%@IEEEtranBSTCTL{IEEEexample:BSTcontrol, % CTLuse_forced_etal = "yes", % CTLmax_names_forced_etal = "3", % CTLnames_show_etal = "1" %} @article{Adunka2004, abstract = {The aim of this report was to examine basal trauma in implanted human temporal bones and discuss modified approaches to the basal cochlear turn to avoid destruction of basal cochlear structures. Thirty-three human temporal bones were implanted with four different cochlear implant electrode arrays manufactured by MED-EL using either a caudal approach cochleostomy or round window membrane insertions. All specimens were processed with a special histological technique that allows sectioning of undecalcified bone with the electrode in situ. All bones were evaluated histologically in terms of basal cochlear trauma. Two pathomechanisms of basal trauma could be distinguished and were evaluated separately, buckling of the basal end of the array and trauma by drilling. Using the caudal approach cochleostomy, the total percentage of destructive basal trauma was 48\% compared to less than 15\% when performing round window membrane insertions. Although it is still unclear whether basal cochlear trauma influences apical cochlear function or not, adapted surgical procedures and no forceful insertion maneuvers should be used when performing cochlear implantations with hearing preservation.}, annote = {seek this paper}, author = {Adunka, Oliver and Gstoettner, Wolfgang and Hambek, Markus and Unkelbach, Marc H and Radeloff, Andreas and Kiefer, Jan}, doi = {10.1159/000081887}, file = {:C$\backslash$:/Users/Jason/AppData/Local/Mendeley Ltd./Mendeley Desktop/Downloaded/Adunka et al. - 2004 - Preservation of basal inner ear structures in cochlear implantation(2).pdf:pdf}, issn = {0301-1569}, journal = {ORL; journal for oto-rhino-laryngology and its related specialties}, keywords = {Cochlea,Cochlea: injuries,Cochlea: surgery,Cochlear Implantation,Cochlear Implantation: methods,Cochlear Implantation: standards,Cochlear Implants,Cochlear Implants: standards,Ear,Ear: surgery,Humans,Organ of Corti,Organ of Corti: injuries,Organ of Corti: surgery,Round Window,Temporal Bone,Temporal Bone: injuries,Temporal Bone: surgery,Wounds and Injuries,Wounds and Injuries: etiology,Wounds and Injuries: prevention \& control}, month = jan, number = {6}, pages = {306--12}, pmid = {15668529}, title = {{Preservation of basal inner ear structures in cochlear implantation.}}, volume = {66}, year = {2004} } @article{Adunka2004a, annote = {Performed a histological study on 10 fresh cadavers. They used the MED-EL C40+ Flex electrode and performed the insertion up the the first resistance was felt by the surgeon. Out of 10 insertions 2 elevated the basilar membrane and 1 ruptured the basilar membrane. The average insertion depth was 21.8 mm and the average insertion angle was 372 dgerees. The maximal succesful insertion (no damage to basilar membrane) angle was only 360 degrees. They also eveluated the insertion forces experimentally in an acrylic model of the cochlea. Thir results showed that the maximal insertion forces were 2 mN for the C40+ Flex electrode and about 4 mN for the C40+ electrode. }, author = {Adunka, Oliver and Kiefer, Jan and Unkelbach, Marc and Lehnert, Thomas}, file = {:C$\backslash$:/Users/Jason/AppData/Local/Mendeley Ltd./Mendeley Desktop/Downloaded/Adunka et al. - 2004 - Development and Evaluation of an Improved Cochlear Implant Electrode Design for Electric Acoustic Stimulation(2).pdf:pdf}, journal = {The Laryngoscope}, keywords = {Cochlea}, number = {July}, pages = {1237--1241}, title = {{Development and Evaluation of an Improved Cochlear Implant Electrode Design for Electric Acoustic Stimulation}}, volume = {114}, year = {2004} } @inproceedings{Armstrong-Helouvry, author = {Armstrong-Helouvry, B.}, booktitle = {Proceedings., IEEE International Conference on Robotics and Automation}, doi = {10.1109/ROBOT.1990.126194}, file = {:C$\backslash$:/Users/Jason/Desktop/papers to review/friction/ARMSTRONG - stick-slip arising from stribeck friction.pdf:pdf}, isbn = {0-8186-9061-5}, pages = {1377--1382}, publisher = {IEEE Comput. Soc. Press}, title = {{Stick-slip arising from Stribeck friction}}, volume = {53201} } @inproceedings{Armstrong-Htlouvry1993, author = {Armstrong-Htlouvry, Brian and Dupont, Pierre}, booktitle = {American Control Conference, 1993}, file = {:C$\backslash$:/Users/Jason/Desktop/papers to review/friction/ARMSTRONG - friction modeling for control.pdf:pdf}, pages = {1905 -- 1909}, title = {{Friction Modeling for Control}}, year = {1993} } @article{Balkany2006, abstract = {This study was designed to test the hypothesis that partial hearing conservation is attainable after cochlear implantation with a long perimodiolar electrode. Surgical strategies for hearing conservation during cochlear implantation are described.}, author = {Balkany, Thomas J and Connell, Sarah S and Hodges, Annelle V and Payne, Stacy L and Telischi, Fred F and Eshraghi, Adrien A and Angeli, Simon I and Germani, Ross and Messiah, Sarah and Arheart, Kristopher L}, doi = {10.1097/01.mao.0000244355.34577.85}, file = {:C$\backslash$:/Users/Jason/AppData/Local/Mendeley Ltd./Mendeley Desktop/Downloaded/Balkany et al. - 2006 - Conservation of residual acoustic hearing after cochlear implantation(3).pdf:pdf}, issn = {1531-7129}, journal = {Otology \& neurotology}, keywords = {80 and over,Adult,Aged,Audiometry,Auditory Threshold,Auditory Threshold: physiology,Cochlear Implantation,Cochlear Implantation: methods,Cochlear Implants,Electric Stimulation,Electrodes,Equipment Design,Female,Follow-Up Studies,Hearing Loss,Hearing Loss: physiopathology,Hearing Loss: prevention \& control,Hearing Loss: surgery,Humans,Male,Middle Aged,Prospective Studies,Pure-Tone,Treatment Outcome,perimodiolar,trauma}, month = dec, number = {8}, pages = {1083--8}, pmid = {17130798}, title = {{Conservation of residual acoustic hearing after cochlear implantation.}}, volume = {27}, year = {2006} } @article{Baud-bovy2010, author = {Baud-bovy, Gabriel and Gatti, Elia}, doi = {10.1007/978-3-642-14075-4\_33}, file = {:C$\backslash$:/Users/Jason/AppData/Local/Mendeley Ltd./Mendeley Desktop/Downloaded/Baud-bovy, Gatti - 2010 - Hand-Held Object Force Direction Identification(2).pdf:pdf}, journal = {Lecture Notes in Computer Science}, keywords = {force perception,grasping,kinesthesia,touch}, pages = {231--236}, title = {{Hand-Held Object Force Direction Identification}}, volume = {6192}, year = {2010} } @article{Briggs2001, abstract = {OBJECTIVE: To review the mechanisms and nature of intracochlear damage associated with cochlear implant electrode array insertion, in particular, the various perimodiolar electrode designs. Make recommendations regarding surgical techniques for the Nucleus Contour electrode to ensure correct position and minimal insertion trauma. BACKGROUND: The potential advantages of increased modiolar proximity of intracochlear multichannel electrode arrays are a reduction in stimulation thresholds, an increase in dynamic range and more localized neural excitation. This may improve speech perception and reduce power consumption. These advantages may be negated if increased intracochlear damage results from the method used to position the electrodes close to the modiolus. METHOD: A review of the University of Melbourne Department of Otolaryngology experience with temporal bone safety studies using the Nucleus standard straight electrode array and a variety of perimodiolar electrode array designs; comparison with temporal bone insertion studies from other centres and postmortem histopathology studies reported in the literature. Review of our initial clinical experience using the Nucleus Contour electrode array. RESULTS: The nature of intracochlear damage resulting from electrode insertion trauma ranges from minor, localized, spiral ligament tear to diffuse organ of Corti disruption and osseous spiral lamina fracture. The type of damage depends on the mechanical characteristics of the electrode array, the stiffness, curvature and size of the electrode in relation to the scala, and the surgical technique. The narrow, flexible, straight arrays are the least traumatic. Pre-curved or stiffer arrays are associated with an incidence of basilar membrane perforation. The cochleostomy must be correctly sited in relation to the round window to ensure scala tympani insertion. A cochleostomy anterior to the round window rather than inferior may lead to scala media or scala vestibuli insertion. CONCLUSION: Proximity of electrodes to the modiolus can be achieved without intracochlear damage provided the electrode array is a free fit within the scala, of appropriate size and shape, and accurate scala tympani insertion is performed.}, author = {Briggs, R J and Tykocinski, M and Saunders, E and Hellier, W and Dahm, M and Pyman, B and Clark, G M}, doi = {10.1179/cim.2001.2.2.135}, file = {:C$\backslash$:/Users/Jason/Downloads/Papers/cochlear papers/tip folding/Brigg - Surgical implications of perimodiolar contact - 2001.pdf:pdf}, issn = {1467-0100}, journal = {Cochlear implants international}, month = sep, number = {2}, pages = {135--49}, pmid = {18792095}, title = {{Surgical implications of perimodiolar cochlear implant electrode design: avoiding intracochlear damage and scala vestibuli insertion.}}, volume = {2}, year = {2001} } @article{Briggs2011, abstract = {OBJECTIVE: Multi-centre collaborative study to develop and refine the design of a prototype thin perimodiolar cochlear implant electrode array and to assess feasibility for use in human subjects. STUDY DESIGN: Multi-centre temporal bone insertion studies. MATERIALS AND METHODS: The modiolar research array (MRA) is a thin pre-curved electrode that is held straight for initial insertion with an external sheath rather than an internal stylet. Between November 2006 and February 2009, six iterations of electrode design were studied in 21 separate insertion studies in which 140 electrode insertions were performed in 85 human temporal bones by 12 surgeons. These studies aimed at addressing four fundamental questions related to the electrode concept, being: (1) Could a sheath result in additional intra-cochlear trauma? (2) Could a sheath accommodate variations in cochlea size and anatomies? (3) Could a sheath be inserted via the round window? and (4) Could a sheath be safely removed once the electrode had been inserted? These questions were investigated within these studies using a number of evaluation techniques, including X-ray and microfluoroscopy, acrylic fixation and temporal bone histologic sectioning, temporal bone microdissection of cochlear structures with electrode visualization, rotational tomography, and insertion force analysis. RESULTS: Frequent examples of electrode rotation and tip fold-over were demonstrated with the initial designs. This was typically caused by excessive curvature of the electrode tip, and also difficulty in handling of the electrode and sheath. The degree of tip curvature was progressively relaxed in subsequent versions with a corresponding reduction in the frequency of tip fold-over. Modifications to the sheath facilitated electrode insertion and sheath removal. Insertion studies with the final MRA design demonstrated minimal trauma, excellent perimodiolar placement, and very small electrode dimensions within scala tympani. Force measurements in temporal bones demonstrated negligible force on cochlear structures with angular insertion depths of between 390 and 450°. CONCLUSION: The MRA is a novel, very thin perimodiolar prototype electrode array that has been developed using a systematic collaborative approach. The different evaluation techniques employed by the investigators contributed to the early identification of issues and generation of solutions. Regarding the four fundamental questions related to the electrode concept, the studies demonstrated that (1) the sheath did not result in additional intra-cochlear trauma; (2) the sheath could accommodate variations in cochlea size and anatomies; (3) the sheath was more successfully inserted via a cochleostomy than via the round window; and (4) the sheath could be safely removed once the electrode had been inserted.