Model Experimental Study of Man-Machine Interactive Robot-Assisted Craniotomy

Abstract

To evaluate the feasibility, safety, and accuracy of the new man-machine interactive robotic system in model experiment. The implantation of the 8 to 10 bone screws over the skull model obtained from real patient's digital imaging and communications in medicine (DICOM), three-dimensional spiral computed tomography (CT) scans were taken. The end of the robotic arm was replaced with standard parts (including marker ball) for cone beam computed tomography (CBCT) scanning. The marker ball and marker pin were segmented and marked and exported via txt format. The position of the robotic end and model was obtained through the conversion of spacious position of standard parts and the executive end was replaced eventually. The water balloon was placed inside the skull model to imitate the dura mater and the destruction was documented for the system's safety. The system accuracy was evaluated by the error between the actual drilling position and the virtual plan and selection of 14 points of the skull window of milling pathway, monitored intraoperatively via Micron Tracker system and the overall skull window overlapped percentage via Mimics. Five model experiments were successfully performed with the average registration time of 3 minutes without destruction of balloon. The error of the outer table was 0.85 AE 0.45 mm, the inner table was 0.78 AE 0.49 mm, the line segment error of milling cutter was 0.93 AE 0.50 mm and the overall skull window overlapped percentage was 97.37% AE 0.78%. The system shows safety, accuracy, and reliability which can be an optional assistant method for craniotomy in the future.

Accuracy and safety of robotic navigation-assisted distraction osteogenesis for hemifacial microsomia

“…(15). The center has completed the independent research and development of the robotic positioning system with electromagnetic navigation and has successfully applied it in the mandibular model experiment, cranial model, and animal experiments to improve the accuracy of osteotomy, which has initially verified the feasibility of electromagnetic navigation technology combined with robot-assisted surgery, but further clinical validation is still needed (8)(9)(10)(11)(16)(17)(18)(19).…”

Feasibility of a Robot-Assisted Surgical Navigation System for Mandibular Distraction Osteogenesis in Hemifacial Microsomia: A Model Experiment

“…Based on previous studies,9,12,13 we conducted a model surgical experiment of HFM distraction osteogenesis to assess the ability of a robot-assisted surgical navigation system to achieve precise navigation. We utilized a magnetic surgical navigation robot developed in-house, which consists of a UR5 robotic arm, a computer base, an electromagnetic navigation system (Aurora V3, NDI) for automatic registration of the occlusal piece, and a self-designed metal template 12–15. We explored the feasibility of this system for clinical applications by evaluating postoperative CT results concerning the position of the osteotomy line and the placement of the distractor.…”

“…We utilized a magnetic surgical navigation robot developed in-house, which consists of a UR5 robotic arm, a computer base, an electromagnetic navigation system (Aurora V3, NDI) for automatic registration of the occlusal piece, and a self-designed metal template. [12][13][14][15] We explored the feasibility of this system for clinical applications by evaluating postoperative CT results concerning the position of the osteotomy line and the placement of the distractor.…”

Advances in Robot-Assisted Surgery for Facial Bone Contouring Surgery

“…The third generation of human-machine collaboration craniofacial bone surgery robot whole machine adopts robotic arm using KUKA's special human-machine collaboration 7 degrees of LBR Med, KUKA, Germany medical arm, and has developed independent high-temperature sterilizable drilling and milling end, using modular fast interface way to connect, separating the actuator end, and the surgical robot body to achieve rapid sterilization and disassembly for replacement. The system is ergonomically designed with an integrated drill and mill end and a handheld handle for easy grip by the physician and has been tested on model experiments 15 and animals experiments. 16,17 In this paper, we report the interim trial results of the first single-center, large-sample randomized controlled trial of robotic progress for craniofacial contouring surgery currently developed by our team, and also provide a systematic review and prospective review of this research area.…”