Spatial Registration for a Three-Arm Robot Assisted Mandible Reconstruction Surgery

Wang, Yonggui; Duan, Xingguang

doi:10.1155/2015/689278

Cited by 8 publications

(7 citation statements)

References 25 publications

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“…22 For the spatial registration of the three-arm robot, the hand-eye coordination was based on an improved ICP algorithm; with this approach the position error can achieve below 1 mm. 29 For the registration of image to the patient, the paired-point registration shows the best registration accuracy in the craniomaxillofacial application, 30 but its accuracy in the mobile mandible has not yet been adequately studied. A special sensor frame mounted onto the mandible is an alternative to optically track the jaw's position and to compensate for its intraoperative random movement.…”

Section: Discussionmentioning

confidence: 99%

Prospects of Robot-Assisted Mandibular Reconstruction with Fibula Flap: Comparison with a Computer-Assisted Navigation System and Freehand Technique

Zhu

Deng²,

Liu

et al. 2016

J reconstr Microsurg

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Function and aesthetics have a significant impact on the quality of life in patients undergoing mandibular reconstructive surgery, but achieving satisfactory results remain challenging. The aim of the study is to investigate the feasibility and accuracy of robot-assisted mandibular reconstruction with fibula flap in comparison to that with a computer-assisted navigation system and the freehand technique. Experimental procedures (15 phantom studies and 6 animal experiments) were performed with a custom three-arm robotic system automatically, under the guidance of a computer-assisted navigation system, and by the freehand technique, respectively. The accuracy of the reconstruction was assessed by comparison between the preoperative and postoperative three-dimensional surface virtual models. All procedures were successfully performed. In the phantom study, the mean deviation of the fibula implant was 1.221, 1.581, and 2.313 mm, respectively, with the robotic system, the navigation system, and the freehand technique; in the animal experiment the corresponding figures were 1.7697, 1.7847, and 2.0815 mm, respectively. The mean deviation of the proximal mandibular ramus was 1.0420, 1.0532, 1.8800 mm with the robotic system, computer-assisted navigation system, and freehand technique, respectively, and the mean deviation of the distal mandibular segment was 1.1645, 2.7198, and 2.8445 mm, respectively. The robotic system is feasible, efficient, and reliable for mandibular reconstruction. The accuracy of the fibula implant orientation with the robotic system was comparable to that with navigation system and superior to that with the freehand technique.

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Section: Discussionmentioning

confidence: 99%

Prospects of Robot-Assisted Mandibular Reconstruction with Fibula Flap: Comparison with a Computer-Assisted Navigation System and Freehand Technique

Zhu

Deng²,

Liu

et al. 2016

J reconstr Microsurg

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“…Then, the developed system effectively utilized the restoration material with exact range, the implant surgery maintained their stability, also, having normal alveolar bone in teeth. In [28], Yonggui Wang et al, developed three arms surgical robot for assisting the mandible reconstruction surgery. During this process, different diseases information such as trauma, congenital disease and other diseases information could be collected.…”

Section: Related Workmentioning

confidence: 99%

Improving the Efficiency of Dental Implantation Process Using Guided Local Search Models and Continuous Time Neural Networks With Robotic Assistance

Hashem

Youssef

2020

IEEE Access

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for funding this work through research group no. RG-1441-369" ABSTRACT Nowadays, robotics plays a vital role in medical applications, especially in dentistry, where robots can track oral hygiene and perform dental surgeries. Dental implant replacement is one of the most challenging issues in dental surgery; quality procedures and safety measures need to be considered during this process. Manual dental implant is usually incapable to reach the satisfactory levels of accuracy and safety. In addition, it requires well-trained dentists and consumes a long time. Therefore, robot-assisted surgery systems are of utmost importance for dental implant placement as they can maintain higher level of dental examination precision and safety. More specifically, robotic arms can be manufactured with intelligent models for drilling identified locations in teeth. These intelligent robots have a high degree of autonomy, can automatically adjust during intraoperative procedures, and can execute dental surgical tasks directly on patients without any apparent control by a surgeon. In this paper, we propose a novel approach to develop a robot-assisted intelligent system that improves the efficiency of dental implant process based on Guided Local Search with Continuous Time Neural Network (GLCTNN). Firstly, dental facts are collected from PubMed articles and Maryland school children datasets. Secondly, using the collected facts, an intelligent robotassisted model based on GLCTNN is developed. The second step comprises data preprocessing to remove unsolicited details, extracting useful features from the clean data, and utilizing the extracted features to train the GLCTNN model. The proposed system recognizes the implantation location with high accuracy and maximizes implantation rate. The efficiency of the system is evaluated using experimental analysis at lab scale. The proposed GLCTNN-based approach ensures maximum average accuracy (99.5%) and minimum average deviation error (0.323) compared to W-J48, Naïve Bayes (NB), Support Vector Machine (SVM), K-Nearest Neighboring (KNN), Nearest Neighbors with Structural Risk Minimization (NNSRM) and Generalized Regression Neural Network (GRNN) approaches.INDEX TERMS Robotics, robot arm manufacturing, dental implant, manual implant process, guided local search with continuous time neural network (GLCTNN), implant information.

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“…The navigation spatial registration based on the improved ICP algorithm is illustrated as follows [ 27 ]. O T P , which is the transformation matrix from the patient space to optical measurement space, can be obtained by the optical tracker and passive rigid body on the patient skull.…”

Section: System and Modelmentioning

confidence: 99%

Modelling and Experiment Based on a Navigation System for a Cranio-Maxillofacial Surgical Robot

Duan

Gao

Wang

et al. 2018

Journal of Healthcare Engineering

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In view of the characteristics of high risk and high accuracy in cranio-maxillofacial surgery, we present a novel surgical robot system that can be used in a variety of surgeries. The surgical robot system can assist surgeons in completing biopsy of skull base lesions, radiofrequency thermocoagulation of the trigeminal ganglion, and radioactive particle implantation of skull base malignant tumors. This paper focuses on modelling and experimental analyses of the robot system based on navigation technology. Firstly, the transformation relationship between the subsystems is realized based on the quaternion and the iterative closest point registration algorithm. The hand-eye coordination model based on optical navigation is established to control the end effector of the robot moving to the target position along the planning path. The closed-loop control method, “kinematics + optics” hybrid motion control method, is presented to improve the positioning accuracy of the system. Secondly, the accuracy of the system model was tested by model experiments. And the feasibility of the closed-loop control method was verified by comparing the positioning accuracy before and after the application of the method. Finally, the skull model experiments were performed to evaluate the function of the surgical robot system. The results validate its feasibility and are consistent with the preoperative surgical planning.

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Spatial Registration for a Three-Arm Robot Assisted Mandible Reconstruction Surgery

Cited by 8 publications

References 25 publications

Prospects of Robot-Assisted Mandibular Reconstruction with Fibula Flap: Comparison with a Computer-Assisted Navigation System and Freehand Technique

Prospects of Robot-Assisted Mandibular Reconstruction with Fibula Flap: Comparison with a Computer-Assisted Navigation System and Freehand Technique

Improving the Efficiency of Dental Implantation Process Using Guided Local Search Models and Continuous Time Neural Networks With Robotic Assistance

Modelling and Experiment Based on a Navigation System for a Cranio-Maxillofacial Surgical Robot

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