Abstract: A system and method for determining the location of an implant such as a cochlear implant relative to a structure of interest such as a tissue wall. The implant has an electrode array including a first electrode and a second electrode. The electrode array is insertable into an electrically-conductive volume relative to the inner wall of the scala tympani of the cochlea. A pulse generator generates a biphasic, constant-current pulse on the first and second electrodes. A controller measures the differential voltage across the pair of electrodes during the current pulse. The controller determines the proximity between the inner wall and the segment of the electrode array between the first and second electrodes based on the differential voltage between the first and second electrodes.

Abstract: A surgical robot system includes a support structure for positioning relative to a patient. The support structure includes a plurality of mounting structures. One or more robotic tool cassettes that are configured to interchangeably connect with any of the mounting structures. Each tool cassette includes a concentric tube manipulator and a transmission for operating the concentric tube manipulator. The support structure also includes a tube collector including a tube assembly associated with each of the mounting structures. The tube assemblies are configured to receive the concentric tube manipulators and guide the manipulators to extend along predetermined trajectories relative to each other.