Change search
ReferencesLink to record
Permanent link

Direct link
Robot Assisted Stapedotomy With an Active Handheld Instrument
KTH, School of Technology and Health (STH). Politecnico di Milano.
2015 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

Robotic-assisted surgery is a rapid growing field, facing challenging tasks and demands from surgeons, in particular in minimally invasive and microsurgery. However many of the present robotic systems are not well integrated in the surgical workflow, too big or too expensive. Micron is an innovative fully handheld active micromanipulator that helps surgeons to improve position accuracy and precision in microsurgery by cancelling the normal hand tremor. This thesis proposes an improvement and development of Micron, considering as target the stapedotomy procedure, microsurgery performed at the middle ear that aims to restore the hearing impairments. Two tools, a handle and a brace were designed and prototyped and the control was adapted; at the end the entire system was assessed through some experiments. Promising results were obtained in terms of tremor cancellation but further research is needed in order to reach clear advantages. 

Place, publisher, year, edition, pages
2015. , 111 p.
TRITA-STH, 2014:120
Keyword [en]
microsurgery, ear surgery, hand tremor, tremor cancellation, surgical robotics
National Category
Medical Engineering
URN: urn:nbn:se:kth:diva-162923OAI: diva2:798140
Subject / course
Medical Engineering
Educational program
Master of Science - Medical Engineering
Available from: 2015-12-14 Created: 2015-03-26 Last updated: 2015-12-14Bibliographically approved

Open Access in DiVA

Tobia Vendrametto student thesis kth sth(24364 kB)39 downloads
File information
File name FULLTEXT01.pdfFile size 24364 kBChecksum SHA-512
Type fulltextMimetype application/pdf

By organisation
School of Technology and Health (STH)
Medical Engineering

Search outside of DiVA

GoogleGoogle Scholar
Total: 39 downloads
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

Total: 18 hits
ReferencesLink to record
Permanent link

Direct link