral wall, Research Article, Biomedical engineering
Abstract

Introduction. In order to achieve a minimal trauma to the inner ear structures during array insertion, it would be suitable to control insertion forces. The aim of this work was to compare the insertion forces of an array insertion into anatomical specimens with three different insertion techniques: with forceps, with a commercial tool, and with a motorized tool.Materials and Methods. Temporal bones have been mounted on a 6-axis force sensor to record insertion forces. Each temporal bone has been inserted, with a lateral wall electrode array, in random order, with each of the 3 techniques.Results. Forceps manual and commercial tool insertions generated multiple jerks during whole length insertion related to fits and starts. On the contrary, insertion force with the motorized tool only rose at the end of the insertion. Overall force momentum was 1.16 ± 0.505 N (mean ± SD,n=10), 1.337 ± 0.408 N (n=8), and 1.573 ± 0.764 N (n=8) for manual insertion with forceps and commercial and motorized tools, respectively.Conclusion. Considering force momentum, no difference between the three techniques was observed. Nevertheless, a more predictable force profile could be observed with the motorized tool with a smoother rise of insertion forces.

Published
2014
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11. Discrete Elements Model of an Abrasive Water-jet through the Focal Canon to the Work-piece

Author

Mathieu Miroir, Romain Laniel, A. Brient, Otman Bouchareb, Institut de Physique de Rennes (IPR), Université de Rennes (UR)-Centre National de la Recherche Scientifique (CNRS), Université de Rennes 1 (UR1), and Université de Rennes (UNIV-RENNES)-Université de Rennes (UNIV-RENNES)-Centre National de la Recherche Scientifique (CNRS)

Subjects
0209 industrial biotechnology, Work (thermodynamics), Impact pressure, Materials science, Flow (psychology), Abrasive, Mechanical engineering, [PHYS.MECA.GEME]Physics [physics]/Mechanics [physics]/Mechanical engineering [physics.class-ph], 02 engineering and technology, Mechanics, Static pressure, Dissipation, [PHYS.MECA.MEMA]Physics [physics]/Mechanics [physics]/Mechanics of materials [physics.class-ph], 020303 mechanical engineering & transports, 020901 industrial engineering & automation, 0203 mechanical engineering, General Earth and Planetary Sciences, Particle, Contact dynamics, ComputingMilieux_MISCELLANEOUS, General Environmental Science
Abstract

International audience; Abrasive water-jet manufacturing process can shape a lot of materials ranging from metals to glasses. It has a lot of advantages, as its low cutting forces, but remains quite difficult to control. Indeed, the process is leaded by the abrasive particle trajectories which depends on the water static pressure and many other parameters. The impact pressure on the work-piece is commonly modeled by a two Gaussian fit sum which are representative of the particles velocity distribution and the granulometry respectively. Today no studies based on discrete elements take into account the mixing chamber and the focal canon which are the two main steps of the abrasive water-jet tool constitution. In this preliminary work we propose to model the flow through the focal canon until the target impact by an original numeric granular approach. The Non-Smooth Contact Dynamics is an efficient method on a large range of simulation domains. In our case, we consider the water phase and the abrasive phase as two collections of distinct polydisperse elements. The masses are corrected and the contact interaction laws are adjusted to account for an equivalent fluid which similar mechanical properties. These two phases are mixed in a chamber and focalised through the canon, knowing water static pressure and abrasive mass rate. After the canon end the abrasive water-jet evolves in air and thus decelerates by friction. The tool-fluid adapts its geometric configuration from this kinetic energy decrease and impacts a target plane located at a known distance from the canon. Such a model is built on some classic process parameters as the water static pressure, the abrasive mass rate or the work-piece vs. canon distance, but it also naturally takes into account finer mechanical parameters as the abrasive granulometry or friction dissipation. Simulations gives interesting results of impact pressure distribution on the target work-piece with dynamic data of all the collection particles. More generally, this work final aim is to link elemental particle damage studies with a macroscopic wear prediction law.

Published
2017
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12. Effect of Embedded Dexamethasone in Cochlear Implant Array on Insertion Forces in an Artificial Model of Scala Tympani

Author

Mathieu Miroir, Guillaume Kazmitcheff, Olivier Sterkers, Yann Nguyen, Daniele Bernardeschi, Evelyne Ferrary, Thomas Vauchel, Réhabilitation Chirurgicale mini-Invasive et Robotisée de l'Audition, Institut National de la Santé et de la Recherche Médicale (INSERM), CHU Pitié-Salpêtrière [AP-HP], Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-Sorbonne Université (SU), Centre d'Information sur la Surdité et l'Implant Cochléaire [Paris] (CISIC), Institut des Systèmes Intelligents et de Robotique (ISIR), Université Pierre et Marie Curie - Paris 6 (UPMC)-Centre National de la Recherche Scientifique (CNRS), Service d'oto-rhino-laryngologie, Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-Université Paris Diderot - Paris 7 (UPD7)-Hôpital Beaujon [AP-HP], Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP), Université Pierre et Marie Curie - Paris 6 (UPMC)-Institut National de la Santé et de la Recherche Médicale (INSERM), Auditory Implants and Skull Base Surgery, Hospital Pitié Salpêtrière (AP-HP, Otolaryngology Department, Unit of Otology), CHU Pitié-Salpêtrière [APHP], Hôpital Beaujon-Université Paris Diderot - Paris 7 (UPD7)-Assistance publique - Hôpitaux de Paris (AP-HP) (APHP), Sorbonne Université (SU)-Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP), and Sorbonne Université (SU)-Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-Sorbonne Université (SU)-Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)

Subjects
Models, Anatomic, medicine.medical_specialty, Friction, medicine.medical_treatment, Anti-Inflammatory Agents, Audiology, Force sensor, Dexamethasone, [SPI.AUTO]Engineering Sciences [physics]/Automatic, 03 medical and health sciences, chemistry.chemical_compound, 0302 clinical medicine, Silicone, Cochlear implant, medicine, Electrode array, Humans, 030223 otorhinolaryngology, Cochlear implantation, Cochlea, ComputingMilieux_MISCELLANEOUS, Mechanical Phenomena, Hearing preservation, business.industry, [SPI.MECA.BIOM]Engineering Sciences [physics]/Mechanics [physics.med-ph]/Biomechanics [physics.med-ph], Scala Tympani, Cochlear Implantation, Sensory Systems, [SPI.MECA.GEME]Engineering Sciences [physics]/Mechanics [physics.med-ph]/Mechanical engineering [physics.class-ph], Cochlear Implants, Otorhinolaryngology, chemistry, Neurology (clinical), business, 030217 neurology & neurosurgery, Biomedical engineering, medicine.drug
Abstract

