Maxillofacial surgical robotic manipulator controlled by haptic device with force feedback

Abstract

Operation in the area of Maxillofacial section is very difficult and risky due to its complicated and random anatomical structure. Therefore, to resolve these types of surgical issues, a multi-arm medical robot is designed. This paper presents a system able to perform complex maxillofacial surgeries using 6-DOF surgical manipulator and haptic device with force feedback capability. Force sensor is placed on manipulator end-effector and force feedback responses are felt on Haptic device. This proposed system improves surgical accuracy and removes surgeon's tension during tele-operation. The prototype of the whole system is designed and tests are conceded out under the surveillance of optical tracking system. The results demonstrate the system accuracy and reliability with force feedback competency.

The Use of Tactile Sensors in Oral and Maxillofacial Surgery: An Overview

“…After applying inclusion/exclusion criteria, 31 articles were included in the present overview . The included articles were mostly experimental studies [22,24,[26][27][28][29][30][32][33][34]38,40,[43][44][45][46][47], reviews [17][18][19][20][21]25,41,42], and a few clinical studies mainly consisting of case reports [23,27,31,39,45] and one retrospective study [36]. Grading of each included study was performed by two different authors (A.F.…”

“…In this study, a comprehensive overview of the newest haptic and remote technologies employed in dentistry and maxillofacial surgery was conducted. Given the results of our overview, tactile sensors for instrumented tools [17][18][19][20][21], sensorized tools for contact forces detection [22,24], haptic interfaces for remote tactile feedback [23,[25][26][27][28][29][30]32,[34][35][36][37][38][40][41][42][43][44][45][46][47], and integrated platforms for surgery and telemedicine [29,31,35,37,39,40,43], are four major categories of novel technologies applied in dentistry and maxillofacial surgery. A major concern at the actual state of the art is the absence of randomized control trials and the presence of few case reports [23,31,37,39,45] and retrospective cohorts [36] with a prevalence of experimental studies [22,24,[26]…”

“…Three-dimensional printed models are widely employed in physical surgical simulators for dental and maxillofacial applications enabling surgeons to understand anatomy/ pathology and practice intricate tasks, too [45]. Syed et al [46] proposed a multi-arm medical platform with a 6-DoF surgical manipulator and haptic device with force feedback (Omega.6 haptic device) able to improve surgical accuracy during maxillofacial teleoperations. A pressure commercial sensor (force-torque sensor IFS50M31A25-I25) is installed on the manipulator end effector to detect collisions and transfer the intensity value to a haptic device.…”

Advances in Robot-Assisted Surgery for Facial Bone Contouring Surgery

“…and 1.47±1.16 degrees. The second surgical robot was tested on a model in the range of 0.7188 to 1.3262 mm, and the error in animal experiments (sheep) averaged 1.17 mm on 1 side of the ascending mandible and 2.475 mm on the other side 49–53. In 2013, Weber and colleagues developed a cranial drill for cochlear cranial drilling surgical robot for cochlear implantation.…”