Development and preliminary evaluation of an autonomous surgical system for oral and maxillofacial surgery

Ma, Qingchuan; Kobayashi, Etsuko; Wang, Junchen; Hara, Kazuaki; Suenaga, Hideyuki; Sakuma, Ichiro; Masamune, Ken

doi:10.1002/rcs.1997

Cited by 37 publications

(38 citation statements)

References 28 publications

(56 reference statements)

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“…Os estudos como os de Liu et al (2017), Ma et al (2019) e Shen et al (2017) apresentam inúmeras possibilidades para a aplicação da robótica na cirurgia odontológica, tais como seu uso no tratamento da fissura labiopalatina, no tratamento de fraturas maxilofaciais, na excisão cirúrgica de adenoma de paratireoide ectópico e na dissecção seletiva do pescoço para carcinoma epidermóide oral em estágio inicial. A aplicação da robótica na cirurgia se mostrou eficaz em implantodontia, no tratamento de câncer de cabeça e pescoço, tratamento de neuralgia do trigêmeo e tratamento de pequenas lesões no seio piriforme e osteotomias, de acordo com os estudos de Reddy et al (2015) e Mazerolle et al (2018).…”

Section: Discussionunclassified

“…Quanto às limitações à aplicação dessa tecnologia, as principais são o custo relativamente alto, se comparada à cirurgia convencional, tempo de operação maior e a necessidade de maior capacitação de profissionais para lidar com essa tecnologia, como ressaltado por autores como Kumar et al (2016). Além disso, os estudos de autores como Ma et al (2019); Shen et al (2017) e Liu et al (2017) são unânimes ao constatar que, apesar de sua aplicabilidade ser muito promissora na cirurgia odontológica, ainda são necessários ajustes para que a aplicação de sistemas cirúrgicos robóticos se tornem rotina, ou seja, ainda serão necessários mais estudos e modificações técnicas nos robôs cirúrgicos atuais e futuros, para que os procedimentos se tornem mais efetivos e seguros.…”

Section: Discussionunclassified

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Robótica na cirurgia odontológica: Revisão integrativa

Queiroga

Falcão

Alves-Silva

et al. 2021

RSD

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Os robôs são uma inovação tecnológica adaptada para utilização em procedimentos cirúrgicos dos mais variados âmbitos, auxiliando o profissional de saúde no cumprimento de seu papel. Quando associados à odontologia, tem-se aplicabilidade em diversas áreas como a oncologia e implantodontia. O objetivo deste trabalho foi realizar uma revisão integrativa da literatura atual sobre procedimentos cirúrgicos robotizados na odontologia, destacando suas técnicas, indicações, vantagens e desvantagens. Foi feita uma pesquisa dos artigos nas bases de dados eletrônicas CAPES, PubMed e MEDLINE, utilizando os descritores: “Robotic Surgical” “Procedures”, “Dentistry”, “Oral Surgery”, indexados no período de 2015 a 2020, que tratavam de relatos de caso, revisões de literatura, estudos in vivo que relatam a utilização de robôs em procedimentos cirúrgicos odontológicos, estudos de viabilidade e ensaios clínicos. Após os critérios de elegibilidade, foram analisados 18 artigos integralmente publicados em língua inglesa. Os estudos mostraram que a utilização de robôs na cirurgia odontológica traz mais precisão ao procedimento, diminuindo a perda de tecido, reduzindo a possibilidade de hemorragia, reduzindo possíveis cicatrizes resquiciais, e pós-cirúrgico. A cirurgia robótica em diversos âmbitos da odontologia já demonstrou alta confiabilidade permitindo desde melhor precisão até maior assertividade, além de proporcionar um acesso cirúrgico menos invasivo com dano tecidual adjacente à área de atuação relativamente menor, otimizando o procedimento cirúrgico.