Hypothesis Loading otoprotective drug into cochlear implant might change its mechanical properties, thus compromising atraumatic insertion. This study evaluated the effect of incorporation of dexamethasone (DXM) in the silicone of cochlear implant arrays on insertion forces. Background Local administration of DXM with embedded array can potentially reduce inflammation and fibrosis after cochlear implantation procedure to improve hearing preservation and reduce long-term impedances. Methods Four models of arrays have been tested: 0.5-mm distal diameter array (n = 5) used as a control, drug-free 0.4-mm distal diameter array (n = 5), 0.4-mm distal diameter array with 1% eluded DXM silicone (n = 5), and 0.4-mm distal diameter array with 10% eluded DXM silicone (n = 5). Via a motorized insertion bench, each array has been inserted into an artificial scala tympani model. The forces were recorded by a 6-axis force sensor. Each array was tested seven times for a total number of 140 insertions. Results During the first 10-mm insertion, no difference between the four models was observed. From 10- to 24-mm insertion, the 0.5-mm distal diameter array presented higher insertion forces than the drug-free 0.4-mm distal diameter arrays, with or without DXM. Friction forces for drug-free 0.4-mm distal diameter array and 0.4-mm distal diameter DXM eluded arrays were similar on all insertion lengths. Conclusion Incorporation of DXM in silicone for cochlear implant design does not change electrode array insertion forces. It does not raise the risk of trauma during array insertion, making it suitable for long-term in situ administration to the cochlea.

Published
2015

13. Middle-ear microsurgery simulation to improve new robotic procedures

Author

Stéphane Cotin, Olivier Sterkers, Christian Duriez, Yann Nguyen, Evelyne Ferrary, Mathieu Miroir, Fabien Péan, Guillaume Kazmitcheff, Chirurgie otologique mini-invasive robotisée, Université Paris Diderot - Paris 7 (UPD7)-Institut National de la Santé et de la Recherche Médicale (INSERM), Simulation in Healthcare using Computer Research Advances [SHACRA], and Réhabilitation Chirurgicale mini-Invasive et Robotisée de l'Audition

Subjects
medicine.medical_specialty, Telemedicine, Microsurgery, Article Subject, Computer science, medicine.medical_treatment, Finite Element Analysis, Ear, Middle, lcsh:Medicine, ComputerApplications_COMPUTERSINOTHERSYSTEMS, Plan (drawing), General Biochemistry, Genetics and Molecular Biology, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Human–computer interaction, medicine, Humans, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], Computer Simulation, General Immunology and Microbiology, business.industry, lcsh:R, [SPI.MECA.BIOM]Engineering Sciences [physics]/Mechanics [physics.med-ph]/Biomechanics [physics.med-ph], Robotics, General Medicine, [INFO.INFO-MO]Computer Science [cs]/Modeling and Simulation, Surgery, medicine.anatomical_structure, Teleoperation, Middle ear, Robot, Artificial intelligence, business, Algorithms, Gesture, Research Article
Abstract

International audience; Otological microsurgery is delicate and requires high dexterity in bad ergonomic conditions. To assist surgeons in these indications, a teleoperated system, called RobOtol, is developed. This robot enhances gesture accuracy and handiness and allows exploration of new procedures for middle ear surgery. To plan new procedures that exploit the capacities given by the robot, a surgical simulator is developed. The simulation reproduces with high fidelity the behavior of the anatomical structures and can also be used as a training tool for an easier control of the robot for surgeons. In the paper, we introduce the middle ear surgical simulation and then we perform virtually two challenging procedures with the robot. We show how interactive simulation can assist in analyzing the benefits of robotics in the case of complex manipulations or ergonomics studies and allow the development of innovative surgical procedures. New robot-based microsurgical procedures are investigated. The improvement offered by RobOtol is also evaluated and discussed.

Published
2014
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14. Registration of a validated mechanical atlas of middle ear for surgical simulation

Author

Guillaume, Kazmitcheff, Christian, Duriez, Mathieu, Miroir, Yann, Nguyen, Olivier, Sterkers, Alexis Bozorg, Grayeli, and Stéphane, Cotin

Subjects
User-Computer Interface, Surgery, Computer-Assisted, Subtraction Technique, Ear, Middle, Humans, Computer Simulation, Otologic Surgical Procedures, Magnetic Resonance Imaging, Models, Biological, Computer-Assisted Instruction
Abstract

This paper is centered on the development of a new training and rehearsal simulation system for middle ear surgery. First, we have developed and validated a mechanical atlas based on finite element method of the human middle ear. The atlas is based on a microMRI. Its mechanical behavior computed in real-time has been successfully validated. In addition, we propose a method for the registration of the mechanical atlas on patient imagery. The simulation can be used for a rehearsal surgery with the geometrical anatomy of a given patient and with mechanical data that are validated. Moreover, this process does not necessitate a complete re-built of the model.

Published
2014

15. Simulation virtuelle de la palpation de la chaîne des osselets: développement d’un retour de forces réaliste

Author

Christian Duriez, Mathieu Miroir, Evelyne Ferrary, Yann Nguyen, Guillaume Kazmitcheff, Olivier Sterkers, Simulation in Healthcare using Computer Research Advances (SHACRA), Laboratoire d'Informatique Fondamentale de Lille (LIFL), Université de Lille, Sciences et Technologies-Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lille, Sciences Humaines et Sociales-Centre National de la Recherche Scientifique (CNRS)-Université de Lille, Sciences et Technologies-Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lille, Sciences Humaines et Sociales-Centre National de la Recherche Scientifique (CNRS)-Inria Lille - Nord Europe, Institut National de Recherche en Informatique et en Automatique (Inria)-Inria Nancy - Grand Est, Institut National de Recherche en Informatique et en Automatique (Inria), Réhabilitation Chirurgicale mini-Invasive et Robotisée de l'Audition, Institut National de la Santé et de la Recherche Médicale (INSERM), CHU Pitié-Salpêtrière [AP-HP], Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-Sorbonne Université (SU), Université Pierre et Marie Curie - Paris 6 (UPMC)-Institut National de la Santé et de la Recherche Médicale (INSERM), and Sorbonne Université (SU)-Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)

Subjects
03 medical and health sciences, 0302 clinical medicine, Otorhinolaryngology, 030220 oncology & carcinogenesis, [SPI.MECA.BIOM]Engineering Sciences [physics]/Mechanics [physics.med-ph]/Biomechanics [physics.med-ph], Surgery, 030223 otorhinolaryngology, ComputingMilieux_MISCELLANEOUS, [SPI.MECA.GEME]Engineering Sciences [physics]/Mechanics [physics.med-ph]/Mechanical engineering [physics.class-ph], [SPI.AUTO]Engineering Sciences [physics]/Automatic
Abstract

