(Chapter 8) Footnote 4:

Vesalius is thought to be the first to name the auditory ossicles malleus and incus, though as previously noted Massa called them both malleoli. The third ossicle, the stapes, was described first probably by Gian Filippo of Ingrassa (1510-1580) ca. 1546. This third ossicle, “known to no one, as far as I know, before us,” is noted in Realdo Colombo’s De re anatomica (1559),p. 27. See also the appendix to chapter 39 in this book.