Semiautomatic Cochleostomy Target and Insertion Trajectory Planning for Minimally Invasive Cochlear Implantation
Figure 5
Three-dimensional virtual view of the promontory (a)–(c) and corresponding endoscopic photo documentation (d)–(g) during cochleostomy drilling and array insertion in specimen 2R. The facial nerve (FN), the stapes (St), the long process of the incus (In), and the malleus (Ma) provide orientation landmarks. (a) The planned trajectory (Tr) and the computed ideal trajectory (IdTr) are shown. The cochleostomy (dotted semicircle) is aimed at drilling through the RW bony overhang (black star). (b) View of the promontory after cochleostomy with corresponding drilled trajectory (DrTr). (c) Transparent view of the promontory after insertion of the electrode array (EA). The cochlea (Co) and the centroid line as computed by the algorithm (arrow) are shown. (d) Promontory prior to cochleostomy drilling (dotted semicircle) at the RW bony overhang (black star). (e) Cochleostomy drilling with a 1 mm diamond burr (D). (f) Promontory with cochleostomy (arrow). (g) After insertion of the electrode array (EA).