}, annote = {evaluates the new MRA electrode notes issues with tip fold over. jason please find pdf }, author = {Briggs, Robert J S and Tykocinski, Michael and Lazsig, Roland and Aschendorff, Antje and Lenarz, Thomas and St\"{o}ver, Timo and Fraysse, Bernard and Marx, Mathieu and Roland, J Thomas and Roland, Peter S and Wright, Charles G and Gantz, Bruce J and Patrick, James F and Risi, Frank}, doi = {10.1179/1754762811Y0000000007}, file = {:C$\backslash$:/Users/Jason/AppData/Local/Mendeley Ltd./Mendeley Desktop/Downloaded/Briggs et al. - 2011 - Development and evaluation of the modiolar research array--multi-centre collaborative study in human temporal bones.pdf:pdf}, issn = {1754-7628}, journal = {Cochlear implants international}, keywords = {Anatomic,Cochlear Implantation,Cochlear Implantation: adverse effects,Cochlear Implantation: instrumentation,Cochlear Implants,Cooperative Behavior,Device Removal,Device Removal: methods,Ear,Ear: anatomy \& histology,Ear: injuries,Ear: surgery,Electrodes,Feasibility Studies,Hearing,Hearing Loss,Hearing Loss: physiopathology,Hearing Loss: surgery,Hearing: physiology,Humans,Implanted,Intraoperative Complications,Intraoperative Complications: diagnosis,Intraoperative Complications: prevention \& control,MRA electrode,Microsurgery,Microsurgery: methods,Models,Prosthesis Design,Round Window,Temporal Bone,Temporal Bone: anatomy \& histology,Temporal Bone: surgery,tip fold,tip foldover}, month = aug, number = {3}, pages = {129--39}, pmid = {21917200}, title = {{Development and evaluation of the modiolar research array--multi-centre collaborative study in human temporal bones.}}, volume = {12}, year = {2011} } @article{Briggs2006, abstract = {Preservation of residual hearing in cochlear implant recipients has been demonstrated to be possible and provides the potential benefit of combined electric and acoustic auditory stimulation. A prototype 16-mm multichannel array has been designed to facilitate placement of 22 electrodes without damage to intracochlear structures. The electrode array is suitable for insertion via the round window membrane (RWM) or a small cochleostomy.}, annote = {hybrid electrode; hearing preservation}, author = {Briggs, Robert J S and Tykocinski, Michael and Xu, Jin and Risi, Frank and Svehla, Martin and Cowan, Robert and Stover, T and Erfurt, P and Lenarz, Thomas}, doi = {10.1159/000095613}, file = {:C$\backslash$:/Users/Jason/AppData/Local/Mendeley Ltd./Mendeley Desktop/Downloaded/Briggs et al. - 2006 - Comparison of round window and cochleostomy approaches with a prototype hearing preservation electrode(2).pdf:pdf}, issn = {1420-3030}, journal = {Audiology \& neuro-otology}, keywords = {Basilar Membrane,Basilar Membrane: surgery,Cochlea,Cochlea: surgery,Ear,Ear: surgery,Electrodes,Fluoroscopy,Hearing Loss,Humans,Implanted,Otologic Surgical Procedures,Otologic Surgical Procedures: methods,Round Window,Sensorineural,Sensorineural: surgery,tip foldover}, month = jan, number = {suppl 1}, pages = {42--8}, pmid = {17063010}, title = {{Comparison of round window and cochleostomy approaches with a prototype hearing preservation electrode.}}, volume = {11 Suppl 1}, year = {2006} } @techreport{Bromiley2003, address = {Manchester, UK}, author = {Bromiley, P A}, file = {:C$\backslash$:/Users/Jason/Downloads/Papers/Bromiley - Products and convolutions of gaussians.pdf:pdf}, institution = {Medical School, Univ. Manchester, Manchester, UK, Tech. Rep 3}, title = {{Products and Convolutions of Gaussian Distributions}}, year = {2003} } @inproceedings{CanudasDeWit1997, author = {{Canudas De Wit}, C. and Ge, S.S.}, booktitle = {Proceedings of the 36th IEEE Conference on Decision and Control}, doi = {10.1109/CDC.1997.657526}, file = {:C$\backslash$:/Users/Jason/Desktop/papers to review/friction/DEWIT - adaptive friction compensation with generalized velocity and position.pdf:pdf}, isbn = {0-7803-4187-2}, keywords = {adaptive control,friction compensation,functional approximation}, number = {December}, pages = {2465--2470}, publisher = {IEEE}, title = {{Adaptive friction compensation for systems with generalized velocity/position friction dependency}}, volume = {3}, year = {1997} } @article{Carlson2011, abstract = {To describe the relationship between implantation-associated trauma and postoperative speech perception scores among adult and pediatric patients undergoing cochlear implantation using conventional length electrodes and minimally traumatic surgical techniques.}, author = {Carlson, Matthew L and Driscoll, Colin L W and Gifford, Ren\'{e} H and Service, Geoffrey J and Tombers, Nicole M and Hughes-Borst, Becky J and Neff, Brian a and Beatty, Charles W}, doi = {10.1097/MAO.0b013e3182204526}, file = {:C$\backslash$:/Users/Jason/AppData/Local/Mendeley Ltd./Mendeley Desktop/Downloaded/Carlson et al. - 2011 - Implications of minimizing trauma during conventional cochlear implantation(2).pdf:pdf}, issn = {1537-4505}, journal = {Otology \& neurotology}, keywords = {Adolescent,Adult,Aged,Aged, 80 and over,Audiometry, Pure-Tone,Child,Cochlear Implantation,Cochlear Implantation: adverse effects,Cochlear Implants,Female,Hearing Loss, Sensorineural,Hearing Loss, Sensorineural: physiopathology,Hearing Loss, Sensorineural: surgery,Humans,Male,Middle Aged,Postoperative Period,Retrospective Studies,Speech Perception,Speech Perception: physiology,Treatment Outcome}, month = aug, number = {6}, pages = {962--8}, pmid = {21659922}, title = {{Implications of minimizing trauma during conventional cochlear implantation.}}, volume = {32}, year = {2011} } @article{ChangChih-ChungandLin2011, author = {{Chang, Chih-Chung and Lin}, Chih-Jen}, journal = {ACM Transactions on Intelligent Systems and Technology}, number = {3}, pages = {27:1----27:27}, title = {{LIBSVM: A library for support vector machines}}, volume = {2}, year = {2011} } @article{Chen2007, author = {Chen, B K and Kha, H N and Clark, G M}, file = {:C$\backslash$:/Users/Jason/AppData/Local/Mendeley Ltd./Mendeley Desktop/Downloaded/Chen, Kha, Clark - 2007 - Development of a steerable cochlear implant electrode array(2).pdf:pdf}, journal = {IFMBE Proceedings, 1, Volume 15, 3rd Kuala Lumpur International Conference on Biomedical Engineering 2006, Part 16}, keywords = {basilar membrane,cochlear implant,critical,electrode array,ing,neurotrophins,residual hear-}, pages = {607--610}, title = {{Development of a steerable cochlear implant electrode array}}, volume = {15}, year = {2007} } @phdthesis{Clark2011, author = {Clark, James R}, file = {:C$\backslash$:/Users/Jason/Downloads/Papers/cochlear papers/tip folding/Clark\_Thesis10.pdf:pdf}, number = {May}, school = {University of Utah}, title = {{Toward Improved Cochlear Implant Insertion Using Magnetic Guidance}}, type = {M.S.}, year = {2011} } @article{Cohen1996, abstract = {OBJECTIVE: To develop techniques for measuring the positions of the individual electrodes of a multiple channel cochlear implant and for estimating associated characteristic frequencies. BACKGROUND: Information concerning the positions of the individual electrodes of a cochlear implant array is important for analyzing speech perception or psychophysical data and for optimizing speech-processing strategies. This study presents two techniques for obtaining such information from postoperative plain film radiographs. METHODS: A template spiral shape, derived from analysis of the radiographs of 30 cochlear implant patients, is used to obtain measurements of the angular positions of the electrode bands within scala tympani. A research technique measures angular positions and estimates characteristic frequencies for all electrode bands but requires that the positions of two cochlear landmarks and all electrode bands be digitized. A clinical technique provides similar angle and frequency estimates but requires a minimum of information to be extracted visually from the radiograph. The lateral positions of the bands are estimated, in the research technique, using mean outer and inner wall functions obtained from 11 Silastic molds of scala tympani. RESULTS: The mean position of the implanted array relative to the mean scala tympani outer wall function was consistent with published histologic observations of implanted temporal bones. Measured angles did not vary greatly with experimenter or with rotation of the cochlea relative to the radiographic beam by up to 20 degrees. CONCLUSIONS: The techniques described allow, principally, measurement of the longitudinal positions of the bands of a cochlear implant in scala tympani and estimation of corresponding characteristic frequencies.}, author = {Cohen, L T and Xu, J and Xu, S A and Clark, G M}, file = {:C$\backslash$:/Users/Jason/AppData/Local/Mendeley Ltd./Mendeley Desktop/Downloaded/Cohen et al. - 1996 - Improved and simplified methods for specifying positions of the electrode bands of a cochlear implant array(3).pdf:pdf}, issn = {0192-9763}, journal = {The American journal of otology}, keywords = {Cochlea,Cochlea: physiopathology,Cochlea: surgery,Cochlear Implants,Culture Techniques,Electrodes,Female,Genetic,Humans,Implanted,Male,Organ of Corti,Psychophysics,Sex Factors,Speech Perception,Templates,Temporal Bone,Temporal Bone: radiography,Tympanic Membrane,Tympanic Membrane: physiopathology,Videotape Recording}, month = nov, number = {6}, pages = {859--65}, pmid = {8915414}, title = {{Improved and simplified methods for specifying positions of the electrode bands of a cochlear implant array.}}, volume = {17}, year = {1996} } @article{Cohen2002, abstract = {This paper deals with the Nucleus C124R (CS) (Contour) cochlear Implant: its characteristics, differences compared with the previous generation of devices, the perimodiolar electrode, and the surgical technique used for safe insertion. We also discuss the rationale behind perimodiolar electrodes in general, as well as the results of laboratory studies validating the design and safety of this particular electrode array. The differences in surgical technique between this device and prior Nucleus cochlear implants are as follows: the incision and the size of the well, or recess, for the electronics are smaller; the cochleostomy is larger; the posterior portion is placed in a subpericranial pocket, not tied down, before electrode insertion; and the insertion process itself is quite different, due to the nature of the electrode, its size, shape, and stylet. The technique described is that used by one experienced cochlear implant center, and reflect the authors' practice. Clearly, there are other possible variations on this theme, which may be equally satisfactory in other hands. Most surgeons find this device to be easier to place than previous generations: complications to date have been uncommon.}, author = {Cohen, Noel L and Roland, J Thomas and Fishman, Andrew}, file = {:C$\backslash$:/Users/Jason/AppData/Local/Mendeley Ltd./Mendeley Desktop/Downloaded/Cohen, Roland, Fishman - 2002 - Surgical technique for the Nucleus Contour cochlear implant(2).pdf:pdf}, issn = {0196-0202}, journal = {Ear and hearing}, keywords = {Acoustic Stimulation,Acoustic Stimulation: instrumentation,Cochlear Implantation,Cochlear Implantation: methods,Deafness,Deafness: surgery,Equipment Design,Humans,Otologic Surgical Procedures,Otologic Surgical Procedures: methods}, month = feb, number = {1 Suppl}, pages = {59S--66S}, pmid = {11883768}, title = {{Surgical technique for the Nucleus Contour cochlear implant.}}, volume = {23}, year = {2002} } @article{Cosetti2010, annote = {has data about insertion forces in bones}, author = {Cosetti, Maura and {Roland Jr}, J. Thomas}, doi = {10.1016/j.otot.2010.10.003}, file = {:C$\backslash$:/Users/Jason/AppData/Local/Mendeley Ltd./Mendeley Desktop/Downloaded/Cosetti, Roland Jr - 2010 - Cochlear implant electrode insertion(3).pdf:pdf}, issn = {10431810}, journal = {Operative Techniques in Otolaryngology, head \& neck surgery}, month = dec, number = {4}, pages = {223--232}, publisher = {Elsevier Inc.