On the design of a macro‐micro parallel manipulator for cochlear microrobot operations

Author:

Gezgin Erkin1ORCID,Yaşar Alp E.2,Uslu Tuğrul2,Koçak Mertcan1,Güzin Didem2,Özbek Seda2,Türkmen Gökmen A.2,Karayaman Goncagül1,Alsanğur Rahime3ORCID,Bıdıklı Barış1,Can Fatih C.1,Çetin Levent1

Affiliation:

1. Department of Mechatronics Engineering Izmir Katip Celebi University Izmir Turkey

2. Department of Mechanical Engineering Izmir Katip Celebi University Izmir Turkey

3. Department of Mechatronics Engineering Dokuz Eylül University Alsancak Turkey

Abstract

AbstractBackgroundThe method of stem cell transfer to narrow cochlear canals in vivo to generate hair cells is still an unclear operation. Thus, the development of any possible method that will ensure the usage of medical microrobots in small cochlear workspaces is a challenging procedure.MethodsThe current study tries to introduce a macro‐micro manipulator system composed of a 6‐DoF industrial serial manipulator as a macro manipulator and a proposed 5‐DoF parallel manipulator with dual end effectors as a micro manipulator carrying permanent magnets for tetherless microrobot actuation inside the cochlea.ResultsThroughout the study, structural synthesis and kinematic analysis of the proposed micro manipulator were introduced. A prototype of the manipulator was manufactured and its hardware verification procedures were carried out using motion capture cameras and surgical navigation registration methodologies.ConclusionsFollowing motion training, the assembled macro‐micro manipulator was successfully utilised to actuate a microrobot placed inside a manufactured cochlea mockup model.

Publisher

Wiley

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