Robot-assisted cochlear implant surgery signifies a major breakthrough in otolaryngology, aiming to heighten the precision and effectiveness of these procedures. This innovative approach, featuring an active electrode array, addresses the limitations of traditional surgery. The distinguishing aspect of active cochlear implants is their self-adjusting electrode array, which adapts during implantation to align perfectly with the cochlea's complex spiral path. This feature not only boosts implant efficacy but also minimizes potential complications.

Present research in cochlear implant technology concentrates on refining mechanical models and improving control systems for implantation. Conventional finite element models, while standard for simulating cochlear implant mechanics, struggle with real-time simulation and responsive control due to their high-dimensional complexity. Accurately determining physical parameters is another major challenge, affecting both the precision of simulations and the effectiveness of control methods. Therefore, there is a pressing need for models that are both precise and computationally efficient, alongside advanced control systems capable of adapting to the dynamic nature of implantation.

This thesis contributes significantly in three areas. First, it introduces a novel electronic and mechanical model for the cochlear implant's electrode array, employing Cosserat rod theory. This model, in contrast to traditional finite element models, offers similar accuracy with reduced complexity, thereby enabling real-time simulation and control during implantation. Its reduced computational demands make it more viable for clinical application, and its effectiveness has been corroborated through detailed simulations and experiments. Second, the study innovates in parameter identification by integrating a visual system to measure actuator curvature, thereby deriving physical parameters through a novel nonlinear electro-mechanical coupling model. Lastly, the thesis's crowning achievement is the development of an optimal control system based on the new electro-mechanical model. This system, founded on contact mechanics models, enables advanced multi-drive coupled trajectory tracking control. Rigorous testing through experiments and simulations confirms its robustness and reliability, marking a step forward in enhancing precision and safety in cochlear implant procedures.