Design, Kinematic Optimization, and Evaluation of a Teleoperated System for Middle Ear Microsurgery
Figure 2
Schematics of a human middle ear representing the workspace in otosclerosis surgery before (a) and after (b) removal of the stapedial arch, perforation of stapedial footplate (platinotomy), and placement of a prosthetic piston (black) between the incus and the platinotomy.