}, title = {{Cochlear implant electrode insertion}}, volume = {21}, year = {2010} } @article{Eshraghi2003, abstract = {Objective: To describe intracochlear insertion trauma caused by three perimodiolar cochlear im- plant electrodes. Study Design: Descriptive histological study of 15 human cadaver temporal bones. Methods: Fifteen cadaver temporal bones underwent surface preparation and were implanted with one of the following perimodiolar electrode arrays: Combi 40+PM (MedEl Corporation), HiFocus II (Advanced Bionics Corporation), or Contour (Cochlear Corporation). A cryosectioning technique was used to study horizontal sections at 200um intervals with the electrode in place. Image-enhanced videofluoros- copy and computer-assisted morphometrics were used to assess the mechanism of insertion trauma and to determine electrode position within the modiolus. Results: Histological examination revealed varying degrees of damage to the spiral ligament, basilar membrane, and osseous spiral lamina. Using a novel grading system for electrode trauma, there was no statistically significant difference among the three electrodes. A literature search of histological studies of a commonly used “standard” electrode showed damage equal to or greater than that seen in the current study. Conclusions: Insertion trauma caused by periomodiolar electrodes occurs to an ac- ceptable degree. Refinement of electrodes based on mechanisms of trauma may be able to further re- duce damage. Key Words: Deafness, temporal bone, cryomicrotomy, inner ear, cochlear implant, perimodiolar electrode, cochlear trauma.}, annote = {Performed hystologoical studies on 15 insertions cadaveric cochleas. They compared the trauma of insertion using inspection after cryosectioning. 5 insertions were perfomed using the Contour (Cochlear Corporation), the 40+PM from (MedEl Corporation), the HiFocus (Advanced Bionics Corporation). The results showed very low success rate in preventing trauma to the cochlea. For the Contour electrode only three insertions were a-traumatic while the remaining 2 insertions fractured the osseous spiral lamina (grade 4 damage). For the HiFocus II only one insertion was atraumatic, 3 insertions showed elevation or ruptures in the basilar membrane, and in one insertion the electrode dispaced into the scala-vistibuli. For the 40+PM electrode 2 insertions were atraumatic, 2 inserions showed elevation or rupture of the basilar membrane, and 1 insertion resulted in fractured osseous spiral lamina. The average inserion angles were 410 for the Contour, 293 for the 40+PM, and 378 for the HiFocus II. These results show that all the passive electrides present a high degree of trauma to a patient with residual hearing; thus they are currently limited for use in patients with pro found hearing loss. }, author = {Eshraghi, Adrien and Yang, Nathaniel and Balkany, Thomas}, file = {:C$\backslash$:/Users/Jason/AppData/Local/Mendeley Ltd./Mendeley Desktop/Downloaded/Eshraghi, Yang, Balkany - 2003 - Comparative Study of Cochlear Damage with Three Perimodiolar Electride Designs(2).pdf:pdf}, journal = {The Laryngeoscope}, keywords = {Cochlea,cochlea,trauma}, mendeley-tags = {cochlea,trauma}, pages = {415--419}, title = {{Comparative Study of Cochlear Damage with Three Perimodiolar Electride Designs}}, volume = {113}, year = {2003} } @article{Farouki1996, author = {Farouki, R. T. and Goodman, T. N. T.}, doi = {10.1090/S0025-5718-96-00759-4}, file = {:C$\backslash$:/Users/Jason/Downloads/Papers/FAROUKI - On the optimal stability of the Bernstein Basis - 1996.pdf:pdf}, issn = {0025-5718}, journal = {Mathematics of Computation}, month = oct, number = {216}, pages = {1553--1567}, title = {{On the optimal stability of the Bernstein basis}}, volume = {65}, year = {1996} } @article{Finley2008, abstract = {Suboptimal cochlear implant (CI) electrode array placement may reduce presentation of coded information to the central nervous system and, consequently, limit speech recognition.}, annote = {Jason please look carefully at this paper talks about importance of depth insertion control}, author = {Finley, Charles C and Holden, Timothy A and Holden, Laura K and Whiting, Bruce R and Chole, Richard A and Neely, Gail J and Hullar, Timothy E and Skinner, Margaret W}, doi = {10.1097/MAO.0b013e318184f492}, file = {:C$\backslash$:/Users/Jason/AppData/Local/Mendeley Ltd./Mendeley Desktop/Downloaded/Finley et al. - 2008 - Role of electrode placement as a contributor to variability in cochlear implant outcomes(4).pdf:pdf}, issn = {1537-4505}, journal = {Otology \& neurotology}, keywords = {Adult,Age of Onset,Aged,Cell Survival,Cochlea,Cochlea: surgery,Cochlear Implantation,Cochlear Implantation: adverse effects,Cochlear Implantation: methods,Deafness,Deafness: surgery,Electrodes,Equipment Design,Humans,Loudness Perception,Middle Aged,Pitch Perception,Scala Tympani,Scala Tympani: surgery,Speech Discrimination Tests,Speech Intelligibility,Speech Perception,Speech Perception: physiology,Spiral Ganglion,Spiral Ganglion: cytology,Spiral Ganglion: pathology,Treatment Outcome}, month = oct, number = {7}, pages = {920--8}, pmid = {18667935}, title = {{Role of electrode placement as a contributor to variability in cochlear implant outcomes.}}, volume = {29}, year = {2008} } @article{Fishman2003, abstract = {Real-time intraoperative fluoroscopy is a useful adjunct to cochlear implantation in selected cases. The advantages include the avoidance of complications such as extracochlear array placement, intrameatal array insertion, and avoidance of significant bending or kinking. This is particularly useful when implanting a severely abnormal cochlea.}, author = {Fishman, Andrew J and Roland, J Thomas and Alexiades, George and Mierzwinski, Jozef and Cohen, Noel L}, file = {:C$\backslash$:/Users/Jason/AppData/Local/Mendeley Ltd./Mendeley Desktop/Downloaded/Fishman et al. - 2003 - Fluoroscopically assisted cochlear implantation(2).pdf:pdf}, issn = {1531-7129}, journal = {Otology \& neurotology}, keywords = {Adolescent,Adult,Child, Preschool,Cochlear Implantation,Cochlear Implantation: methods,Deafness,Deafness: surgery,Female,Fluoroscopy,Humans}, month = nov, number = {6}, pages = {882--6}, pmid = {14600468}, title = {{Fluoroscopically assisted cochlear implantation.}}, volume = {24}, year = {2003} } @article{Gifford2013, abstract = {OBJECTIVE: The aim of this study was to assess the benefit of having preserved acoustic hearing in the implanted ear for speech recognition in complex listening environments. DESIGN: The present study included a within-subjects, repeated-measures design including 21 English-speaking and 17 Polish-speaking cochlear implant (CI) recipients with preserved acoustic hearing in the implanted ear. The patients were implanted with electrodes that varied in insertion depth from 10 to 31 mm. Mean preoperative low-frequency thresholds (average of 125, 250, and 500 Hz) in the implanted ear were 39.3 and 23.4 dB HL for the English- and Polish-speaking participants, respectively. In one condition, speech perception was assessed in an eight-loudspeaker environment in which the speech signals were presented from one loudspeaker and restaurant noise was presented from all loudspeakers. In another condition, the signals were presented in a simulation of a reverberant environment with a reverberation time of 0.6 sec. The response measures included speech reception thresholds (SRTs) and percent correct sentence understanding for two test conditions: CI plus low-frequency hearing in the contralateral ear (bimodal condition) and CI plus low-frequency hearing in both ears (best-aided condition). A subset of six English-speaking listeners were also assessed on measures of interaural time difference thresholds for a 250-Hz signal. RESULTS: Small, but significant, improvements in performance (1.7-2.1 dB and 6-10 percentage points) were found for the best-aided condition versus the bimodal condition. Postoperative thresholds in the implanted ear were correlated with the degree of electric and acoustic stimulation (EAS) benefit for speech recognition in diffuse noise. There was no reliable relationship among measures of audiometric threshold in the implanted ear nor elevation in threshold after surgery and improvement in speech understanding in reverberation. There was a significant correlation between interaural time difference threshold at 250 Hz and EAS-related benefit for the adaptive speech reception threshold. CONCLUSIONS: The findings of this study suggest that (1) preserved low-frequency hearing improves speech understanding for CI recipients, (2) testing in complex listening environments, in which binaural timing cues differ for signal and noise, may best demonstrate the value of having two ears with low-frequency acoustic hearing, and (3) preservation of binaural timing cues, although poorer than observed for individuals with normal hearing, is possible after unilateral cochlear implantation with hearing preservation and is associated with EAS benefit. The results of this study demonstrate significant communicative benefit for hearing preservation in the implanted ear and provide support for the expansion of CI criteria to include individuals with low-frequency thresholds in even the normal to near-normal range.}, author = {Gifford, Ren\'{e} H and Dorman, Michael F and Skarzynski, Henryk and Lorens, Artur and Polak, Marek and Driscoll, Colin L W and Roland, Peter and Buchman, Craig A}, doi = {10.1097/AUD.0b013e31827e8163}, file = {:C$\backslash$:/Users/Jason/AppData/Local/Mendeley Ltd./Mendeley Desktop/Downloaded/Gifford et al. - 2013 - Cochlear Implantation With Hearing Preservation Yields Significant Benefit for Speech Recognition in Complex Lis.pdf:pdf;:C$\backslash$:/Users/Jason/Downloads/cochlear papers/GIFFORD - CI with hearing preservation yields significant benefit for speech recognition 2013.pdf:pdf}, issn = {1538-4667}, journal = {Ear and hearing}, keywords = {Adult,Aged,Audiometry,Auditory Threshold,Cochlear Implantation,Cochlear Implantation: methods,Electrodes,Environment,Female,Hearing Loss,Humans,Implanted,Male,Middle Aged,Pure-Tone,Sensorineural,Sensorineural: surgery,Speech Perception,Treatment Outcome,Young Adult}, month = feb, number = {4}, pages = {413--25}, pmid = {23446225}, title = {{Cochlear implantation with hearing preservation yields significant benefit for speech recognition in complex listening environments.}}, volume = {34}, year = {2013} } @article{Gomonwattanapanichl2006, author = {Gomonwattanapanichl, Opart and Pattanapukdee, Adual and Mongkolwongrojn, Mongkol}, file = {:C$\backslash$:/Users/Jason/Desktop/papers to review/friction/GOMONWATTANAPANICH - comp and est of friction using EKF 2006.pdf:pdf}, isbn = {8995003855}, journal = {SICE-ICASE International Joint Conference 2006}, keywords = {extended kalman filter,friction compensation,friction estimation}, number = {1}, pages = {5032--5035}, title = {{Compensation and estimation of friction by using extended kalman filter}}, year = {2006} } @article{Hussong2008, abstract = {Cochlear implants (CI) are electronic devices incorporating an electrode inserted into the human cochlea for direct electric stimulation of the auditory nerve. The implantation has become the standard treatment for patients with severe-to-profound sensorineural loss not aidable with conventional hearing aids. The state of the art operative technique is a facial recess approach to the middle ear, following the opening of the scala tympani (cochleostomy) and insertion of the electrode array. The facial recess approach is applicable only by experienced surgeons and optimal CI results primarily depend on optimal electrode placement and minimal traumatic insertion. This also requires a certain amount of experience. Additionally several groups work on minimally-invasive approaches to the cochlea, resulting in the necessity to insert the implant via a keyhole access, which is not applicable with current techniques. This paper presents a mechatronic device for an automated insertion of the electrode array of a cochlear implant system. Being designed especially for minimally-invasive approaches, the tool is also applicable for regular facial recess approaches. Moreover the device allows reliable and repeatable insertion studies at synthetic models or cadaver specimen. The functionality of the tool is proofed with first experiments on a synthetic model.