ArticleIEEE robotics and automation letters2017
Through the Eustachian Tube and Beyond: A New Miniature Robotic Endoscope to See Into The Middle Ear.
Article in IEEE robotics and automation letters, 2017. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 11 papers.
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Who cites it
11 citing papers in PubMed, 39 citations in OpenAlex.
- Single twistable tendon-driven continuum robots.Nature communications · 2026Article
- Interaction-aware dexterous robot for minimally invasive transcanal inner ear interventions.Nature communications · 2026Article
- Coupling Analysis of Compound Continuum Robots for Surgery: Another Line of Thought.Sensors (Basel, Switzerland) · 2023Article
- MR-Tracked Deflectable Stylet for Gynecologic Brachytherapy.IEEE/ASME transactions on mechatronics : a joint publication of the IEEE Industrial Electronics Society and the ASME Dynamic Systems and Control Division · 2022Article
- Article
- Eyes in Ears: A Miniature Steerable Digital Endoscope for Trans-Nasal Diagnosis of Middle Ear Disease.Annals of biomedical engineering · 2021Article
- Computational Optimization of Notch Spacing for a Transnasal Ear Endoscopy Continuum Robot.... International Symposium on Medical Robotics. International Symposium on Medical Robotics · 2020Article
- Artificial intelligence and robotics: a combination that is changing the operating room.World journal of urology · 2020Review
- Toward an automatic preoperative pipeline for image-guided temporal bone surgery.International journal of computer assisted radiology and surgery · 2019Article
- Planning nonlinear access paths for temporal bone surgery.International journal of computer assisted radiology and surgery · 2018Article
- Beyond Constant Curvature: A New Mechanics Model for Unidirectional Notched-Tube Continuum Wrists.Journal of medical robotics researchArticle
Corrections and comments
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Authors and funding
10 authors at 2 institutions in 1 country.
Funding
Abstract
This paper presents a novel miniature robotic endoscope that is small enough to pass through the Eustachian tube and provide visualization of the middle ear (ME). The device features a miniature bending tip previously conceived of as a small-scale robotic wrist that has been adapted to carry and aim a small chip-tip camera and fiber optic light sources. The motivation for trans-Eustachian tube ME inspection is to provide a natural-orifice-based route to the ME that does not require cutting or lifting the eardrum, as is currently required. In this paper, we first perform an analysis of the ME anatomy and use a computational design optimization platform to derive the kinematic requirements for endoscopic inspection of the ME through the Eustachian tube. Based on these requirements, we fabricate the proposed device and use it to demonstrate the feasibility of ME inspection in an anthropomorphic model, i.e. a 3D-printed ME phantom generated from patient image data. We show that our prototype provides > 74% visibility coverage of the sinus tympani, a region of the ME crucial for diagnosis, compared to an average of only 6.9% using a straight, non-articulated endoscope through the Eustachian Tube.
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Registered trials
Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.