But de la presentation La palpation de la chaine ossiculaire est une etape delicate et indispensable de la chirurgie reconstructive de la chaine tympano-ossiculaire. Afin de fournir un outil performant pour la formation et l’entrainement a cette microchirurgie, il est indispensable de transmettre un retour de forces credible et stable. Or si les deformations peuvent etre calculees a basse frequence pour etre realiste (typiquement 30 Hz), le rendu haptique necessite un rafraichissement de 1000 Hz. Cette difference complexifie le developpement d’une simulation realiste temps-reel. Ce travail est centre sur le developpement d’un rendu haptique de qualite et sur son evaluation, pour la conception d’un simulateur de microchirurgie otologique. Materiel et methodes Un modele mecanique de la chaine ossiculaire est developpe dans le logiciel de simulation medical SOFA (Inria). Nous proposons une nouvelle methode de rendu haptique, qui repose sur une methode de preconditionnement et une approche desynchronisee du calcul des deformations et du retour haptique. Une interaction programmee entre un instrument chirurgical et la chaine des osselets est realisee afin d’evaluer la qualite du rendu haptique comparee au moteur physique. Enfin, une simulation temps-reel est realisee permettant aux chirurgiens d’interagir avec la chaine des osselets, tout en ressentant les forces appliquees sur les structures anatomiques. Resultats Lors de l’interaction programmee, les forces calculees par le moteur physique sont de 0,274 ± 0,021 N ( n = 4) et de 0,270 ± 0,013 N ( n = 4) par notre methode de rendu haptique. Cette difference n’est pas significative (Student paire) traduisant une correspondance entre les forces calculees a 48 Hz par la simulation et 1000 Hz par le rendu haptique. De plus, ces forces sont en accord avec les mesures experimentales sur des rochers, lors de la palpation des osselets, variant de 0,098 a 0,655 N [Bergin et al., 2014, Otol Neurotol]. Lors de la simulation de la palpation, le taux de rafraichissement observe est de 48 Hz pour la simulation et de 1000 Hz pour l’haptique. Conclusion Les chirurgiens sont capables d’interagir de maniere realiste et stable avec notre modele mecanique de la chaine des osselets. Un retour de forces est retransmis, a haute frequence. Ces forces sont similaires a celles calculees par la simulation a basse frequence, traduisant la bonne conservation du realisme de la modelisation lors du rendu haptique. Il s’agit du premier simulateur virtuel permettant d’interagir de maniere realiste avec une chaine ossiculaire et disposant d’un retour tactile. Soutien financier : Societe Collin, Bagneux, France.

Published
2014
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16. Validation method of a middle ear mechanical model to develop a surgical simulator

Author

Stéphane Cotin, Yann Nguyen, Mathieu Miroir, Evelyne Ferrary, Guillaume Kazmitcheff, Olivier Sterkers, Alexis Bozorg Grayeli, Christian Duriez, Simulation in Healthcare using Computer Research Advances (SHACRA), Laboratoire d'Informatique Fondamentale de Lille (LIFL), Université de Lille, Sciences et Technologies-Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lille, Sciences Humaines et Sociales-Centre National de la Recherche Scientifique (CNRS)-Université de Lille, Sciences et Technologies-Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lille, Sciences Humaines et Sociales-Centre National de la Recherche Scientifique (CNRS)-Inria Lille - Nord Europe, Institut National de Recherche en Informatique et en Automatique (Inria)-Inria Nancy - Grand Est, Institut National de Recherche en Informatique et en Automatique (Inria), Chirurgie otologique mini-invasive robotisée, Université Paris Diderot - Paris 7 (UPD7)-Institut National de la Santé et de la Recherche Médicale (INSERM), Service d'oto-rhino-laryngologie, Hôpital Beaujon [AP-HP], Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-Université Paris Diderot - Paris 7 (UPD7), Université de Lille, Sciences et Technologies-Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lille, Sciences Humaines et Sociales-Centre National de la Recherche Scientifique (CNRS), Hôpital Beaujon-Université Paris Diderot - Paris 7 (UPD7)-Assistance publique - Hôpitaux de Paris (AP-HP) (APHP), Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-Université Paris Diderot - Paris 7 (UPD7)-Hôpital Beaujon [AP-HP], and Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)

Subjects
Models, Anatomic, medicine.medical_specialty, Physiology, Computer science, Ear, Middle, Audiology, 01 natural sciences, Transfer function, 03 medical and health sciences, Speech and Hearing, 0302 clinical medicine, Robustness (computer science), 0103 physical sciences, Temporal bone, medicine, otorhinolaryngologic diseases, Humans, Surgical simulator, [PHYS.MECA.BIOM]Physics [physics]/Mechanics [physics]/Biomechanics [physics.med-ph], 030223 otorhinolaryngology, 010301 acoustics, Simulation, Haptic technology, [SPI.MECA.BIOM]Engineering Sciences [physics]/Mechanics [physics.med-ph]/Biomechanics [physics.med-ph], Sensory Systems, Finite element method, medicine.anatomical_structure, Ossicular Replacement, Otorhinolaryngology, Middle ear, sense organs, Surgical simulation
Abstract

sous presse / in press; International audience; Ossicular surgery requires a high dexterity for the manipulation of the fragile and small middle ear components. Currently, the only efficient technique for training residents in otological surgery is through the use of temporal bone specimens, where any existing surgical simulator does not provide useful feedback. The objective of this study was to develop a finite-element model of the human ossicular chain dedicated to surgical simulation and to propose a method to evaluate its behavior. A model was developed based on human middle ear micromagnetic resonance imaging. The mechanical parameters were determined according to published data. To assess its performance, the middle ear transfer function was analyzed. The robustness of our model and the influence of different middle ear components were also evaluated at low frequency by static force pressure simulations. The mechanical behavior of our model in nominal and pathological conditions was in good agreement with published human temporal bone measurements. We showed that the cochlea influences the transfer function only at high frequency and could be omitted from a surgical simulator. In addition, surgeons were able to manipulate the validated middle ear model with a real-time haptic feedback. The computational efficiency of our approach allowed real-time interactions, making it suitable for use in a training simulator.

Published
2013
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17. Évaluation de techniques chirurgicales innovantes pour l’otospongiose à l’aide d’un simulateur chirurgical

Author

Mathieu Miroir, Evelyne Ferrary, Yann Nguyen, Guillaume Kazmitcheff, Stéphane Cotin, Olivier Sterkers, Christian Duriez, Chirurgie otologique mini-invasive robotisée, Université Paris Diderot - Paris 7 (UPD7)-Institut National de la Santé et de la Recherche Médicale (INSERM), Service d'oto-rhino-laryngologie, Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-Université Paris Diderot - Paris 7 (UPD7)-Hôpital Beaujon [AP-HP], Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP), Simulation in Healthcare using Computer Research Advances (SHACRA), Laboratoire d'Informatique Fondamentale de Lille (LIFL), Université de Lille, Sciences et Technologies-Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lille, Sciences Humaines et Sociales-Centre National de la Recherche Scientifique (CNRS)-Université de Lille, Sciences et Technologies-Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lille, Sciences Humaines et Sociales-Centre National de la Recherche Scientifique (CNRS)-Inria Lille - Nord Europe, Institut National de Recherche en Informatique et en Automatique (Inria)-Inria Nancy - Grand Est, Institut National de Recherche en Informatique et en Automatique (Inria), Hôpital Beaujon-Université Paris Diderot - Paris 7 (UPD7)-Assistance publique - Hôpitaux de Paris (AP-HP) (APHP), and Université de Lille, Sciences et Technologies-Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lille, Sciences Humaines et Sociales-Centre National de la Recherche Scientifique (CNRS)