}, author = {Hussong, Andreas and Rau, Thomas and Eilers, Hubertus and Baron, Stephan and Heimann, Bodo and Leinung, Martin and Lenarz, Thomas and Majdani, Omid}, doi = {10.1109/IEMBS.2008.4650482}, file = {:C$\backslash$:/Users/Jason/AppData/Local/Mendeley Ltd./Mendeley Desktop/Downloaded/Hussong et al. - 2008 - Conception and design of an automated insertion tool for cochlear implants(2).pdf:pdf}, issn = {1557-170X}, journal = {Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Conference}, keywords = {Cochlear Implantation,Cochlear Implantation: instrumentation,Cochlear Implantation: methods,Cochlear Implants,Equipment Design,Equipment Failure Analysis,Micro-Electrical-Mechanical Systems,Micro-Electrical-Mechanical Systems: instrumentati,Micro-Electrical-Mechanical Systems: methods,Reproducibility of Results,Robotics,Robotics: instrumentation,Robotics: methods,Sensitivity and Specificity}, month = jan, pages = {5593--6}, pmid = {19163985}, title = {{Conception and design of an automated insertion tool for cochlear implants.}}, volume = {2008}, year = {2008} } @article{Ibrahim2011, abstract = {To evaluate histologically the risk of trauma to intracochlear structures after sequential insertion of an intracochlear catheter and an electrode array.}, author = {Ibrahim, Houssam Nabih and Helbig, Silke and Bossard, Denis and Truy, Eric}, doi = {10.1097/MAO.0b013e318238264d}, file = {:C$\backslash$:/Users/Jason/AppData/Local/Mendeley Ltd./Mendeley Desktop/Downloaded/Ibrahim et al. - 2011 - Surgical trauma after sequential insertion of intracochlear catheters and electrode arrays (a histologic stud(2).pdf:pdf}, issn = {1537-4505}, journal = {Otology \& neurotology}, keywords = {Cochlea,Cochlea: injuries,Cochlea: pathology,Cochlea: surgery,Cochlear Implantation,Cochlear Implantation: adverse effects,Cochlear Implants,Cochlear Implants: adverse effects,Electrodes, Implanted,Electrodes, Implanted: adverse effects,Humans,Temporal Bone,Temporal Bone: injuries,Temporal Bone: pathology,Temporal Bone: surgery}, month = dec, number = {9}, pages = {1448--54}, pmid = {22072260}, title = {{Surgical trauma after sequential insertion of intracochlear catheters and electrode arrays (a histologic study).}}, volume = {32}, year = {2011} } @inproceedings{IvanFanany2011, author = {{Ivan Fanany}, M. and Jatmiko, Wisnu and Basaruddin, T.}, booktitle = {TENCON 2011 - 2011 IEEE Region 10 Conference}, doi = {10.1109/TENCON.2011.6129052}, file = {:C$\backslash$:/Users/Jason/AppData/Local/Mendeley Ltd./Mendeley Desktop/Downloaded/Ivan Fanany, Jatmiko, Basaruddin - 2011 - A comparative study on Daubechies Wavelet Transformation, Kernel PCA and PCA as feature extractors for arrhythmia detection using SVM.pdf:pdf}, isbn = {978-1-4577-0255-6}, keywords = {-dwt,ecg,heartbeat,kpca,pca,wavelet-svm}, month = nov, pages = {5--9}, publisher = {IEEE}, title = {{A comparative study on Daubechies Wavelet Transformation, Kernel PCA and PCA as feature extractors for arrhythmia detection using SVM}}, year = {2011} } @article{Kha2004, abstract = {Trauma and damage during insertion of electrode arrays into the human cochlea are strongly related to the stiffness of the array. The stiffness properties of electrode arrays, which were determined by three-point flexural bending and buckling tests, are reported in this paper. To date there has been limited publication on mechanical properties of these electrode arrays. Previous studies mainly focused on characterizing the stiffness of the tip of the Nucleus straight array with little emphasis on characterizing the stiffness of its whole length. In this study, stiffnesses of the Nucleus straight and contour electrode arrays have been determined along their length. Young's modulus of elasticity of the Nucleus straight array has been found to increase from the tip (182 MPa) to the rear end (491 MPa), whereas the stiffness of the contour array is greatest near the tip (480 MPa) and is fairly uniform in the middle and rear sections of the electrode array (380-400 MPa). Buckling experiments have shown that the contour array has much higher critical buckling load (about four times) than the Nucleus straight array. The results from three-point flexural bending and buckling experiments provide significant data for the development of electrode arrays, from which new array designs with improved flexibility can be developed. The results of stiffness properties are also important input for use in finite element models to predict the trajectories during insertion and to help evaluate the effects of different electrode array designs on damage sustained during insertion.}, author = {Kha, H N and Chen, B K and Clark, G M and Jones, R}, doi = {10.1016/j.medengphy.2004.05.001}, file = {:C$\backslash$:/Users/Jason/AppData/Local/Mendeley Ltd./Mendeley Desktop/Downloaded/Kha et al. - 2004 - Stiffness properties for Nucleus standard straight and contour electrode arrays(2).pdf:pdf}, issn = {1350-4533}, journal = {Medical engineering \& physics}, keywords = {Acoustic Stimulation,Alloys,Biomechanics,Cochlea,Cochlea: pathology,Cochlear Implantation,Cochlear Implantation: methods,Cochlear Implants,Deafness,Deafness: therapy,Electric Stimulation,Electrodes,Equipment Design,Equipment Failure Analysis,Humans,Iridium,Platinum,Scala Tympani,Scala Tympani: anatomy \& histology,Silicones}, month = oct, number = {8}, pages = {677--85}, pmid = {15471696}, title = {{Stiffness properties for Nucleus standard straight and contour electrode arrays.}}, volume = {26}, year = {2004} } @inproceedings{King2010, author = {King, H Hawkeye and Donlin, Regina and Hannaford, Blake}, booktitle = {2010 IEEE Haptics Symposium}, doi = {10.1109/HAPTIC.2010.5444670}, file = {:C$\backslash$:/Users/Jason/AppData/Local/Mendeley Ltd./Mendeley Desktop/Downloaded/King, Donlin, Hannaford - 2010 - Perceptual thresholds for single vs. Multi-Finger Haptic interaction(3).pdf:pdf}, isbn = {978-1-4244-6821-8}, keywords = {-,1,2,5,h,haptics,index terms,information in-,information interfaces and presentation,jnd,machine systems human factors,models and principles,multi-finger,o,psychophysical threshold,user,user interfaces haptic i}, month = mar, pages = {95--99}, publisher = {IEEE}, title = {{Perceptual thresholds for single vs. Multi-Finger Haptic interaction}}, year = {2010} } @article{Klenzner2009a, abstract = {The aim of the study was to demonstrate a collision-free trajectory of an instrument through the facial recess to the site of planned cochleostomy guided by a surgery robot. The indication for cochlear implantation is still expanding toward more substantial residual hearing. A cochleostomy as atraumatic as possible will influence the preservation of inner ear function. The employment of a highly precise instrument guidance using a robot could represent a feasible solution for a constant reproducible surgical procedure. Screw markers for a point-based registration were fixed on a human temporal bone specimen prepared with a mastoidectomy and posterior tympanotomy. A DICOM dataset has been generated thereof in a 64-multislice computer tomography (CT). A virtual trajectory in a 3D model has been planned representing the path of instrumentation toward the desired spot of cochleostomy. A 1.9-mm endoscope has been mounted onto the robot system RobaCKa (Staeubli RX90CR) to visualize this trajectory. The target registration error added up to 0.25 mm, which met the desirable tolerance of <0.5 mm. A collision-free propagation of the endoscope into the tympanic cavity via the facial recess has been performed by the robot and the spot of cochleostomy could be visualized through the endoscope. Using a DICOM dataset of a high-resolution CT and a robot as a positioning platform for surgical instruments could be a feasible approach to perform a highly precise and constant reproducible cochleostomy. Furthermore, it could be a crucial step to preserve substantial residual hearing in terms of expanding the indications for cochlear implantation.}, author = {Klenzner, Thomas and Ngan, Chiu Chun and Knapp, Felix Bernhard and Knoop, Hayo and Kromeier, Jan and Aschendorff, Antje and Papastathopoulos, Evangelos and Raczkowsky, Joerg and W\"{o}rn, Heinz and Schipper, Joerg}, doi = {10.1007/s00405-008-0825-3}, file = {:C$\backslash$:/Users/Jason/AppData/Local/Mendeley Ltd./Mendeley Desktop/Downloaded/Klenzner et al. - 2009 - New strategies for high precision surgery of the temporal bone using a robotic approach for cochlear implantati.pdf:pdf}, issn = {1434-4726}, journal = {European archives of oto-rhino-laryngology : official journal of the European Federation of Oto-Rhino-Laryngological Societies (EUFOS) : affiliated with the German Society for Oto-Rhino-Laryngology - Head and Neck Surgery}, keywords = {Cochlear Implantation,Cochlear Implantation: methods,Deafness,Deafness: surgery,Humans,Imaging, Three-Dimensional,Robotics,Surgery, Computer-Assisted,Temporal Bone,Temporal Bone: surgery}, month = jul, number = {7}, pages = {955--60}, pmid = {19015866}, title = {{New strategies for high precision surgery of the temporal bone using a robotic approach for cochlear implantation.}}, volume = {266}, year = {2009} } @article{Kontorinis2011, abstract = {Objective of the present experimental research study was to examine the hypothesis that cochlear implant insertion speed can significantly affect the insertion forces.}, author = {Kontorinis, Georgios and Lenarz, Thomas and St\"{o}ver, Timo and Paasche, Gerrit}, doi = {10.1097/MAO.0b013e318219f6ac}, file = {:C$\backslash$:/Users/Jason/AppData/Local/Mendeley Ltd./Mendeley Desktop/Downloaded/Kontorinis et al. - 2011 - Impact of the insertion speed of cochlear implant electrodes on the insertion forces(2).pdf:pdf}, issn = {1537-4505}, journal = {Otology \& neurotology}, keywords = {Cochlear Implantation,Cochlear Implantation: methods,Cochlear Implants,Humans,Models, Anatomic,Scala Tympani,Scala Tympani: surgery}, month = jun, number = {4}, pages = {565--70}, pmid = {21478788}, title = {{Impact of the insertion speed of cochlear implant electrodes on the insertion forces.}}, volume = {32}, year = {2011} } @article{Kontorinis2011a, abstract = {Application of different lubricants during the cochlear implant electrode insertion can affect the insertion forces.}, author = {Kontorinis, Georgios and Paasche, Gerrit and Lenarz, Thomas and St\"{o}ver, Timo}, doi = {10.1097/MAO.0b013e31821b3c88}, file = {:C$\backslash$:/Users/Jason/AppData/Local/Mendeley Ltd./Mendeley Desktop/Downloaded/Kontorinis et al. - 2011 - The effect of different lubricants on cochlear implant electrode insertion forces.pdf:pdf}, issn = {1537-4505}, journal = {Otology \& neurotology}, keywords = {Cochlear Implantation,Cochlear Implantation: instrumentation,Cochlear Implantation: methods,Cochlear Implants,Equipment Design,Humans,Lubricants,Lubricants: therapeutic use,Models, Anatomic,Scala Tympani,Scala Tympani: surgery}, month = sep, number = {7}, pages = {1050--6}, pmid = {21512420}, title = {{The effect of different lubricants on cochlear implant electrode insertion forces.}}, volume = {32}, year = {2011} } @inproceedings{Lampaert2003, author = {Lampaert, V. and Al-Bender, F. and Swevers, Jan}, booktitle = {2003 IEEE International Workshop on Workload Characterization (IEEE Cat. No.03EX775)}, doi = {10.1109/PHYCON.2003.1237071}, file = {:C$\backslash$:/Users/Jason/Desktop/papers to review/friction/maxwell friction model.pdf:pdf}, isbn = {0-7803-7939-X}, pages = {1170--1177}, publisher = {IEEE}, title = {{A generalized Maxwell-slip friction model appropriate for control purposes}}, volume = {4}, year = {2003} } @article{Lim2011, author = {Lim, Hoon and Han, Jung-Min and Hong, Jaesung and Yi, Byung-Ju and Lee, Seung Hwan and Jeong, Jin Hyeok and Matsumoto, Nozomu and Oka, Masamichi and Komune, Shizuo and Hashizume, Makoto}, doi = {10.1109/ICMA.2011.5985720}, file = {:C$\backslash$:/Users/Jason/AppData/Local/Mendeley Ltd./Mendeley Desktop/Downloaded/Lim et al. - 2011 - Image-guided robotic mastoidectomy using human-robot collaboration control.pdf:pdf}, isbn = {978-1-4244-8113-2}, journal = {2011 IEEE International Conference on Mechatronics and Automation}, month = aug, pages = {549--554}, publisher = {Ieee}, title = {{Image-guided robotic mastoidectomy using human-robot collaboration control}}, year = {2011} } @article{Liu2002, author = {Liu, Z. and Nakamura, T.