Developing a high-performance patient-to-image registration system for robotic cochlear implant surgery: Through the human-robot interaction-focused design method leading to a multi-modal, multi-feedback admittance control, touch-based pair-point bone-anchored fiducial registration and its performance measured in accuracy, workload, usability and trust

This thesis presents the research to design a successful high-accuracy, sub-millimetric registration method for an autonomous robot equipped to drill bone for cochlear implant (CI) surgery. Its performance, and thus success, is measured in accuracy, workload, usability and trust. While state-of-the-art (STOTA) research lacks the inclusion of...