Subjects
03 medical and health sciences, 0302 clinical medicine, Otorhinolaryngology, 030220 oncology & carcinogenesis, [SPI.MECA.BIOM]Engineering Sciences [physics]/Mechanics [physics.med-ph]/Biomechanics [physics.med-ph], Surgery, 030223 otorhinolaryngology, ComputingMilieux_MISCELLANEOUS, [SPI.MECA.GEME]Engineering Sciences [physics]/Mechanics [physics.med-ph]/Mechanical engineering [physics.class-ph], [SPI.AUTO]Engineering Sciences [physics]/Automatic
Abstract

National audience; no abstract

Published
2013
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18. Mesure des forces d’insertions durant l’implantation cochléaire: intérêt pour le chirurgien

Author

Evelyne Ferrary, Yann Nguyen, Mathieu Miroir, J. Bensimon, A. Bozorg Grayeli, Guillaume Kazmitcheff, Olivier Sterkers, Chirurgie otologique mini-invasive robotisée, Université Paris Diderot - Paris 7 (UPD7)-Institut National de la Santé et de la Recherche Médicale (INSERM), Simulation in Healthcare using Computer Research Advances (SHACRA), Laboratoire d'Informatique Fondamentale de Lille (LIFL), Université de Lille, Sciences et Technologies-Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lille, Sciences Humaines et Sociales-Centre National de la Recherche Scientifique (CNRS)-Université de Lille, Sciences et Technologies-Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lille, Sciences Humaines et Sociales-Centre National de la Recherche Scientifique (CNRS)-Inria Lille - Nord Europe, Institut National de Recherche en Informatique et en Automatique (Inria)-Inria Nancy - Grand Est, Institut National de Recherche en Informatique et en Automatique (Inria), Service d'oto-rhino-laryngologie, Hôpital Beaujon [AP-HP], Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-Université Paris Diderot - Paris 7 (UPD7), Hôpital Beaujon-Université Paris Diderot - Paris 7 (UPD7)-Assistance publique - Hôpitaux de Paris (AP-HP) (APHP), Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-Université Paris Diderot - Paris 7 (UPD7)-Hôpital Beaujon [AP-HP], and Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)

Subjects
03 medical and health sciences, 0302 clinical medicine, Otorhinolaryngology, 030220 oncology & carcinogenesis, [SPI.MECA.BIOM]Engineering Sciences [physics]/Mechanics [physics.med-ph]/Biomechanics [physics.med-ph], Surgery, 030223 otorhinolaryngology, [SPI.MECA.GEME]Engineering Sciences [physics]/Mechanics [physics.med-ph]/Mechanical engineering [physics.class-ph], [SPI.AUTO]Engineering Sciences [physics]/Automatic
Abstract

National audience; But de la présentation.– La mesure des forces d’insertions est aujourd’hui utilisée lors du développement des portes-électrodes. Elle pourrait avoir un intérêt dans la diminution du traumatisme lors de l’implantation cochléaire. En pratique clinique, les implants sont insérés avec une sensation tactile limitée. Le but du travail a été d’évaluer, la précision d’un capteur d’effort 1-axe embarqué sur un outil d’insertion, et son utilité pour apprécier la qualité du geste chirurgical.Matériels et méthodes.– À l’aide d’un outil mécatronique mis au point dans notre laboratoire, différents modèles de scala tympani artificiels (n =6) ou anatomiques (n =12) ont été implantés avec les portes électrodes Neurelec et Advanced Bionics avec une mesure de la force d’insertion et suivi en temps réels par vidéo ou analyse du positionnement du porte électrode par micro-tomodensitométrie. La mesure effectuée par le capteur 1-axe de l’outil et par un capteur 6-axes (référence) ont été comparées. Les paramètres étudiés ont été : le profil d’effort dans une insertion normale (n =7) le contact avec le mur latéral (n =7), le blocage de la progression de l’implant (n =1), la perforation de la membrane basilaire (n =3), le repliement en épingle (n =1).Résultats.– La différence de mesure entre les capteurs 1- et 6-axes était de 0,007±0,001N (n =9) (soit 4 % de la force d’insertion maximale). L’analyse des profils de la force d’insertion n’a pas permis de détecter le premier point de contact avec le mur latéral, ni la perforation de la membrane basilaire. En revanche, en cas de blocage de la progression de l’implant ou de repliement en épingle, un changement précoce (

Published
2012
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19. From conception to application of a tele-operated assistance robot for middle ear surgery

Author

Yann Nguyen, Mathieu Miroir, Alexis Bozorg Grayeli, Guillaume Kazmitcheff, Olivier Sterkers, Evelyne Ferrary, Chirurgie otologique mini-invasive robotisée, Université Paris Diderot - Paris 7 (UPD7)-Institut National de la Santé et de la Recherche Médicale (INSERM), Service d'oto-rhino-laryngologie, Assistance publique - Hôpitaux de Paris (AP-HP) (APHP)-Université Paris Diderot - Paris 7 (UPD7)-Hôpital Beaujon, Simulation in Healthcare using Computer Research Advances (SHACRA), Laboratoire d'Informatique Fondamentale de Lille (LIFL), Université de Lille, Sciences et Technologies-Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lille, Sciences Humaines et Sociales-Centre National de la Recherche Scientifique (CNRS)-Université de Lille, Sciences et Technologies-Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lille, Sciences Humaines et Sociales-Centre National de la Recherche Scientifique (CNRS)-Inria Lille - Nord Europe, Institut National de Recherche en Informatique et en Automatique (Inria)-Inria Nancy - Grand Est, Institut National de Recherche en Informatique et en Automatique (Inria), Hôpital Beaujon [AP-HP], Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-Université Paris Diderot - Paris 7 (UPD7), Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-Université Paris Diderot - Paris 7 (UPD7)-Hôpital Beaujon [AP-HP], and Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)

Subjects
Engineering, Microsurgery, medicine.medical_treatment, Ear, Middle, Kinematics, Stapes Surgery, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Prosthesis Implantation, 03 medical and health sciences, 0302 clinical medicine, Temporal bone, medicine, Humans, Computer vision, 030223 otorhinolaryngology, business.industry, [SPI.MECA.BIOM]Engineering Sciences [physics]/Mechanics [physics.med-ph]/Biomechanics [physics.med-ph], Robotics, Stapedectomy, medicine.disease, Magnetic Resonance Imaging, Conductive hearing loss, [SPI.MECA.GEME]Engineering Sciences [physics]/Mechanics [physics.med-ph]/Mechanical engineering [physics.class-ph], medicine.anatomical_structure, Otosclerosis, Surgery, Computer-Assisted, 030220 oncology & carcinogenesis, Middle ear, Robot, Surgery, Artificial intelligence, business, Ear Canal, Biomedical engineering
Abstract

International audience; The authors' goal was to design and evaluate a robot dedicated to middle ear surgery. Specifications for dimensions, forces, and kinematics were collected, based on the otosclerosis procedure. The robot structure has a compact geometry with 3 linear and 3 rotatory motors. It is remotely piloted via a robot-surgeon interface under operative microscope. Ability to reach anatomical targets, to perform stapedectomy, and to place prosthesis in a model of stapedotomy was evaluated by 6 surgeons. Multiple anatomical targets in the middle ear could be successfully reached without damaging surrounding structures. The robot could be used under operative microscope with minimal visual field impairment or jointly with a 4-mm endoscope through the external auditory canal to perform stapedectomy in temporal bone specimens. Prosthesis could be inserted in the stapedotomy model. The assistance robot is the first prototype with 6 degrees of freedom, a kinematic structure, and dimensions optimized for tele-operated middle ear surgery.