}, doi = {10.1109/ROBOT.2002.1013734}, file = {:C$\backslash$:/Users/Jason/AppData/Local/Mendeley Ltd./Mendeley Desktop/Downloaded/Liu, Nakamura - 2002 - Learning insertion task of a flexible beam by virtual agents(4).pdf:pdf}, isbn = {0-7803-7272-7}, journal = {Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292)}, number = {May}, pages = {3290--3295}, publisher = {Ieee}, title = {{Learning insertion task of a flexible beam by virtual agents}}, volume = {3}, year = {2002} } @article{Majdani2010, abstract = {We have demonstrated that an automated insertion tool (i.e. a robot) can be used to duplicate a complex surgical motion in inserting cochlear implant (CI) electrode arrays via the 'advance-off-stylet' (AOS) technique. As compared with human operators, the forces generated by the robot were slightly larger but the robot was more reliable (i.e. less force maxima).}, annote = {insertion in plastic model}, author = {Majdani, Omid and Schurzig, Daniel and Hussong, Andreas and Rau, Thomas and Wittkopf, Justin and Lenarz, Thomas and Labadie, Robert F}, doi = {10.3109/00016480902998281}, file = {:C$\backslash$:/Users/Jason/AppData/Local/Mendeley Ltd./Mendeley Desktop/Downloaded/Majdani et al. - 2010 - Force measurement of insertion of cochlear implant electrode arrays in vitro comparison of surgeon to automated.pdf:pdf}, issn = {1651-2251}, journal = {Acta oto-laryngologica}, keywords = {Biomechanics,Cochlear Implantation,Cochlear Implantation: instrumentation,Electrodes, Implanted,Equipment Design,Humans,Microsurgery,Microsurgery: instrumentation,Models, Anatomic,Reproducibility of Results,Robotics,Robotics: instrumentation,Scala Tympani,Scala Tympani: surgery,Software,Surgical Instruments,Time and Motion Studies,Video Recording}, month = jan, number = {1}, pages = {31--6}, pmid = {19484593}, title = {{Force measurement of insertion of cochlear implant electrode arrays in vitro: comparison of surgeon to automated insertion tool.}}, volume = {130}, year = {2010} } @article{Meshik2010, abstract = {HYPOTHESIS: An optimal insertion trajectory during cochlear implantation may be determined from the anatomic relationship between the facial nerve and round window. BACKGROUND: Cochlear implantation functional outcomes improve with insertion of the implant into the scala tympani. This depends on creating a cochleostomy in the proper position and inserting the electrode along a trajectory coaxial with the centerline of the scala tympani. The anatomic landmarks for this insertion trajectory have not been described. METHODS: Clinical computed tomography and micro-computed tomographic analysis of 8 cadaveric temporal bones. RESULTS: Appropriate insertion vectors pass inferior or anteroinferior to the round window membrane. In many individuals, the facial nerve interrupts all or most of the insertion vectors coaxial to the centerline of the scala tympani. CONCLUSION: A cochleostomy placed inferior or anteroinferior to the round window membrane may facilitate atraumatic insertion of a cochlear implant along the centerline of the scala tympani. The lateral and anterior wall of the fallopian canal must be adequately thinned to achieve an optimal insertion trajectory. This is particularly true when inserting through cochleostomies placed away from the round window along the basal turn of the cochlea.}, author = {Meshik, Xenia and Holden, Timothy a and Chole, Richard a and Hullar, Timothy E}, doi = {10.1097/MAO.0b013e3181b76bb8}, file = {:C$\backslash$:/Users/Jason/AppData/Local/Mendeley Ltd./Mendeley Desktop/Downloaded/Meshik et al. - 2010 - Optimal cochlear implant insertion vectors(2).pdf:pdf}, issn = {1537-4505}, journal = {Otology \& neurotology}, keywords = {Cochlear Implantation,Cochlear Implantation: methods,Cochlear Implants,Deafness,Deafness: surgery,Facial Nerve,Facial Nerve: anatomy \& histology,Facial Nerve: surgery,Humans,Image Processing, Computer-Assisted,Models, Anatomic,Round Window, Ear,Round Window, Ear: anatomy \& histology,Round Window, Ear: surgery}, month = jan, number = {1}, pages = {58--63}, pmid = {19707168}, title = {{Optimal cochlear implant insertion vectors.}}, volume = {31}, year = {2010} } @article{Miroir2012, abstract = {The aim of the study was to evaluate force profiles during array insertion in human cochlea specimens and to evaluate a mechatronic inserter using a 1-axis force sensor.}, author = {Miroir, Mathieu and Nguyen, Yann and Kazmitcheff, Guillaume and Ferrary, Evelyne and Sterkers, Olivier and Grayeli, Alexis Bozorg}, doi = {10.1097/MAO.0b013e31825f24de}, file = {:C$\backslash$:/Users/Jason/AppData/Local/Mendeley Ltd./Mendeley Desktop/Downloaded/Miroir et al. - 2012 - Friction force measurement during cochlear implant insertion application to a force-controlled insertion tool (2).pdf:pdf}, issn = {1537-4505}, journal = {Otology \& neurotology}, keywords = {Cochlea,Cochlea: physiology,Cochlear Implantation,Cochlear Implantation: instrumentation,Cochlear Implantation: methods,Cochlear Implants,Electrodes,Friction,Humans,Models, Anatomic,Scala Tympani,Scala Tympani: physiology,Temporal Bone,Temporal Bone: anatomy \& histology}, month = aug, number = {6}, pages = {1092--100}, pmid = {22772019}, title = {{Friction force measurement during cochlear implant insertion: application to a force-controlled insertion tool design.}}, volume = {33}, year = {2012} } @misc{NIH, author = {{NIH Medical Arts}}, title = {http://www.medarts.nih.gov/}, year = {accessed 2011} } @article{Noble2011a, abstract = {Cochlear implant surgery is a procedure performed to treat profound hearing loss. Clinical results suggest that implanting the electrode in the scala tympani, one of the two principal cavities inside the cochlea, may result in better hearing restoration. Segmentation of intracochlear cavities could thus aid the surgeon to choose the point of entry and angle of approach that maximize the likelihood of successful implant insertion, which may lead to more substantial hearing restoration. However, because the membrane that separates the intracochlear cavities is too thin to be seen in conventional in vivo imaging, traditional segmentation techniques are inadequate. In this paper, we circumvent this problem by creating an active shape model with micro CT ($\mu$CT) scans of the cochlea acquired ex vivo. We then use this model to segment conventional CT scans. The model is fitted to the partial information available in the conventional scans and used to estimate the position of structures not visible in these images. Quantitative evaluation of our method, made possible by the set of $\mu$CTs, results in Dice similarity coefficients averaging 0.75. Mean and maximum surface errors average 0.21 and 0.80 mm.}, author = {Noble, Jack H and Labadie, Robert F and Majdani, Omid and Dawant, Benoit M}, doi = {10.1109/TBME.2011.2160262}, issn = {1558-2531}, journal = {IEEE transactions on bio-medical engineering}, keywords = {Algorithms,Humans,Radiographic Image Enhancement,Radiographic Image Enhancement: methods,Reproducibility of Results,Scala Tympani,Scala Tympani: anatomy \& histology,Scala Tympani: radiography,Scala Vestibuli,Scala Vestibuli: anatomy \& histology,Scala Vestibuli: radiography,Tomography,X-Ray Computed,X-Ray Computed: methods,X-Ray Microtomography}, month = sep, number = {9}, pages = {2625--32}, pmid = {21708495}, title = {{Automatic segmentation of intracochlear anatomy in conventional CT.}}, volume = {58}, year = {2011} } @inproceedings{Pan2008, author = {Pan, Yaozhang and Ge, Shuzhi Sam and Mamun, Abdullah Al and Tang, Feng Ru}, booktitle = {2008 IEEE Conference on Cybernetics and Intelligent Systems}, doi = {10.1109/ICCIS.2008.4670889}, file = {:C$\backslash$:/Users/Jason/AppData/Local/Mendeley Ltd./Mendeley Desktop/Downloaded/Pan et al. - 2008 - Detection of seizures in EEG signal using weighted locally linear embedding and SVM classifier.pdf:pdf}, isbn = {978-1-4244-1673-8}, month = sep, pages = {358--363}, publisher = {IEEE}, title = {{Detection of seizures in EEG signal using weighted locally linear embedding and SVM classifier}}, year = {2008} } @inproceedings{Pile2011, abstract = {This paper evaluates the potential for using robotic assistance for the insertion of commercial Perimodiolar Elec- trode Arrays (PEA’s) that use a stylet and a pre-curved electrode body.We propose an algorithm for coordinated robotic insertion of the pre-curved electrode body and pulling of the stylet in order to provide partial control over the PEA shape. However, for robotic insertion to be a viable option for PEA’s, an un- derstanding of the statistical variability of their characteristics is essential. This paper investigates the kinematics of PEA’s, their shape variability, and their expected performance during robotic insertion. An investigation of the required number of Degrees of Freedom (DoF) and the workspace is presented. A study of shape variability is carried out for characterizing shape repeatability across different insertion trials using the same electrode array. Also a study of shape variability is carried out between different electrode arrays. We simulate and evaluate the expected performance of three and four DoF robotic in- struments for PEA insertion. The results support our proposed algorithm for coordinated insertion of the electrode array body and pulling of the stylet. They show that existing commerical perimodiolar arrays provide good shape repeatability. These results also point to the need for designing robotic insertion tools with at least four DoF.We believe that these results provide guidelines for future robotic instrument design for cochlear implant PEA’s.}, address = {Shanghai, China}, author = {Pile, Jason and Cheung, Mei Yi and Zhang, Jian and Simaan, Nabil}, booktitle = {IEEE International Conference on Robotics and Automation (ICRA'2011)}, file = {:C$\backslash$:/Users/Jason/AppData/Local/Mendeley Ltd./Mendeley Desktop/Downloaded/Pile et al. - 2011 - Algorithms and Design Considerations for Robot Assisted Insertion of Perimodiolar Electrode Arrays(4).pdf:pdf}, isbn = {9781612843858}, keywords = {Kinematics,Medical Robots and Systems,Motion and Path Planning,cochlea,cochlear implants}, pages = {2898--2904}, title = {{Algorithms and Design Considerations for Robot Assisted Insertion of Perimodiolar Electrode Arrays}}, year = {2011} } @article{Pile2014, abstract = {Cochlear implant surgery is a procedure that requires delicate insertion of an electrode array into the inner ear. This paper reports the clinical motivation, design considerations, analysis, and design optimization of a new robot for electrode arrays insertion. This paper describes a new approach for coordinated insertion of perimodiolar electrode arrays in order to minimize shape discrepancy between the shape of the electrode array and the shape of the inner ear anatomy. A new design of a 3-degrees-of-freedom (DoF) parallel robot with wire-actuated prismatic legs is presented. The dimensional synthesis of the robot design was based on satisfying the accuracy, speed, system size, and workspace requirements. The robot prototype is validated experimentally to execute electrode insertions in plastic models of temporal bones.}, author = {Pile, Jason and Member, Student and Simaan, Nabil}, doi = {10.1109/TMECH.2014.2308479}, file = {:C$\backslash$:/Users/Jason/Downloads/Papers/Jason Final Prints/Pile TMECH 2014.pdf:pdf}, issn = {1083-4435}, journal = {IEEE/ASME Transactions on Mechatronics}, month = dec, number = {6}, pages = {1746--1755}, title = {{Modeling, Design, and Evaluation of a Parallel Robot for Cochlear Implant Surgery}}, volume = {19}, year = {2014} } @inproceedings{Pile2013, author = {Pile, Jason and Simaan, Nabil}, booktitle = {2013 IEEE International Conference on Robotics and Automation}, doi = {10.1109/ICRA.2013.6631202}, file = {:C$\backslash$:/Users/Jason/AppData/Local/Mendeley Ltd./Mendeley Desktop/Downloaded/Pile, Simaan - 2013 - Characterization of friction and speed effects and methods for detection of cochlear implant electrode tip fold(2).pdf:pdf}, isbn = {978-1-4673-5643-5}, month = may, pages = {4409--4414}, publisher = {Ieee}, title = {{Characterization of friction and speed effects and methods for detection of cochlear implant electrode tip fold-over}}, year = {2013} } @article{Ramasubramanian2000, author = {Ramasubramanian, a. and Ray, L.R.