Abstract
An autonomous robot osteotomy using direct coordinate determination for registering was developed, and the accuracy of the designed osteotomy along the preprogrammed plan was evaluated. Furthermore, the accuracy of the robotic and manual osteotomy was compared in regard to cut position, length, angle and depth. A light-weight robot was used in this study, with an electric gripper. Twenty stone models were used to evaluate accuracy of osteotomy and sixteen mandible phantoms were used to simulate the ramal bone harvest osteotomy for comparison between robotic and manual surgery. In the stone model experiment, the absolute mean values for osteotomy errors for position, length, angle, and depth were 0.93 ± 0.45 mm, 0.81 ± 0.34 mm, 1.26 ± 1.35°, and 1.19 ± 0.73 mm, respectively. In the mandible phantom model experiment, the robotic surgery showed lower errors for position, length and angle (0.70 ± 0.34 mm, 0.35 ± 0.19 mm and 1.32 ± 0.96°) and somewhat higher errors for depth (0.59 ± 0.46 mm) than manual surgery (1.83 ± 0.65 mm, 0.62 ± 0.37 mm, 5.96 ± 3.47° and 0.40 ± 0.31 mm). This study may provide a basis for developing clinical application of an autonomous robot osteotomy.
Highlights
Medical robotics has tremendous potential for improving accuracy and precision when performing surgical procedures
Our autonomous robotic osteotomy system for a ramal bone graft was divided into three main actions: referencing, stone RBG osteotomy and mandible RBG osteotomy
The position values of the three reference points detected by the robot arm were gathered and the data were sent to the three-points coordinate determination machine
Summary
Medical robotics has tremendous potential for improving accuracy and precision when performing surgical procedures. Medical robots have helped doctors in the operating room by doing tasks difficult to perform with human eyes and hands, and are developing rapidly. The surgeon operates the slave robot directly through the master console. The procedure is executed solely by the robot, which acts according to a computer program that the surgeon inputs prior to the procedure. Two system groups can be distinguished in the field of surgical robotics [2]. The first group, telemanipulators, is not preprogrammed and moves exactly as controlled by a slave console. Within the other group, preprogrammed surgical robots execute a preoperatively defined trajectory [2]
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