Published
2012
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20. Mise au point d’un simulateur et d’un modèle mécanique de l’oreille moyenne pour la chirurgie ossiculaire

Author

A. Bozorg Grayeli, Mathieu Miroir, Evelyne Ferrary, G Kazmitcheff, Olivier Sterkers, Stéphane Mazalaigue, J. Bensimon, Yann Nguyen, Stéphane Cotin, Christian Duriez, Simulation in Healthcare using Computer Research Advances (SHACRA), Laboratoire d'Informatique Fondamentale de Lille (LIFL), Université de Lille, Sciences et Technologies-Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lille, Sciences Humaines et Sociales-Centre National de la Recherche Scientifique (CNRS)-Université de Lille, Sciences et Technologies-Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lille, Sciences Humaines et Sociales-Centre National de la Recherche Scientifique (CNRS)-Inria Lille - Nord Europe, Institut National de Recherche en Informatique et en Automatique (Inria)-Inria Nancy - Grand Est, Institut National de Recherche en Informatique et en Automatique (Inria), Chirurgie otologique mini-invasive robotisée, Université Paris Diderot - Paris 7 (UPD7)-Institut National de la Santé et de la Recherche Médicale (INSERM), Collin SA [Bagneux], Service d'oto-rhino-laryngologie, Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-Université Paris Diderot - Paris 7 (UPD7)-Hôpital Beaujon [AP-HP], Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP), Hôpital Beaujon [AP-HP], Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-Université Paris Diderot - Paris 7 (UPD7), and Assistance publique - Hôpitaux de Paris (AP-HP) (APHP)-Université Paris Diderot - Paris 7 (UPD7)-Hôpital Beaujon

Subjects
03 medical and health sciences, 0302 clinical medicine, Otorhinolaryngology, 030220 oncology & carcinogenesis, [SPI.MECA.BIOM]Engineering Sciences [physics]/Mechanics [physics.med-ph]/Biomechanics [physics.med-ph], Surgery, 030223 otorhinolaryngology, ComputingMilieux_MISCELLANEOUS, [SPI.MECA.GEME]Engineering Sciences [physics]/Mechanics [physics.med-ph]/Mechanical engineering [physics.class-ph], [SPI.AUTO]Engineering Sciences [physics]/Automatic
Abstract

National audience; no abstract

Published
2012
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21. Cochlear implant insertion forces in microdissected human cochlea to evaluate a prototype array

Author

Alexis Bozorg Grayeli, Morad Bensidhoum, Mathieu Miroir, Jasmine Sutter, Yann Nguyen, Guillaume Kazmitcheff, Evelyne Ferrary, Olivier Sterkers, Chirurgie otologique mini-invasive robotisée, Université Paris Diderot - Paris 7 (UPD7)-Institut National de la Santé et de la Recherche Médicale (INSERM), Service d'oto-rhino-laryngologie, Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-Université Paris Diderot - Paris 7 (UPD7)-Hôpital Beaujon [AP-HP], Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP), Simulation in Healthcare using Computer Research Advances (SHACRA), Laboratoire d'Informatique Fondamentale de Lille (LIFL), Université de Lille, Sciences et Technologies-Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lille, Sciences Humaines et Sociales-Centre National de la Recherche Scientifique (CNRS)-Université de Lille, Sciences et Technologies-Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lille, Sciences Humaines et Sociales-Centre National de la Recherche Scientifique (CNRS)-Inria Lille - Nord Europe, Institut National de Recherche en Informatique et en Automatique (Inria)-Inria Nancy - Grand Est, Institut National de Recherche en Informatique et en Automatique (Inria), Bioingénierie et Bioimagerie Ostéo-articulaires, Biomécanique et Biomatériaux Ostéo-Articulaires (B2OA (UMR_7052)), École nationale vétérinaire - Alfort (ENVA)-Université Paris Diderot - Paris 7 (UPD7)-Centre National de la Recherche Scientifique (CNRS), Hôpital Beaujon [AP-HP], Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-Université Paris Diderot - Paris 7 (UPD7), École nationale vétérinaire d'Alfort (ENVA)-Université Paris Diderot - Paris 7 (UPD7)-Centre National de la Recherche Scientifique (CNRS), Hôpital Beaujon-Université Paris Diderot - Paris 7 (UPD7)-Assistance publique - Hôpitaux de Paris (AP-HP) (APHP), and Université Paris Diderot - Paris 7 (UPD7)-Centre National de la Recherche Scientifique (CNRS)-École nationale vétérinaire d'Alfort (ENVA)

Subjects
Materials science, Physiology, medicine.medical_treatment, Tissue Banks, In Vitro Techniques, Temporal bone surgery, Models, Biological, [SPI.AUTO]Engineering Sciences [physics]/Automatic, 03 medical and health sciences, Speech and Hearing, 0302 clinical medicine, Cochlear implant, medicine, otorhinolaryngologic diseases, Humans, 030223 otorhinolaryngology, Cochlear implantation, Cochlea, Round window, Cochlear trauma, Temporal Bone, [SPI.MECA.BIOM]Engineering Sciences [physics]/Mechanics [physics.med-ph]/Biomechanics [physics.med-ph], Anatomy, Robotics, Scala Tympani, Cochlear Implantation, Sensory Systems, Basilar Membrane, [SPI.MECA.GEME]Engineering Sciences [physics]/Mechanics [physics.med-ph]/Mechanical engineering [physics.class-ph], Basilar membrane, medicine.anatomical_structure, Otorhinolaryngology, Round Window, Ear, Calibration, Stress, Mechanical, sense organs, Microdissection, 030217 neurology & neurosurgery, Biomedical engineering
Abstract

International audience; Cochlear implant array insertion forces are potentially related to cochlear trauma. We compared these forces between a standard (Digisonic SP; Neurelec, Vallauris, France) and an array prototype (Neurelec) with a smaller diameter. The arrays were inserted by a mechatronic tool in 23 dissected human cochlea specimens exposing the basilar membrane. The array progression under the basilar membrane was filmed together with dynamic force measurements. Insertion force profiles and depth of insertion were compared. The recordings showed lower insertion forces beyond 270° of insertion and deeper insertions with the thin prototype array. This will potentially allow larger cochlear coverage with less trauma.