}, doi = {10.1109/ACC.2000.878675}, file = {::}, isbn = {0-7803-5519-9}, journal = {Proceedings of the 2000 American Control Conference. ACC (IEEE Cat. No.00CH36334)}, number = {June}, pages = {2588--2594}, publisher = {American Autom. Control Council}, title = {{Adaptive friction compensation using extended Kalman-Bucy filter friction estimation: a comparative study}}, year = {2000} } @misc{Risi2012, author = {Risi, Frank and Cochlear}, file = {:C$\backslash$:/Users/Jason/Downloads/Papers/cochlear papers/tip folding/Patent WO2008042863A3 - Elecctrode assembly for a stimulating medical device - Google Patents.pdf:pdf}, isbn = {2008042863}, title = {{Elecctrode assembly for a stimulating medical device}}, year = {2012} } @article{Roland2005, abstract = {OBJECTIVES AND HYPOTHESIS: This study has the specific aim of evaluating the insertion characteristics of a new cochlear implant electrode. Techniques for evaluation of fluoroscopic real time mechanical insertion dynamics, histologic electrode position and trauma results, hydraulic force, and mechanical insertion forces are presented. In addition, this study should serve to present a novel model for cochlear implant electrode insertion evaluations. STUDY DESIGN: Prospective analysis using a series of analytical techniques. METHODS: All studies are conducted in fixed cadaveric temporal bones. Real time fluoroscopic insertion evaluations, histologic evaluations for trauma and electrode position in embedded bones, hydraulic measures, and mechanical intracochlear force measurements are conducted with a current and new electrode. RESULTS: The Contour Advance electrode provides a more reliable and less traumatic insertion when deployed with the Advance Off Stylet technique. This is largely because of a reduction in intracochlear outer wall force generation. Fluoroscopic and histologic analysis reveal a smooth insertion without reliance on cochlear outer wall contact. No hydraulic forces were detected when measured from the superior semicircular canal ampulla. CONCLUSION: The model used for this study provides valuable information to cochlear implant surgeons and design engineers. The Contour Advance electrode, inserted with the Advance Off Stylet technique, represents an improvement over the Contour electrode inserted with the standard insertion technique.}, author = {Roland, J Thomas}, doi = {10.1097/01.mlg.0000167993.05007.35}, file = {:C$\backslash$:/Users/Jason/AppData/Local/Mendeley Ltd./Mendeley Desktop/Downloaded/Roland - 2005 - A model for cochlear implant electrode insertion and force evaluation results with a new electrode design and insertion.pdf:pdf}, issn = {0023-852X}, journal = {The Laryngoscope}, keywords = {Cadaver,Cochlea,Cochlea: surgery,Cochlear Implantation,Cochlear Implantation: methods,Cochlear Implants,Electrodes, Implanted,Female,Fluoroscopy,Humans,Male,Prosthesis Design,Prosthesis Fitting,Risk Factors,Sensitivity and Specificity,Temporal Bone}, month = aug, number = {8}, pages = {1325--39}, pmid = {16094101}, title = {{A model for cochlear implant electrode insertion and force evaluation: results with a new electrode design and insertion technique.}}, volume = {115}, year = {2005} } @article{Roland2005a, annote = {hearing preservation}, author = {Roland, Peter S. and Gst\"{o}ttner, Wolfgang and Adunka, Oliver}, doi = {10.1016/j.otot.2005.03.003}, file = {:C$\backslash$:/Users/Jason/AppData/Local/Mendeley Ltd./Mendeley Desktop/Downloaded/Roland, Gst\"{o}ttner, Adunka - 2005 - Method for hearing preservation in cochlear implant surgery.pdf:pdf}, issn = {10431810}, journal = {Operative Techniques in Otolaryngology-Head and Neck Surgery}, keywords = {cochlear implantation,hearing preservation}, month = jun, number = {2}, pages = {93--100}, title = {{Method for hearing preservation in cochlear implant surgery}}, volume = {16}, year = {2005} } @book{Scholkopf1999, address = {Cambridge}, editor = {Scholkopf, B. and Burges, C. and Smola, A.}, isbn = {0-262-19416-3}, publisher = {MIT Press}, title = {{Advances in kernel methods: support vector learning}}, year = {1999} } @article{Scholkopf2000, author = {Sch\"{o}lkopf, B and Smola, AJ}, file = {:C$\backslash$:/Users/Jason/AppData/Local/Mendeley Ltd./Mendeley Desktop/Downloaded/Sch\"{o}lkopf, Smola - 2000 - New support vector algorithms.pdf:pdf}, journal = {Neural computation}, number = {x}, pages = {1207--1245}, title = {{New support vector algorithms}}, volume = {1245}, year = {2000} } @inproceedings{Schurzig2010, author = {Schurzig, Daniel and Labadie, Robert F and Hussong, Andreas and Rau, Thomas S and Iii, Robert J Webster}, booktitle = {2010 IEEE International Conference on Robotics and Automation}, file = {:C$\backslash$:/Users/Jason/AppData/Local/Mendeley Ltd./Mendeley Desktop/Downloaded/Schurzig et al. - 2010 - A force sensing Automated Insertion Tool for cochlear electrode implantation(2).pdf:pdf}, pages = {3674--3679}, title = {{A Force Sensing Automated Insertion Tool for Cochlear Electrode Implantation}}, year = {2010} } @article{Schurzig2010a, abstract = {Robotic cochlear implant electrode array insertion offers substantial potential advantages, namely repeatability and minimization of insertion forces, leading to decreased intracochlear trauma. Using such a robotic insertion tool, we sought to analyze force profiles during deployment of stylet-containing electrode arrays using either traditional insertion, in which the stylet is withdrawn after complete insertion of the electrode, or Advance Off-Stylet (AOS) insertion, in which the stylet is withdrawn simultaneous with electrode array insertion.}, author = {Schurzig, Daniel and Webster, Robert J and Dietrich, Mary S and Labadie, Robert F}, doi = {10.1097/MAO.0b013e3181f2ebc3}, file = {:C$\backslash$:/Users/Jason/AppData/Local/Mendeley Ltd./Mendeley Desktop/Downloaded/Schurzig et al. - 2010 - Force of cochlear implant electrode insertion performed by a robotic insertion tool comparison of traditional v.pdf:pdf}, issn = {1537-4505}, journal = {Otology \& neurotology}, keywords = {Cochlear Implantation,Cochlear Implantation: instrumentation,Cochlear Implantation: methods,Cochlear Implants,Electrodes, Implanted,Humans,Models, Anatomic,Prospective Studies,Robotics,Scala Tympani,Scala Tympani: surgery}, month = oct, number = {8}, pages = {1207--10}, pmid = {20814345}, title = {{Force of cochlear implant electrode insertion performed by a robotic insertion tool: comparison of traditional versus Advance Off-Stylet techniques.}}, volume = {31}, year = {2010} } @book{Strang2007, author = {Strang, Gilbert}, publisher = {Wellesley Cambridge Press}, title = {{Computational Science and Engineering}}, year = {2007} } @article{Swevers2000, author = {Swevers, Jan and Al-Bender, F. and Ganseman, C.G. and Projogo, T.}, doi = {10.1109/9.847103}, file = {:C$\backslash$:/Users/Jason/Desktop/papers to review/friction/SWEVERS - an integrated friction model structure.pdf:pdf}, issn = {00189286}, journal = {IEEE Transactions on Automatic Control}, month = apr, number = {4}, pages = {675--686}, title = {{An integrated friction model structure with improved presliding behavior for accurate friction compensation}}, volume = {45}, year = {2000} } @article{Todd2007, abstract = {Highly invasive surgical procedures, such as the implantation of a prosthetic device, require correct force delivery to achieve desirable outcomes and minimize trauma induced during the operation. Improvement in surgeon technique can reduce the chances of excessive force application and lead to optimal placement of the electrode array. The fundamental factors that affect the degree of success for cochlear implant recipients are identified through empirical methods. Insertion studies are performed to assess force administration and electrode trajectories during implantations of the Nucleus 24 Contour and Nucleus 24 Contour Advance electrodes into a synthetic model of the human Scala Tympani, using associated methods. Results confirm that the Advance Off- Stylet insertion of the soft-tipped Contour Advance electrode gives an overall reduction in insertion force. Analysis of force delivery and electrode positioning during cochlear implantation can help identify and control key factors for improvement of insertion method. Based on the findings, suggestions are made to enhance surgeon technique.}, author = {Todd, Catherine a and Naghdy, Fazel and Svehla, Martin J}, doi = {10.1109/TBME.2007.891937}, file = {:C$\backslash$:/Users/Jason/AppData/Local/Mendeley Ltd./Mendeley Desktop/Downloaded/Todd, Naghdy, Svehla - 2007 - Force application during cochlear implant insertion an analysis for improvement of surgeon technique(2).pdf:pdf}, issn = {0018-9294}, journal = {IEEE transactions on bio-medical engineering}, keywords = {Cochlear Implantation,Cochlear Implantation: instrumentation,Cochlear Implantation: methods,Cochlear Implants,Equipment Design,Equipment Failure Analysis,Friction,Health Care,Health Care: methods,Mechanical,Quality Assurance,Stress,force,trauma}, mendeley-tags = {force,trauma}, month = jul, number = {7}, pages = {1247--55}, pmid = {17605356}, title = {{Force application during cochlear implant insertion: an analysis for improvement of surgeon technique.}}, volume = {54}, year = {2007} } @article{Tykocinski2001, abstract = {OBJECTIVE: The aim of these studies was to investigate the insertion properties and safety of a new intracochlear perimodiolar electrode array design (Contour). BACKGROUND: An electrode array positioned close to the neural elements could be expected to reduce stimulation thresholds and might potentially reduce channel interaction. METHODS: Two sequential studies were conducted. In study 1, the Contour electrode array was inserted in 12 human temporal bones. After cochlear surface preparation, the position of the array was noted and the basilar membrane was examined for insertion damage. On the basis of the outcome of this temporal bone study, study 2 investigated the Contour array, mounted on a Nucleus CI-24 M device and implanted in three adult patients. RESULTS: Study I showed that in 10 temporal bones, the Contour array was positioned close to the modiolus, and the basilar membrane was intact. In the two remaining bones, the arrays had pierced the basilar membrane and were positioned in the scala vestibuli apical to the penetration. Statistical analysis showed an equivalent probability of insertion-induced damage of the two array designs. In study 2, image analysis indicated that the Contour electrodes were positioned closer to the modiolus than the standard Nucleus straight array. Lower T and C levels, but higher impedance values, were recorded from electrodes close to the modiolus. Initial speech perception data showed that all patients gained useful open-set speech perception, two patients achieving scores of 100\% on sentence material 3 months postoperatively. CONCLUSIONS: The temporal bone studies showed the Contour electrode array to be generally positioned closer to the modiolus than the standard Nucleus straight array, and to have an equivalent probability of causing insertion-induced damage.}, author = {Tykocinski, M and Saunders, E and Cohen, L T and Treaba, C and Briggs, R J and Gibson, P and Clark, G M and Cowan, R S}, file = {:C$\backslash$:/Users/Jason/AppData/Local/Mendeley Ltd./Mendeley Desktop/Downloaded/Tykocinski et al. - 2001 - The contour electrode array safety study and initial patient trials of a new perimodiolar design.pdf:pdf}, issn = {1531-7129}, journal = {Otology \& neurotology}, keywords = {Acoustic Impedance Tests,Adult,Aged,Basilar Membrane,Basilar Membrane: surgery,Cochlear Implants,Deafness,Deafness: surgery,Electric Stimulation,Electrodes,Equipment Design,Humans,Middle Aged,Otologic Surgical Procedures,Postoperative Care,Preoperative Care,Speech Discrimination Tests,Temporal Bone,Temporal Bone: surgery}, month = jan, number = {1}, pages = {33--41}, pmid = {11314713}, title = {{The contour electrode array: safety study and initial patient trials of a new perimodiolar design.