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Analysis of forces during robot-assisted and manual manipulations of mobile and fixed footplate in temporal bone specimens

  • Otology
  • Published:
European Archives of Oto-Rhino-Laryngology Aims and scope Submit manuscript

Abstract

Purpose

To evaluate the forces involved in different manipulations, manual or robot-assisted, applied to the ossicular chain, on normal temporal bones and on an anatomical model of otosclerosis.

Methods

Thirteen cadaveric temporal bones, with mobile footplates or with footplates that were fixed using hydroxyapatite cement, were manipulated, manually or using a robotic arm (RobOtol®). “Short contact” of a mobile footplate was the weakest interaction on the incus. “Long contact” was the same manipulation held for 10 s. “Mobilization” was the smallest visualized movement of the mobile footplate, or the movement necessary to regain mobility of the fixed footplate. A six-axis force sensor (Nano17, ATI) measured the maximal peak of forces, summation of forces applied, and yank.

Results

Maximal forces during short (~4 mN) and long contact (~15 mN) were similar for manual and robot-assisted manipulations. For manual manipulation, yank measured during long contact was twice as high compared to robot-assisted manipulation: 6 ± 2.4 (n = 5) and 3 ± 1.3 mN/s (n = 5), respectively (mean ± SD, p < 0.02). For mobilization of the mobile footplate, maximal forces during mobilization were similar during manual and robot-assisted manipulations, respectively: 12 ± 2.5 (n = 6) and 19 ± 7.6 mN (n = 7). Compared with mobilization of a mobile footplate, mobilization of a fixed footplate required ~ 60 and ~ 27 times higher maximal forces for manual and robot-assisted manipulations, respectively: 724 ± 366.4 and 507 ± 283.2 mN. Yank was twice as high during manual manipulation compared to robot-assisted manipulation (p < 0.05).

Conclusion

Robot-assisted manipulation of the ossicular chain was reliable. Our anatomical model of otosclerosis was successfully developed requiring higher forces for stapes mobilization.

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Acknowledgements

We thank the Société Française d’Otorhinolaryngologie et de chirurgie de la face et du cou for their financial support (HD).

Funding

Fondation pour l’Audition (Hearing Institute starting grant), Société Française d’Otorhinolaryngologie et de chirurgie de la face et du cou, Agence Nationale de la Recherche Robocop ANR-19-CE19-0026-02.

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Author notes

  1. Renato Torres

    Present address: Departamento de Ciencias Fisiológicas, Facultad de Medicina, Universidad Nacional de San Agustín de Arequipa, Arequipa, Peru

Authors and Affiliations

  1. Service ORL, Unité Fonctionnelle Implants Auditifs, Sorbonne Université/AP-HP, GHU Pitié-Salpêtrière, Bâtiment Babinski, 52, Boulevard Vincent Auriol, 75013, Paris, France

    Hannah Daoudi, Olivier Sterkers, Evelyne Ferrary & Yann Nguyen

  2. Technologie et Thérapie Génique de la Surdité, Inserm/Institut Pasteur, Institut de l’Audition, Paris, France

    Hannah Daoudi, Renato Torres, Stéphane Mazalaigue, Olivier Sterkers, Evelyne Ferrary & Yann Nguyen

  3. Collin ORL, Bagneux, France

    Stéphane Mazalaigue

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  1. Hannah Daoudi
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Correspondence to Hannah Daoudi.

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SM is an employee from Collin Orl Ltd. Other authors report no conflict of interest.

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Daoudi, H., Torres, R., Mazalaigue, S. et al. Analysis of forces during robot-assisted and manual manipulations of mobile and fixed footplate in temporal bone specimens. Eur Arch Otorhinolaryngol 278, 4269–4277 (2021). https://doi.org/10.1007/s00405-020-06553-z

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