Published
2012
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22. Friction force measurement during cochlear implant insertion: application to a force-controlled insertion tool design

Author

Yann Nguyen, Guillaume Kazmitcheff, Evelyne Ferrary, Olivier Sterkers, Mathieu Miroir, Alexis Bozorg Grayeli, Chirurgie otologique mini-invasive robotisée, Université Paris Diderot - Paris 7 (UPD7)-Institut National de la Santé et de la Recherche Médicale (INSERM), Service d'oto-rhino-laryngologie, Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-Université Paris Diderot - Paris 7 (UPD7)-Hôpital Beaujon [AP-HP], Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP), Simulation in Healthcare using Computer Research Advances (SHACRA), Laboratoire d'Informatique Fondamentale de Lille (LIFL), Université de Lille, Sciences et Technologies-Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lille, Sciences Humaines et Sociales-Centre National de la Recherche Scientifique (CNRS)-Université de Lille, Sciences et Technologies-Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lille, Sciences Humaines et Sociales-Centre National de la Recherche Scientifique (CNRS)-Inria Lille - Nord Europe, Institut National de Recherche en Informatique et en Automatique (Inria)-Inria Nancy - Grand Est, Institut National de Recherche en Informatique et en Automatique (Inria), Hôpital Beaujon [AP-HP], Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-Université Paris Diderot - Paris 7 (UPD7), and Assistance publique - Hôpitaux de Paris (AP-HP) (APHP)-Université Paris Diderot - Paris 7 (UPD7)-Hôpital Beaujon

Subjects
Models, Anatomic, medicine.medical_specialty, Friction, Friction force, medicine.medical_treatment, Base (geometry), Audiology, In Vitro Techniques, [SPI.AUTO]Engineering Sciences [physics]/Automatic, 03 medical and health sciences, 0302 clinical medicine, Cochlear implant, Electrode array, Medicine, Humans, Tube (container), 030223 otorhinolaryngology, Cochlear implantation, Electrodes, ComputingMilieux_MISCELLANEOUS, business.industry, Temporal Bone, [SPI.MECA.BIOM]Engineering Sciences [physics]/Mechanics [physics.med-ph]/Biomechanics [physics.med-ph], Scala Tympani, Tool design, Cochlear Implantation, Sensory Systems, Cochlea, [SPI.MECA.GEME]Engineering Sciences [physics]/Mechanics [physics.med-ph]/Mechanical engineering [physics.class-ph], Cochlear Implants, Otorhinolaryngology, Electrode, Neurology (clinical), business, 030217 neurology & neurosurgery, Biomedical engineering
Abstract

HYPOTHESIS The aim of the study was to evaluate force profiles during array insertion in human cochlea specimens and to evaluate a mechatronic inserter using a 1-axis force sensor. BACKGROUND Today, the surgical challenge in cochlear implantation is the preservation of the anatomic structures and the residual hearing. In routine practice, the electrode array is inserted manually with a limited sensitive feedback. MATERIALS AND METHODS Hifocus 1J electrode arrays were studied. The bench test comprised a mechatronic inserter combined to a 1-axis force sensor between the inserter and the base of the array and a 6-axis force sensor beneath the cochlea model. Influence of insertion tube material, speed (0.15, 0.5, and 1.5 mm/s) and lubricant on frictions forces were studied (no-load). Different models were subsequently evaluated: epoxy scala tympani model and temporal bones. RESULTS Frictions forces were lower in the plastic tube compared with those in the metal tube (0.09 ± 0.028 versus 0.14 ± 0.034 at 0.5 mm/s, p < 0.001) and with the use of hyaluronic acid gel. Speed did not influence frictions forces in our study. Insertion force profiles provided by the 1- and 6-axis force sensors were similar when friction forces inside the insertion tool (no-load measurements) were subtracted from the 1-axis sensor data in the epoxy and temporal bone models (mean error, 0.01 ± 0.001 N). CONCLUSION Using a sensor included in the inserter, we were able to measure array insertion forces. This tool can be potentially used to provide real-time information to the surgeon during the procedure.

Published
2012
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23. Evaluation of command modes of an assistance robot for middle ear surgery

Author

Alexis Bozorg Grayeli, Stéphane Mazalaigue, Charlotte Celerier, Evelyne Ferrary, Olivier Sterkers, Guillaume Kazmitcheff, Mathieu Miroir, Yann Nguyen, Simulation in Healthcare using Computer Research Advances (SHACRA), Laboratoire d'Informatique Fondamentale de Lille (LIFL), Université de Lille, Sciences et Technologies-Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lille, Sciences Humaines et Sociales-Centre National de la Recherche Scientifique (CNRS)-Université de Lille, Sciences et Technologies-Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lille, Sciences Humaines et Sociales-Centre National de la Recherche Scientifique (CNRS)-Inria Lille - Nord Europe, Institut National de Recherche en Informatique et en Automatique (Inria)-Inria Nancy - Grand Est, Institut National de Recherche en Informatique et en Automatique (Inria), Chirurgie otologique mini-invasive robotisée, Université Paris Diderot - Paris 7 (UPD7)-Institut National de la Santé et de la Recherche Médicale (INSERM), Service d'oto-rhino-laryngologie, Hôpital Beaujon [AP-HP], Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-Université Paris Diderot - Paris 7 (UPD7), Collin SA [Bagneux], Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-Université Paris Diderot - Paris 7 (UPD7)-Hôpital Beaujon [AP-HP], Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP), and Hôpital Beaujon-Université Paris Diderot - Paris 7 (UPD7)-Assistance publique - Hôpitaux de Paris (AP-HP) (APHP)

Subjects
0209 industrial biotechnology, Engineering, Controller (computing), ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION, ComputerApplications_COMPUTERSINOTHERSYSTEMS, 02 engineering and technology, law.invention, [SPI.AUTO]Engineering Sciences [physics]/Automatic, 03 medical and health sciences, 020901 industrial engineering & automation, 0302 clinical medicine, Mode (computer interface), law, 030223 otorhinolaryngology, Simulation, Robot kinematics, Telerobotics, business.industry, [SPI.MECA.BIOM]Engineering Sciences [physics]/Mechanics [physics.med-ph]/Biomechanics [physics.med-ph], Mobile robot, Robot end effector, Robot control, [SPI.MECA.GEME]Engineering Sciences [physics]/Mechanics [physics.med-ph]/Mechanical engineering [physics.class-ph], body regions, Robot, business
Abstract

International audience; RobOtol is a micro-surgical tele operated system designed to assist middle ear surgery. A new prototype, with an improved controller system and mechanical enhancement is presented. Surgeons and engineers evaluated the robot by tasks specific to middle ear surgery with two command modes (position-velocity and position-position) and by questionnaires. There was no prevailing command mode. A human robot interface was developed to offer easy and fast intra operative adaptation of the command mode to surgeons' preferences and specific situations.