}}, volume = {22}, year = {2001} } @article{Verbist2010, abstract = {An objective cochlear framework, for evaluation of the cochlear anatomy and description of the position of an implanted cochlear implant electrode, would allow the direct comparison of measures performed within the various subdisciplines involved in cochlear implant research.}, author = {Verbist, Berit M and Skinner, Margaret W and Cohen, Lawrence T and Leake, Patricia a and James, Chris and Bo\"{e}x, Colette and Holden, Timothy a and Finley, Charles C and Roland, Peter S and Roland, J Thomas and Haller, Matt and Patrick, Jim F and Jolly, Claude N and Faltys, Mike a and Briaire, Jeroen J and Frijns, Johan H M}, doi = {10.1097/MAO.0b013e3181d279e0}, file = {:C$\backslash$:/Users/Jason/AppData/Local/Mendeley Ltd./Mendeley Desktop/Downloaded/Verbist et al. - 2010 - Consensus panel on a cochlear coordinate system applicable in histologic, physiologic, and radiologic studies(2).pdf:pdf}, issn = {1537-4505}, journal = {Otology \& neurotology}, keywords = {Cochlea,Cochlea: anatomy \& histology,Cochlea: physiology,Cochlea: radiography,Cochlear Implantation,Cochlear Implants,Consensus,Humans,Reference Standards}, month = jul, number = {5}, pages = {722--30}, pmid = {20147866}, title = {{Consensus panel on a cochlear coordinate system applicable in histologic, physiologic, and radiologic studies of the human cochlea.}}, volume = {31}, year = {2010} } @article{Wanna2014, abstract = {OBJECTIVES/HYPOTHESIS: Three surgical approaches: cochleostomy (C), round window (RW), and extended round window (ERW); and two electrodes types: lateral wall (LW) and perimodiolar (PM), account for the vast majority of cochlear implantations. The goal of this study was to analyze the relationship between surgical approach and electrode type with final intracochlear position of the electrode array and subsequent hearing outcomes. STUDY DESIGN: Comparative longitudinal study. METHODS: One hundred postlingually implanted adult patients were enrolled in the study. From the postoperative scan, intracochlear electrode location was determined and using rigid registration, transformed back to the preoperative computed tomography which had intracochlear anatomy (scala tympani and scala vestibuli) specified using a statistical shape model based on 10 microCT scans of human cadaveric cochleae. Likelihood ratio chi-square statistics were used to evaluate for differences in electrode placement with respect to surgical approach (C, RW, ERW) and type of electrode (LW, PM). RESULTS: Electrode placement completely within the scala tympani (ST) was more common for LW than were PM designs (89\% vs. 58\%; P < 0.001). RW and ERW approaches were associated with lower rates of electrode placement outside the ST than was the cochleostomy approach (9\%, 16\%, and 63\%, respectively; P < 0.001). This pattern held true regardless of whether the implant was LW or PM. When examining electrode placement and hearing outcome, those with electrode residing completely within the ST had better consonant-nucleus-consonant word scores than did patients with any number of electrodes located outside the ST (P = 0.045). CONCLUSION: These data suggest that RW and ERW approaches and LW electrodes are associated with an increased likelihood of successful ST placement. Furthermore, electrode position entirely within the ST confers superior audiological outcomes. LEVEL OF EVIDENCE: 2b. Laryngoscope, 2014.}, author = {Wanna, George B and Noble, Jack H and Carlson, Matthew L and Gifford, Ren\'{e} H and Dietrich, Mary S and Haynes, David S and Dawant, Benoit M and Labadie, Robert F}, doi = {10.1002/lary.24728}, issn = {1531-4995}, journal = {The Laryngoscope}, pages = {1-7}, month = Nov, pmid = {24764083}, title = {{Impact of electrode design and surgical approach on scalar location and cochlear implant outcomes.}}, volume = {124 Suppl6}, year = {2014} } @article{Wanna2011, abstract = {OBJECTIVE: The goal of this study was to use highly accurate nonrigid algorithms to locate the position of cochlear implant (CI) electrodes and correlate this with audiological performance. PATIENTS: After obtaining institutional review board approval, adult patients who had bilateral CIs were identified, and those with preoperative temporal bone computed tomographic scans were asked to return for a postintervention computed tomography. Sixteen adult patients agreed. Demographics, cause of deafness, length of auditory deprivation, and audiological performance were recorded. INTERVENTION: Using a nonrigid model of the shape variations of intracochlear anatomy, the location of the basilar membrane was specified in relationship to the electrode array. The number of electrodes within each compartment of the cochlea was correlated with hearing in noise and consonant-noun-consonant scores for the known confounding variable: length of deafness. MAIN OUTCOMES: Mann-Whitney U tests of differences were used to compare the hearing performance resulting from implants completely in the scala tympani (ST) versus those not completely in the ST. RESULTS: Of all implants, 62.5\% were fully inserted in the ST; 34.4\% were partially inserted into the ST and 3.1\% was fully inserted in the scala vestibuli. Controlling for the known contributing variable of length of auditory deprivation, our results show that the location of electrodes in relationship to the scala is not predictive of audiological performance. CONCLUSION: We have assessed electrode placement and correlated it with audiological outcome. The presence of the electrodes solely in the ST was not predictive of outcome. We estimate that it would take analyzing data of thousands of CI patients before any valid correlations can be made.}, author = {Wanna, George B and Noble, Jack H and McRackan, Theodore R and Dawant, Benoit M and Dietrich, Mary S and Watkins, Linsey D and Rivas, Alejandro and Schuman, Theodore A and Labadie, Robert F}, doi = {10.1097/MAO.0b013e3182096dc2}, issn = {1537-4505}, journal = {Otology \& neurotology}, keywords = {Adult,Aged,Audiometry,Bilateral,Bilateral: surgery,Cochlear Implantation,Cochlear Implantation: methods,Cochlear Implants,Female,Hearing Loss,Humans,Male,Middle Aged,Scala Tympani,Scala Tympani: surgery,Temporal Bone,Temporal Bone: surgery,Treatment Outcome}, month = apr, number = {3}, pages = {428--32}, pmid = {21283037}, title = {{Assessment of electrode placement and audiological outcomes in bilateral cochlear implantation.}}, volume = {32}, year = {2011} } @article{Wardrop2005, abstract = {In recent years, several new designs of cochlear implant electrodes have been introduced clinically with the goal of optimizing perimodiolar placement of stimulation sites. Previous studies suggest that perimodiolar electrodes may increase both the efficiency and performance of a cochlear implant. This is the second of two studies designed to examine the positioning of electrodes and the occurrence of insertion-related injury with these newer designs and to directly compare two perimodiolar electrodes to their predecessors. In our previous report we compared the Nucleus banded electrode with the Nucleus Contour perimodiolar electrode. In the present study, using the same protocol, we examine the Spiral Clarion electrode and its successor, the HiFocus II electrode with attached positioner. Eight Spiral Clarion arrays and 20 HiFocus II electrodes with positioners were inserted into human cadaver temporal bones. Following insertion, the specimens were embedded in acrylic resin, cut in quarters with a diamond saw and polished. Insertion depth, proximity to the modiolus and trauma were evaluated in X-ray images and light microscopy. The newer electrode was consistently positioned closer to the modiolus than the previous device whereas the angular depth of insertion measured for the two electrodes was similar. The incidence of trauma was minimal when either electrode was inserted to a depth of less than 400 degrees . However, severe trauma was observed in every case in which the HiFocus II with positioner was inserted beyond 400 degrees and in some cases in which the Spiral Clarion was inserted beyond 400 degrees . To evaluate the possible role of electrode size in the trauma observed we modeled both devices relative to the dimensions of the scala tympani. We found that the fully inserted HiFocus II electrode with positioner was larger than the scala tympani in approximately 70\% of temporal bones measured. The results suggest that both the Clarion spiral and HiFocus II with positioner can be inserted with minimal trauma, but in many cases not to the maximum depth allowed by the design.}, author = {Wardrop, Peter and Whinney, David and Rebscher, Stephen J and Luxford, William and Leake, Patricia}, doi = {10.1016/j.heares.2004.11.007}, file = {:C$\backslash$:/Users/Jason/AppData/Local/Mendeley Ltd./Mendeley Desktop/Downloaded/Wardrop et al. - 2005 - A temporal bone study of insertion trauma and intracochlear position of cochlear implant electrodes. II Comparison of Spiral Clarion and HiFocus II electro.pdf:pdf}, issn = {0378-5955}, journal = {Hearing research}, keywords = {Cadaver,Cochlea,Cochlea: injuries,Cochlea: radiography,Cochlea: surgery,Cochlear Implantation,Cochlear Implantation: adverse effects,Diagnosis, Computer-Assisted,Electrodes, Implanted,Electrodes, Implanted: adverse effects,Equipment Design,Humans,Incidence,Temporal Bone,Temporal Bone: surgery,Time Factors,Wounds and Injuries,Wounds and Injuries: epidemiology,Wounds and Injuries: etiology,Wounds and Injuries: pathology}, month = may, number = {1-2}, pages = {68--79}, pmid = {15855031}, title = {{A temporal bone study of insertion trauma and intracochlear position of cochlear implant electrodes. II: Comparison of Spiral Clarion and HiFocus II electrodes.}}, volume = {203}, year = {2005} } @inproceedings{Wu2005, author = {Wu, Jian and Yan, Le and Xu, Han and Tang, William C and Zeng, Fan-Gang}, booktitle = {The 13th International Conference on Solid-State Sensors, Actuators and Microsystems, 2005. Digest of Technical Papers. TRANSDUCERS '05.