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Section: Discussionunclassified

Robótica na cirurgia odontológica: Revisão integrativa

Queiroga

Falcão

Alves-Silva

et al. 2021

RSD

View full text Add to dashboard Cite

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“…The coordinate transformation relationship 23 in the system structure diagram of the craniotomy robot is presented in Figure 3.…”

Section: Methodsmentioning

confidence: 99%

Research on spatial motion safety constraints and cooperative control of robot‐assisted craniotomy: Beagle model experiment verification

Lin

Aung

et al. 2021

Robotics Computer Surgery

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Background Traditional craniotomy depends primarily on the experience of the surgeon. However, the accuracy of manual operation is limited and carries certain surgical risks. The interaction method of current robot‐assisted craniotomy is unnatural and inadaptive to the operating style of the surgeon. In this research, we built a hands‐on synergistic robotics craniotomy system with human–machine collaboration. Safe isometric surfaces and virtual restraint methods are combined to achieve highly accurate, efficient, minimally invasive and safe craniotomy. Materials and methods Fifteen three‐dimensional (3D)‐printed beagle skull models were used to evaluate the system accuracy and the related image guidance process. It mainly includes the design of the surgical plan, the adopted strategy based on motion constraint and safe isometric surface, and the impedance control method based on the position inner loop via the human–machine collaboration method. The trajectory tracking experiment was performed by applying human–machine collaboration, and completed an experiment on the 3D‐printed beagle skull models involving drilling and milling of the skull performed by the robot, and evaluation of accuracy via computed tomographic (CT) scanning verification after the operation. Results The 3D‐printed beagle skull model experiment shows that the average errors for the top surface and the bottom surface, and the angle error were 0.81 ± 0.15 mm, 0.89 ± 0.12 mm, and 1.74° ± 0.16°, respectively. The average milling position errors for the top and bottom surfaces were 0.87 ± 0.19 and 0.93 ± 0.22 mm, respectively. Conclusion The performance of the robot system was evaluated and verified using a 3D‐printed beagle model experiment. The proposed collaborative surgical robot system is feasible and can complete a craniotomy, with improved accuracy and surgical safety.

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“…In summary, the above studies did not focus on applying facial contouring surgery, which has wide applications in craniofacial surgery. Moreover, some devices are still in the prototype stage [9][10][11] .…”

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confidence: 99%

Preliminary clinical experience of robot-assisted surgery in treatment with genioplasty

Lin

Shi

et al. 2021

Sci Rep

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Genioplasty is the main way to treat diseases such as chin asymmetry, dysplasia and overdevelopment, which involve the three-dimensional direction abnormalities of the chin. Since this kind of surgery mainly uses intraoral incisions, the narrow surgical field of intraoral incisions and the surrounding important neurovascular tissues make it easy for complications, to occur during the osteotomy process, which results in greater surgical risks. The first craniofacial-plastic surgical robot (CPSR-I) system is developed to complete the precise positioning and improve the surgeon's force perception ability. The Kalman filtering method is adopted to reduce the interference of sensor signal noise. An adaptive fuzzy control system, which has strong robustness and adaptability to the environment, is designed to improve the stability of robot-assisted surgical operations. To solve the problem of the depth perception, we propose an automatic bone drilling control strategy that combines position and force conditions to ensure that the robot can automatically stop when the bone is penetrated. On the basis of model surgery and animal experiments, preliminary experiments were carried out clinically. Based on the early results of 6 patients, the robot-assisted approach appears to be a safe and effective strategy for genioplasty.

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Development and preliminary evaluation of an autonomous surgical system for oral and maxillofacial surgery

Cited by 37 publications

References 28 publications

Robótica na cirurgia odontológica: Revisão integrativa

Robótica na cirurgia odontológica: Revisão integrativa

Research on spatial motion safety constraints and cooperative control of robot‐assisted craniotomy: Beagle model experiment verification

Preliminary clinical experience of robot-assisted surgery in treatment with genioplasty

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