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It is remotely piloted via a robot\u2013surgeon interface under operative microscope. Ability to reach anatomical targets, to perform stapedectomy, and to place prosthesis in a model of stapedotomy was evaluated by 6 surgeons. Multiple anatomical targets in the middle ear could be successfully reached without damaging surrounding structures. The robot could be used under operative microscope with minimal visual field impairment or jointly with a 4-mm endoscope through the external auditory canal to perform stapedectomy in temporal bone specimens. Prosthesis could be inserted in the stapedotomy model. The assistance robot is the first prototype with 6 degrees of freedom, a kinematic structure, and dimensions optimized for tele-operated middle ear surgery.<\/jats:p>","DOI":"10.1177\/1553350611426012","type":"journal-article","created":{"date-parts":[[2011,11,11]],"date-time":"2011-11-11T02:17:49Z","timestamp":1320977869000},"page":"241-251","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":28,"title":["From Conception to Application of a Tele-Operated Assistance Robot for Middle Ear Surgery"],"prefix":"10.1177","volume":"19","author":[{"given":"Yann","family":"Nguyen","sequence":"first","affiliation":[{"name":"Paris Diderot University, Paris, France"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Mathieu","family":"Miroir","sequence":"additional","affiliation":[{"name":"Paris Diderot University, Paris, France"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Guillaume","family":"Kazmitcheff","sequence":"additional","affiliation":[{"name":"Paris Diderot University, Paris, France"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Evelyne","family":"Ferrary","sequence":"additional","affiliation":[{"name":"Paris Diderot University, Paris, France"},{"name":"AP-HP, H\u00f4pital Beaujon, Clichy, France"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Olivier","family":"Sterkers","sequence":"additional","affiliation":[{"name":"Paris Diderot University, Paris, France"},{"name":"AP-HP, H\u00f4pital Beaujon, Clichy, France"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Alexis Bozorg","family":"Grayeli","sequence":"additional","affiliation":[{"name":"Paris Diderot University, Paris, France"},{"name":"AP-HP, H\u00f4pital Beaujon, Clichy, France"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"179","published-online":{"date-parts":[[2011,11,10]]},"reference":[{"key":"bibr1-1553350611426012","first-page":"46","volume":"67","author":"Taylor KS","year":"1993","journal-title":"Hospitals"},{"key":"bibr2-1553350611426012","doi-asserted-by":"publisher","DOI":"10.1109\/10.1354"},{"key":"bibr3-1553350611426012","doi-asserted-by":"publisher","DOI":"10.1016\/S0039-6109(03)00159-2"},{"key":"bibr4-1553350611426012","doi-asserted-by":"publisher","DOI":"10.1177\/000348940711600104"},{"key":"bibr5-1553350611426012","doi-asserted-by":"publisher","DOI":"10.1067\/mhn.2002.129729"},{"key":"bibr6-1553350611426012","doi-asserted-by":"publisher","DOI":"10.1159\/isbn.978-3-318-01343-6"},{"key":"bibr7-1553350611426012","doi-asserted-by":"publisher","DOI":"10.1016\/S0194-5998(95)70103-6"},{"key":"bibr8-1553350611426012","volume-title":"Surgical Solutions for Conductive Hearing Loss","author":"Tos M","year":"2000"},{"key":"bibr9-1553350611426012","doi-asserted-by":"publisher","DOI":"10.1097\/MAO.0b013e318164d140"},{"key":"bibr10-1553350611426012","first-page":"214","volume-title":"Proceedings of the 18th Annual International Conference of the IEEE Engineering in Medicine and Biology Society","author":"Baker DA","year":"1996"},{"key":"bibr11-1553350611426012","volume-title":"Paper presented at: IEEE International Conference on Robotics and Automation","author":"Maier T"},{"key":"bibr12-1553350611426012","doi-asserted-by":"publisher","DOI":"10.1055\/s-0028-1086164"},{"key":"bibr13-1553350611426012","doi-asserted-by":"publisher","DOI":"10.1097\/MAO.0b013e3181b76b08"},{"key":"bibr14-1553350611426012","first-page":"303","volume-title":"Medical Image Computing and Computer-Assisted Intervention\u2014MICCAI 2010","volume":"2010","author":"Balicki M"},{"key":"bibr15-1553350611426012","author":"Nguyen Y","journal-title":"Surg Innov"},{"key":"bibr16-1553350611426012","doi-asserted-by":"publisher","DOI":"10.1007\/s00464-009-0621-1"},{"key":"bibr17-1553350611426012","doi-asserted-by":"publisher","DOI":"10.1245\/s10434-010-1486-1"},{"key":"bibr18-1553350611426012","volume-title":"Paper presented at: Proceedings of the 2nd International Symposium on Medical Robotics and Computer Assisted Surgery\u2014MRCAS\u201995","author":"Schenker PS"},{"key":"bibr19-1553350611426012","unstructured":"Ku S. 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