}, doi = {10.1109/SENSOR.2005.1497402}, file = {:C$\backslash$:/Users/Jason/AppData/Local/Mendeley Ltd./Mendeley Desktop/Downloaded/Wu et al. - 2005 - A curvature-controlled 3D micro-electrode array for Cochlear implants(2).pdf:pdf}, isbn = {0-7803-8994-8}, keywords = {3d,cochlear,micro-electrode array}, pages = {1636--1639}, publisher = {IEEE}, title = {{A curvature-controlled 3D micro-electrode array for Cochlear implants}}, volume = {2}, year = {2005} } @article{Wysocki1999, annote = {Provided height and width dimensions of the cross sections of human cochlea and compares scala tympani and scala vestibuli dimensions. We used this study for our modified 3D cochlea}, author = {Wysocki, J}, file = {:C$\backslash$:/Users/Jason/AppData/Local/Mendeley Ltd./Mendeley Desktop/Downloaded/Wysocki - 1999 - Dimensions of the human vestibular and tympanic scalae.pdf:pdf}, journal = {Hearing Research}, keywords = {cochlea,cochlea anatomy,cochlea dimensions}, number = {1-2}, pages = {39--46}, title = {{Dimensions of the human vestibular and tympanic scalae}}, volume = {135}, year = {1999} } @article{Zhang2009, author = {Zhang, Jian and Bhattacharyya, Samrat and Simaan, Nabil}, doi = {10.1109/ROBOT.2009.5152738}, file = {:C$\backslash$:/Users/Jason/AppData/Local/Mendeley Ltd./Mendeley Desktop/Downloaded/Zhang, Bhattacharyya, Simaan - 2009 - Model and parameter identification of friction during robotic insertion of cochlear-implant electr.pdf:pdf}, isbn = {978-1-4244-2788-8}, journal = {2009 IEEE International Conference on Robotics and Automation}, month = may, pages = {3859--3864}, publisher = {Ieee}, title = {{Model and parameter identification of friction during robotic insertion of cochlear-implant electrode arrays}}, year = {2009} } @article{Zhang2009a, author = {Zhang, Jian and Roland, J. Thomas and Manolidis, Spiros and Simaan, Nabil}, doi = {10.1115/1.3039513}, file = {:C$\backslash$:/Users/Jason/AppData/Local/Mendeley Ltd./Mendeley Desktop/Downloaded/Zhang et al. - 2009 - Optimal Path Planning for Robotic Insertion of Steerable Electrode Arrays in Cochlear Implant Surgery(3).pdf:pdf}, issn = {19326181}, journal = {Journal of Medical Devices}, keywords = {cochlear implant,path planning,steerable electrode array,surgical assistance,underactuated robot}, number = {1}, pages = {011001}, title = {{Optimal Path Planning for Robotic Insertion of Steerable Electrode Arrays in Cochlear Implant Surgery}}, volume = {3}, year = {2009} } @article{Zhang2010, author = {Zhang, Jian and Wei, Wei and Ding, Jienan and Roland, J. Thomas and Manolidis, Spiros and Simaan, Nabil}, doi = {10.1097/MAO.0b013e3181e7117e}, file = {:C$\backslash$:/Users/Jason/AppData/Local/Mendeley Ltd./Mendeley Desktop/Downloaded/Zhang et al. - 2010 - Inroads Toward Robot-Assisted Cochlear Implant Surgery Using Steerable Electrode Arrays(2).pdf:pdf}, issn = {1531-7129}, journal = {Otology \& Neurotology}, keywords = {cochlear implantvrobotic assistancevsteerable}, month = jun, pages = {1}, title = {{Inroads Toward Robot-Assisted Cochlear Implant Surgery Using Steerable Electrode Arrays}}, year = {2010} } @article{Zhang2008, abstract = {In previous works, the authors showed that using robot-assisted steerable electrode array insertions can significantly reduce the insertion forces compared to non-steerable electrode arrays. In addition to steering the electrode array, it is possible to change its angle of approach with respect to the scala tympani. This paper focuses on determining the relevance of changing the angle of approach of the electrode array by comparing steerable electrode array insertions using a two Degrees-of-Freedom (DoF) robot versus a four DoF robot. Optimal insertion path planning strategies are presented for both two and four DoF insertions. Simulation results and experiments show that the four DoF insertions can improve over two DoF insertions. Moreover, changing the angle of approach can further reduce the insertion forces. The simulation results also provide the workspace requirements for designing a custom parallel robot for robot-assisted cochlear implant surgery.}, author = {Zhang, Jian and Wei, Wei and Manolidis, Spiros and Roland, J Thomas and Simaan, Nabil}, file = {:C$\backslash$:/Users/Jason/AppData/Local/Mendeley Ltd./Mendeley Desktop/Downloaded/Zhang et al. - 2008 - Path planning and workspace determination for robot-assisted insertion of steerable electrode arrays for cochlear.pdf:pdf}, journal = {MICCAI ... International Conf. on Medical Image Computing and Computer-Assisted Intervention}, keywords = {Cochlear Implantation,Cochlear Implantation: instrumentation,Cochlear Implantation: methods,Cochlear Implants,Electrodes, Implanted,Humans,Robotics,Robotics: instrumentation,Robotics: methods,Surgery, Computer-Assisted,Surgery, Computer-Assisted: methods}, month = jan, number = {Pt 2}, pages = {692--700}, pmid = {18982665}, title = {{Path planning and workspace determination for robot-assisted insertion of steerable electrode arrays for cochlear implant surgery.}}, volume = {11}, year = {2008} } @article{Zhang2006, abstract = {This paper presents results of a pilot study evaluating the efficacy of robotic assistance using novel steerable electrode arrays for cochlear implant surgery. The current surgical setup of cochlear implant surgery is briefly reviewed and its limitations are highlighted. In an effort to reduce trauma to the structure of the cochlea, the kinematics and path planning for novel cochlear steerable electrodes are developed to minimize the interaction forces between the electrode and the cochlea. An experimental robotic system is used to compare the electrode insertion forces of steerable implants with those of nonsteerable electrodes. The results of these experiments show about 70\% reduction in the insertion forces when steerable electrodes are used with our proposed path planning and control. A distance metric explaining this reduction in the insertion force is defined and experimentally validated. Although this is only a preliminary study, we believe that these results provide a strong indication to the potential of robot-assisted cochlear implant surgery to provide a significant reduction in trauma rates during cochlear implant surgery.}, author = {Zhang, Jian and Xu, Kai and Simaan, Nabil and Manolidis, Spiros}, file = {:C$\backslash$:/Users/Jason/AppData/Local/Mendeley Ltd./Mendeley Desktop/Downloaded/Zhang et al. - 2006 - A pilot study of robot-assisted cochlear implant surgery using steerable electrode arrays(2).pdf:pdf}, journal = {Medical image computing and computer-assisted intervention : MICCAI ... International Conference on Medical Image Computing and Computer-Assisted Intervention}, keywords = {Cochlear Implantation,Cochlear Implantation: instrumentation,Cochlear Implantation: methods,Cochlear Implants,Electrodes, Implanted,Equipment Design,Equipment Failure Analysis,Humans,Microelectrodes,Pilot Projects,Robotics,Robotics: instrumentation,Robotics: methods,Surgery, Computer-Assisted,Surgery, Computer-Assisted: instrumentation,Surgery, Computer-Assisted: methods}, month = jan, number = {Pt 1}, pages = {33--40}, pmid = {17354871}, title = {{A pilot study of robot-assisted cochlear implant surgery using steerable electrode arrays.}}, volume = {9}, year = {2006} } @article{Zrunek1981, author = {Zrunek, M. and Lischka, M.}, doi = {10.1007/BF00464279}, file = {:C$\backslash$:/Users/Jason/Downloads/Papers/cochlea impedance/ZRUNEK - scala vestibuli dimensions.pdf:pdf}, issn = {0302-9530}, journal = {Archives of Oto-Rhino-Laryngology}, keywords = {scala vestibuli -}, month = oct, number = {1}, pages = {99--104}, title = {{Dimensions of the scala vestibuli and sectional areas of both scales}}, volume = {233}, year = {1981} } @article{Zrunek1980, abstract = {Dimensions of the scala tympani were measured at eight different places of 1 3/4 turns of the cochlea, beginning at the round window. Height and width of the scala tympani do not decrease continuously but show enlargements in some places. The diameter of two types of cochlear implants were compared with the mean heights of the scala tympani. The data provide an anatomical basis for the development of cochlear prosthesis, which could be inserted for a longer distance as accomplished hitherto.}, author = {Zrunek, M and Lischka, M and Hochmair-Desoyer, I and Burian, K}, file = {:C$\backslash$:/Users/Jason/AppData/Local/Mendeley Ltd./Mendeley Desktop/Downloaded/Zrunek et al. - 1980 - Dimensions of the scala tympani in relation to the diameters of multichannel electrodes(2).pdf:pdf}, issn = {0302-9530}, journal = {Archives of oto-rhino-laryngology}, keywords = {Adult,Aged,Cochlea,Cochlea: anatomy \& histology,Cochlear Implants,Humans,Middle Aged,Round Window, Ear,Round Window, Ear: anatomy \& histology,Scala Tympani,Scala Tympani: anatomy \& histology}, month = jan, number = {3-4}, pages = {159--65}, pmid = {6894087}, title = {{Dimensions of the scala tympani in relation to the diameters of multichannel electrodes.}}, volume = {229}, year = {1980} } @misc{, title = {{Cochlear America}}, } @inproceedings{Pile2014a, abstract = {Rapidly deployable surgical robots pose minimal interruption to surgical workflow and require minimal setup time and equipment to support deployment. This paper explores the concept of rapid deployment through the use of in-vivo sensory information to adapt a pre-operative surgical plan and to increase robustness against registration and misalignment errors during robot deployment. Robotic insertion of cochlear implant electrode arrays is presented as a benchmark application demonstrating this concept. Two key ideas are presented within the context of this application: First, a hybrid position and admittance controller is used to define an insertion path plan that is modified based on in-vivo force measurements in order to reduce sensitivity to misalignment errors. Secondly, a new concept allowing the use of force cues to determine the onset of advance-off stylet electrode array insertion is presented. The new controller is tested with electrode insertions in both plastic models and human cadaveric specimens. The experiments show that insertion forces may be maintained or reduced compared to preplanned trajectories relying solely on the initial registration.}, address = {Hong Kong}, author = {Pile, Jason and Wanna, George B and Simaan, Nabil}, booktitle = {2014 IEEE International Conference on Robotics and Automation}, file = {:C$\backslash$:/Users/Jason/Documents/Publications/Jason\_ICRA2014/V14 Accepted Submission/Final Submission/submission-Jason20140214.pdf:pdf}, pages = {297--303}, publisher = {IEEE}, title = {{Force-Based Flexible Path Plans for Robotic Electrode Insertion}}, year = {2014} } @article{Rohani2014, abstract = {OBJECTIVE: Minimally invasive image-guided cochlear implantation (CI) utilizes a patient-customized microstereotactic frame to access the cochlea via a single drill-pass. We investigate the average force and trauma associated with the insertion of lateral wall CI electrodes using this technique. STUDY DESIGN: Assessment using cadaveric temporal bones. SETTING: Laboratory setup. SUBJECTS AND METHODS: Microstereotactic frames for 6 fresh cadaveric temporal bones were built using CT scans to determine an optimal drill path following which drilling was performed. CI electrodes were inserted using surgical forceps to manually advance the CI electrode array, via the drilled tunnel, into the cochlea. Forces were recorded using a 6-axis load sensor placed under the temporal bone during the insertion of lateral wall electrode arrays (2 each of Nucleus CI422, MED-EL standard, and modified MED-EL electrodes with stiffeners). Tissue histology was performed by microdissection of the otic capsule and apical photo documentation of electrode position and intracochlear tissue. RESULTS: After drilling, CT scanning demonstrated successful access to cochlea in all 6 bones. Average insertion forces ranged from 0.009 to 0.078 N. Peak forces were in the range of 0.056 to 0.469 N. Tissue histology showed complete scala tympani insertion in 5 specimens and scala vestibuli insertion in the remaining specimen with depth of insertion ranging from 360° to 600°. No intracochlear trauma was identified. CONCLUSION: The use of lateral wall electrodes with the minimally invasive image-guided CI approach was associated with insertion forces comparable to traditional CI surgery. Deep insertions were obtained without identifiable trauma.}, author = {Rohani, Pooyan and Pile, Jason and Kahrs, Lueder a and Balachandran, Ramya and Blachon, Gr\'{e}goire S and Simaan, Nabil and Labadie, Robert F}, doi = {10.1177/0194599813519747}, file = {:C$\backslash$:/Users/Jason/AppData/Local/Mendeley Ltd./Mendeley Desktop/Downloaded/Rohani et al. - 2014 - Forces and trauma associated with minimally invasive image-guided cochlear implantation.pdf:pdf}, issn = {1097-6817}, journal = {Otolaryngology}, keywords = {Biopsy, Needle,Cadaver,Cochlear Implantation,Cochlear Implantation: methods,Cochlear Implants,Electrodes, Implanted,Electrodes, Implanted: adverse effects,Fiducial Markers,Humans,Imaging, Three-Dimensional,Immunohistochemistry,Sensitivity and Specificity,Stress, Mechanical,Surgery, Computer-Assisted,Surgery, Computer-Assisted: adverse effects,Surgery, Computer-Assisted: methods,Surgical Procedures, Minimally Invasive,Surgical Procedures, Minimally Invasive: methods,Temporal Bone,Temporal Bone: radiography,Temporal Bone: surgery,Tomography, X-Ray Computed,Tomography, X-Ray Computed: methods,Wounds and Injuries,Wounds and Injuries: etiology,Wounds and Injuries: physiopathology}, month = apr, number = {4}, pages = {638--45}, pmid = {24468898}, title = {{Forces and trauma associated with minimally invasive image-guided cochlear implantation.}}, volume = {150}, year = {2014} }