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Proceedings Paper

Visual servoing of a laser ablation based cochleostomy
Author(s): Lüder A. Kahrs; Jörg Raczkowsky; Martin Werner; Felix B. Knapp; Markus Mehrwald; Peter Hering; Jörg Schipper; Thomas Klenzner; Heinz Wörn
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Paper Abstract

The aim of this study is a defined, visually based and camera controlled bone removal by a navigated CO2 laser on the promontory of the inner ear. A precise and minimally traumatic opening procedure of the cochlea for the implantation of a cochlear implant electrode (so-called cochleostomy) is intended. Harming the membrane linings of the inner ear can result in damage of remaining organ functions (e.g. complete deafness or vertigo). A precise tissue removal by a laser-based bone ablation system is investigated. Inside the borehole the pulsed laser beam is guided automatically over the bone by using a two mirror galvanometric scanner. The ablation process is controlled by visual servoing. For the detection of the boundary layers of the inner ear the ablation area is monitored by a color camera. The acquired pictures are analyzed by image processing. The results of this analysis are used to control the process of laser ablation. This publication describes the complete system including image processing algorithms and the concept for the resulting distribution of single laser pulses. The system has been tested on human cochleae in ex-vivo studies. Further developments could lead to safe intraoperative openings of the cochlea by a robot based surgical laser instrument.

Paper Details

Date Published: 17 March 2008
PDF: 11 pages
Proc. SPIE 6918, Medical Imaging 2008: Visualization, Image-Guided Procedures, and Modeling, 69182C (17 March 2008); doi: 10.1117/12.770863
Show Author Affiliations
Lüder A. Kahrs, Univ. Karlsruhe (Germany)
Jörg Raczkowsky, Univ. Karlsruhe (Germany)
Martin Werner, Ctr. of Advanced European Studies and Research (Germany)
Felix B. Knapp, Univ. Hospital Düsseldorf (Germany)
Markus Mehrwald, Univ. Karlsruhe (Germany)
Peter Hering, Ctr. of Advanced European Studies and Research (Germany)
Univ. of Düsseldorf (Germany)
Jörg Schipper, Univ. Hospital Düsseldorf (Germany)
Thomas Klenzner, Univ. Hospital Düsseldorf (Germany)
Heinz Wörn, Univ. Karlsruhe (Germany)

Published in SPIE Proceedings Vol. 6918:
Medical Imaging 2008: Visualization, Image-Guided Procedures, and Modeling
Michael I. Miga; Kevin Robert Cleary, Editor(s)

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