Published
2011
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24. Minimally invasive computer-assisted approach for cochlear implantation: a human temporal bone study

Author

Yann Nguyen, Jean-Loup Bensimon, Jean-François Vellin, Mathieu Miroir, Daniele Bernardeschi, Olivier Sterkers, Stéphane Mazalaigue, Evelyne Ferrary, and Alexis Bozorg Grayeli

Subjects
medicine.medical_treatment, Bone Screws, Dissection (medical), In Vitro Techniques, Imaging, Three-Dimensional, Cochlear implant, Temporal bone, otorhinolaryngologic diseases, medicine, Humans, Minimally Invasive Surgical Procedures, Cochlear implantation, Cochlea, business.industry, Temporal Bone, medicine.disease, Facial nerve, Cochlear Implantation, Surgery, Computer-Assisted, Radiographic Image Interpretation, Computer-Assisted, Surgery, sense organs, Fiducial marker, business, Tomography, X-Ray Computed, Keyhole, Software, Biomedical engineering
Abstract

Computer-assisted navigation systems can now potentially guide the surgeon to the cochlea with a trajectory avoiding the facial nerve through a keyhole approach. Five temporal bone specimens, with 4 titanium screws placed in the mastoid cortex, were studied. Preoperative computed tomographic scan images were loaded on an electromagnetic computer-assisted surgery (CAS) system (Digipointeur, Collin, Bagneux, France). A drill was connected to the CAS to monitor its progression continuously. A conical approach passing through the facial recess and ending in the scala tympani was performed. A 0.5-mm wire was inserted into the cochlea. The keyhole approach was technically feasible in all cases. No facial nerve injury was observed on imaging and dissection control. The wire was positioned in the scala tympani and the position accuracy of the CAS was

Published
2011

25. Mechanical Design and Optimization of a Microsurgical Robot

Author

Jérôme Szewczyk, Yann Nguyen, Mathieu Miroir, A. Bozorg Grayeli, Stéphane Mazalaigue, O. Sterkers, Institut des Systèmes Intelligents et de Robotique (ISIR), Université Pierre et Marie Curie - Paris 6 (UPMC)-Centre National de la Recherche Scientifique (CNRS), Assistance aux Gestes et Applications THErapeutiques (AGATHE), Université Pierre et Marie Curie - Paris 6 (UPMC)-Centre National de la Recherche Scientifique (CNRS)-Université Pierre et Marie Curie - Paris 6 (UPMC)-Centre National de la Recherche Scientifique (CNRS)-Institut National de la Santé et de la Recherche Médicale (INSERM), Service d'oto-rhino-laryngologie, Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-Université Paris Diderot - Paris 7 (UPD7)-Hôpital Beaujon [AP-HP], Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP), Hôpital Beaujon [AP-HP], Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-Université Paris Diderot - Paris 7 (UPD7), and Hôpital Beaujon-Université Paris Diderot - Paris 7 (UPD7)-Assistance publique - Hôpitaux de Paris (AP-HP) (APHP)

Subjects
Functional specification, 0209 industrial biotechnology, Mechanism design, Computer science, ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION, [SPI.MECA.BIOM]Engineering Sciences [physics]/Mechanics [physics.med-ph]/Biomechanics [physics.med-ph], 02 engineering and technology, Kinematics, Multi-objective optimization, 6. Clean water, Task (project management), law.invention, [SPI.MECA.GEME]Engineering Sciences [physics]/Mechanics [physics.med-ph]/Mechanical engineering [physics.class-ph], [SPI.AUTO]Engineering Sciences [physics]/Automatic, 03 medical and health sciences, 020901 industrial engineering & automation, 0302 clinical medicine, law, Robot, 030223 otorhinolaryngology, Micromanipulator, Simulation, ComputingMilieux_MISCELLANEOUS, Gesture
Abstract

The tele-operated system with three arms for the microsurgery of the middle ear is composed of an operator console from where the surgeon tele-operates three robotized arms that hold surgery tools with a high level of accuracy. The main difference between these micromanipulators and the conventional minimal-invasive surgery robots is the increased field of vision capacity to carry out complex operational gestures without using dextral tool with intra-body mobility. The method used to design the micromanipulator tool holder is described. A first task consists of analyzing functional specifications. The next step is to define and select a kinematic structure adapted to the task. Finally, a dimensional optimization is carried out by using Pareto front method.

Published
2009

26. Design of a robotic system for minimally invasive surgery of the middle ear

Author

Jérôme Szewczyk, Mathieu Miroir, Stéphane Mazalaigue, Yann Nguyen, Olivier Sterkers, Institut des Systèmes Intelligents et de Robotique (ISIR), Université Pierre et Marie Curie - Paris 6 (UPMC)-Centre National de la Recherche Scientifique (CNRS), Assistance aux Gestes et Applications THErapeutiques (AGATHE), Université Pierre et Marie Curie - Paris 6 (UPMC)-Centre National de la Recherche Scientifique (CNRS)-Université Pierre et Marie Curie - Paris 6 (UPMC)-Centre National de la Recherche Scientifique (CNRS)-Institut National de la Santé et de la Recherche Médicale (INSERM), Chirurgie otologique mini-invasive robotisée, Université Paris Diderot - Paris 7 (UPD7)-Institut National de la Santé et de la Recherche Médicale (INSERM), Service d'oto-rhino-laryngologie, Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-Université Paris Diderot - Paris 7 (UPD7)-Hôpital Beaujon [AP-HP], Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP), Hôpital Beaujon [AP-HP], Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-Université Paris Diderot - Paris 7 (UPD7), and Assistance publique - Hôpitaux de Paris (AP-HP) (APHP)-Université Paris Diderot - Paris 7 (UPD7)-Hôpital Beaujon

Subjects
Engineering, medicine.medical_treatment, ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION, 02 engineering and technology, Kinematics, Multi-objective optimization, law.invention, Task (project management), [SPI.AUTO]Engineering Sciences [physics]/Automatic, 03 medical and health sciences, 0302 clinical medicine, law, 0202 electrical engineering, electronic engineering, information engineering, medicine, Computer vision, 030223 otorhinolaryngology, Micromanipulator, Simulation, ComputingMilieux_MISCELLANEOUS, Telerobotics, business.industry, [SPI.MECA.BIOM]Engineering Sciences [physics]/Mechanics [physics.med-ph]/Biomechanics [physics.med-ph], Microsurgery, 6. Clean water, [SPI.MECA.GEME]Engineering Sciences [physics]/Mechanics [physics.med-ph]/Mechanical engineering [physics.class-ph], Robot, 020201 artificial intelligence & image processing, Artificial intelligence, business, Gesture
Abstract

The tele-operated system with three arms for the microsurgery of the middle ear is composed of an operator console from where the surgeon tele-operates three robotized arms that hold surgery tools with a high level of accuracy. The main difference between these micromanipulators and the conventional minimally-invasive surgery robots is the increased field of vision capacity to carry out complex operational gestures without using dexterous tool with intra-body mobility. The method used to design the micromanipulator tool holder is described. A first task consists of analyzing functional specifications. The next step is to define and select a kinematic structure adapted to the task. Finally, a dimensional optimization is carried out by using Pareto front method.

