Louis B. Kratchman

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Needle tip dexterity is advantageous for transthoracic lung biopsies, which are typically performed with rigid, straight biopsy needles. By providing intraoperative compensation for trajectory error and lesion motion, tendondriven biopsy needles may reach smaller or deeper nodules in fewer attempts, thereby reducing trauma. An image-guided robotic system(More)
The haptic paddle is a force-feedback joystick used at several universities in teaching System Dynamics, a core mechanical engineering undergraduate course where students learn to model dynamic systems in several domains. A second goal of the haptic paddle is to increase the accessibility of robotics and haptics by providing a low-cost device for middle and(More)
Access to the cochlea requires drilling in close proximity to bone-embedded nerves, blood vessels, and other structures, the violation of which can result in complications for the patient. It has recently been shown that microstereotactic frames can enable an image-guided percutaneous approach, removing reliance on human experience and hand-eye(More)
HYPOTHESIS During robotic milling of the temporal bone, forces on the cutting burr may be lowered by choice of cutting parameters. BACKGROUND Robotic bone removal systems are used in orthopedic procedures, but they are currently not accurate enough for safe use in otologic surgery. We propose the use of a bone-attached milling robot to achieve the(More)
The current technique for cochlear implantation (CI) surgery requires a mastoidectomy to gain access to the cochlea for electrode array insertion. It has been shown that microstereotactic frames can enable an image-guided, minimally invasive approach to CI surgery called percutaneous cochlear implantation (PCI) that uses a single drill hole for electrode(More)
HYPOTHESIS To develop a method to measure the forces required for a probe to translocate from the scala tympani (ST) to the scala vestibuli (SV) in fresh human cochleae. BACKGROUND Translocation of cochlear implant electrodes from the ST to the SV may lead to suboptimal audiologic outcomes. Prior work investigating the rupture forces of human(More)
Tissue trauma is a frequent complication of cochlear implantation (CI) surgery, but the relationship between intracochlear trauma, electrode insertion forces, and surgeons' ability to perceive these forces is poorly understood. In this study, we simulated CI surgery using a benchtop apparatus to repeatedly apply small forces to the subjects' hands while(More)
Magnet-tipped, elastic rods can be steered by an external magnetic field to perform surgical tasks. Such rods could be useful for a range of new medical applications because they do not require either pull wires or other bulky mechanisms that are problematic in small anatomical regions. However, current magnetic rod steering systems are large and expensive.(More)
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