Patent ID: 8116886

Claim:
A system for implanting a steerable array having an active-bending portion that includes an actuation thread into an inner ear of a patient, the system comprising: an insertion module including: a first end for holding a proximal end of the steerable array, a force sensor configured to detect force on the steerable array and to produce force information, and a position sensor configured to detect a position of the steerable array and to produce position information, the position information including an insertion depth; a bending actuator configured to implant the steerable array into the inner ear by applying tension to the actuation thread to bend the active-bending portion of the steerable array, wherein the steerable array is configured to be implanted in a manner in which the implanted steerable array is left within the inner ear when the implanting is complete; a controller in communication with the insertion module and bending actuator, the controller programmed to control the bending actuator to bend the active-bending portion of the steerable array based on: (a) a path plan determined from a model of the inner ear and (b) the position information including the insertion depth; and a first interface for communicating the force information and the position information to the controller, wherein the controller is in communication with the first interface and programmed to output the force information and the position information.