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. Author manuscript; available in PMC: 2018 Sep 1.
Published in final edited form as: Int J Med Robot. 2016 Sep 21;13(3):10.1002/rcs.1773. doi: 10.1002/rcs.1773

FIGURE 10.

FIGURE 10

Several robotic systems developed for skull base surgery. Systems (a)-(d) are free standing robots used to mill portions of the skull base under guidance of an external tracking system. Systems (a) and (b) are autonomous robots while systems (c) and (d) are cooperatively controlled by the surgeon. Systems (e)-(g) are robots that drill a tunnel through the mastoid for minimally invasive cochlear implantation. System (e) mounts to the patient’s bed and is guided by an external tracking system while systems (f) and (g) are attached directly to the patient. Finally, system (h) is a bone-attached milling robot for mastoidectomy. All of these systems served as inspiration for the present work