Published
2008

27. Évaluation des performances des chirurgiens pour un abord de la fenêtre ronde par des rochers artificiels

Author

Yann Nguyen, Mathieu Miroir, Olivier Sterkers, S Touhami, Guillaume Kazmitcheff, A. Bozorg Grayeli, Hôpital Beaujon [AP-HP], Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP), Chirurgie otologique mini-invasive robotisée, Université Paris Diderot - Paris 7 (UPD7)-Institut National de la Santé et de la Recherche Médicale (INSERM), Simulation in Healthcare using Computer Research Advances (SHACRA), Laboratoire d'Informatique Fondamentale de Lille (LIFL), Université de Lille, Sciences et Technologies-Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lille, Sciences Humaines et Sociales-Centre National de la Recherche Scientifique (CNRS)-Université de Lille, Sciences et Technologies-Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lille, Sciences Humaines et Sociales-Centre National de la Recherche Scientifique (CNRS)-Inria Lille - Nord Europe, Institut National de Recherche en Informatique et en Automatique (Inria)-Inria Nancy - Grand Est, Institut National de Recherche en Informatique et en Automatique (Inria), Service d'oto-rhino-laryngologie, Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-Université Paris Diderot - Paris 7 (UPD7), Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-Université Paris Diderot - Paris 7 (UPD7)-Hôpital Beaujon [AP-HP], Hôpital Beaujon, and Assistance publique - Hôpitaux de Paris (AP-HP) (APHP)-Université Paris Diderot - Paris 7 (UPD7)-Hôpital Beaujon

Subjects
03 medical and health sciences, 0302 clinical medicine, Otorhinolaryngology, 030220 oncology & carcinogenesis, [SPI.MECA.BIOM]Engineering Sciences [physics]/Mechanics [physics.med-ph]/Biomechanics [physics.med-ph], Surgery, 030223 otorhinolaryngology, ComputingMilieux_MISCELLANEOUS, [SPI.MECA.GEME]Engineering Sciences [physics]/Mechanics [physics.med-ph]/Mechanical engineering [physics.class-ph], [SPI.AUTO]Engineering Sciences [physics]/Automatic
Abstract

National audience; no abstract

Published
2012
Full Text
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28. A025 Evaluation of insertions forces of an atraumatic array prototype in a model of micro dissected cochlea

Author

Guillaume Kazmitcheff, Olivier Sterkers, Mathieu Miroir, Yann Nguyen, Ab Grayeli, Evelyne Ferrary, Institut National de la Santé et de la Recherche Médicale (INSERM), Chirurgie otologique mini-invasive robotisée, Université Paris Diderot - Paris 7 (UPD7)-Institut National de la Santé et de la Recherche Médicale (INSERM), Simulation in Healthcare for Advanced Medical ApplicatioNs (SHAMAN), Laboratoire d'Informatique Fondamentale de Lille (LIFL), Université de Lille, Sciences et Technologies-Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lille, Sciences Humaines et Sociales-Centre National de la Recherche Scientifique (CNRS)-Université de Lille, Sciences et Technologies-Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lille, Sciences Humaines et Sociales-Centre National de la Recherche Scientifique (CNRS)-Inria Lille - Nord Europe, Institut National de Recherche en Informatique et en Automatique (Inria), Service d'oto-rhino-laryngologie, Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-Université Paris Diderot - Paris 7 (UPD7)-Hôpital Beaujon [AP-HP], Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP), Université Paris Diderot - Paris 7 (UPD7), Institut National de Recherche en Informatique et en Automatique (Inria)-IRCICA, Hôpital Beaujon [AP-HP], Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-Université Paris Diderot - Paris 7 (UPD7), and Hôpital Beaujon-Université Paris Diderot - Paris 7 (UPD7)-Assistance publique - Hôpitaux de Paris (AP-HP) (APHP)

Subjects
medicine.medical_specialty, business.industry, [SPI.MECA.BIOM]Engineering Sciences [physics]/Mechanics [physics.med-ph]/Biomechanics [physics.med-ph], General Medicine, Anatomy, [SPI.MECA.GEME]Engineering Sciences [physics]/Mechanics [physics.med-ph]/Mechanical engineering [physics.class-ph], [SPI.AUTO]Engineering Sciences [physics]/Automatic, Surgery, Otorhinolaryngology, Pediatrics, Perinatology and Child Health, Medicine, business, ComputingMilieux_MISCELLANEOUS, Cochlea
Abstract

National audience; no abstract

Published
2011
Full Text
View/download PDF

29. Registration of a validated mechanical atlas of middle ear for surgical simulation

Author

Olivier Sterkers, Alexis Bozorg Grayeli, Mathieu Miroir, Stéphane Cotin, Yann Nguyen, Guillaume Kazmitcheff, Christian Duriez, Simulation in Healthcare using Computer Research Advances (SHACRA), Laboratoire d'Informatique Fondamentale de Lille (LIFL), Université de Lille, Sciences et Technologies-Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lille, Sciences Humaines et Sociales-Centre National de la Recherche Scientifique (CNRS)-Université de Lille, Sciences et Technologies-Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lille, Sciences Humaines et Sociales-Centre National de la Recherche Scientifique (CNRS)-Inria Lille - Nord Europe, Institut National de Recherche en Informatique et en Automatique (Inria)-Inria Nancy - Grand Est, Institut National de Recherche en Informatique et en Automatique (Inria), Chirurgie otologique mini-invasive robotisée, Université Paris Diderot - Paris 7 (UPD7)-Institut National de la Santé et de la Recherche Médicale (INSERM), Service d'oto-rhino-laryngologie, Hôpital Beaujon [AP-HP], Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-Université Paris Diderot - Paris 7 (UPD7), Kazmitcheff, Guillaume, Assistance publique - Hôpitaux de Paris (AP-HP) (APHP)-Université Paris Diderot - Paris 7 (UPD7)-Hôpital Beaujon, Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-Université Paris Diderot - Paris 7 (UPD7)-Hôpital Beaujon [AP-HP], and Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)

Subjects
medicine.medical_specialty, 020205 medical informatics, Computer science, business.industry, [PHYS.MECA.BIOM] Physics [physics]/Mechanics [physics]/Biomechanics [physics.med-ph], [SPI.MECA.BIOM]Engineering Sciences [physics]/Mechanics [physics.med-ph]/Biomechanics [physics.med-ph], 02 engineering and technology, Finite element method, Surgery, 03 medical and health sciences, 0302 clinical medicine, medicine.anatomical_structure, Atlas (anatomy), Middle ear surgery, [SPI.MECA.BIOM] Engineering Sciences [physics]/Mechanics [physics.med-ph]/Biomechanics [physics.med-ph], 0202 electrical engineering, electronic engineering, information engineering, medicine, Middle ear, Computer vision, Artificial intelligence, Surgical simulation, [PHYS.MECA.BIOM]Physics [physics]/Mechanics [physics]/Biomechanics [physics.med-ph], 030223 otorhinolaryngology, Head and neck, business
Abstract

International audience; This paper is centered on the development of a new train- ing and rehearsal simulation system for middle ear surgery. First, we have developed and validated a mechanical atlas based on finite element method of the human middle ear. The atlas is based on a microMRI. Its mechanical behavior computed in real-time has been successfully val- idated. In addition, we propose a method for the registration of the mechanical atlas on patient imagery. The simulation can be used for a rehearsal surgery with the geometrical anatomy of a given patient and with mechanical data that are validated. Moreover, this process does not necessitate a complete re-built of the model.

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