دورية أكاديمية
Development and validation of a collaborative robotic platform based on monocular vision for oral surgery: an in vitro study.
| العنوان: | Development and validation of a collaborative robotic platform based on monocular vision for oral surgery: an in vitro study. |
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| المؤلفون: | Huang J; Department of Oral and Craniomaxillofacial Surgery, Shanghai Ninth People's Hospital, Shanghai Jiao Tong University School of Medicine, College of Stomatology, National Center for Stomatology, National Clinical Research Center for Oral Diseases, Shanghai Key Laboratory of Stomatology, Shanghai Research Institute of Stomatology, Shanghai, 200011, China., Bao J; Department of Oral and Craniomaxillofacial Surgery, Shanghai Ninth People's Hospital, Shanghai Jiao Tong University School of Medicine, College of Stomatology, National Center for Stomatology, National Clinical Research Center for Oral Diseases, Shanghai Key Laboratory of Stomatology, Shanghai Research Institute of Stomatology, Shanghai, 200011, China., Tan Z; Hamlyn Centre for Robotic Surgery, Institute of Global Health Innovation, Imperial College London, London, UK., Shen S; Department of Oral and Craniomaxillofacial Surgery, Shanghai Ninth People's Hospital, Shanghai Jiao Tong University School of Medicine, College of Stomatology, National Center for Stomatology, National Clinical Research Center for Oral Diseases, Shanghai Key Laboratory of Stomatology, Shanghai Research Institute of Stomatology, Shanghai, 200011, China. 114068@sh9hospital.org.cn., Yu H; Department of Oral and Craniomaxillofacial Surgery, Shanghai Ninth People's Hospital, Shanghai Jiao Tong University School of Medicine, College of Stomatology, National Center for Stomatology, National Clinical Research Center for Oral Diseases, Shanghai Key Laboratory of Stomatology, Shanghai Research Institute of Stomatology, Shanghai, 200011, China. yhb3508@163.com. |
| المصدر: | International journal of computer assisted radiology and surgery [Int J Comput Assist Radiol Surg] 2024 Sep; Vol. 19 (9), pp. 1797-1808. Date of Electronic Publication: 2024 Jun 01. |
| نوع المنشور: | Journal Article; Validation Study |
| اللغة: | English |
| بيانات الدورية: | Publisher: Springer Country of Publication: Germany NLM ID: 101499225 Publication Model: Print-Electronic Cited Medium: Internet ISSN: 1861-6429 (Electronic) Linking ISSN: 18616410 NLM ISO Abbreviation: Int J Comput Assist Radiol Surg Subsets: MEDLINE |
| أسماء مطبوعة: | Original Publication: Heidelberg : Springer |
| مواضيع طبية MeSH: | Robotic Surgical Procedures*/instrumentation , Robotic Surgical Procedures*/methods , Equipment Design*, Humans ; Vision, Monocular/physiology ; Oral Surgical Procedures/instrumentation ; Oral Surgical Procedures/methods ; In Vitro Techniques ; Surgery, Computer-Assisted/methods ; Surgery, Computer-Assisted/instrumentation |
| مستخلص: | Purpose: Surgical robots effectively improve the accuracy and safety of surgical procedures. Current optical-navigated oral surgical robots are typically developed based on binocular vision positioning systems, which are susceptible to factors including obscured visibility, limited workplace, and ambient light interference. Hence, the purpose of this study was to develop a lightweight robotic platform based on monocular vision for oral surgery that enhances the precision and efficiency of surgical procedures. Methods: A monocular optical positioning system (MOPS) was applied to oral surgical robots, and a semi-autonomous robotic platform was developed utilizing monocular vision. A series of vitro experiments were designed to simulate dental implant procedures to evaluate the performance of optical positioning systems and assess the robotic system accuracy. The singular configuration detection and avoidance test, the collision detection and processing test, and the drilling test under slight movement were conducted to validate the safety of the robotic system. Results: The position error and rotation error of MOPS were 0.0906 ± 0.0762 mm and 0.0158 ± 0.0069 degrees, respectively. The attitude angle of robotic arms calculated by the forward and inverse solutions was accurate. Additionally, the robot's surgical calibration point exhibited an average error of 0.42 mm, with a maximum error of 0.57 mm. Meanwhile, the robot system was capable of effectively avoiding singularities and demonstrating robust safety measures in the presence of minor patient movements and collisions during vitro experiment procedures. Conclusion: The results of this in vitro study demonstrate that the accuracy of MOPS meets clinical requirements, making it a promising alternative in the field of oral surgical robots. Further studies will be planned to make the monocular vision oral robot suitable for clinical application. (© 2024. CARS.) |
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| معلومات مُعتمدة: | 81571022 National Natural Science Foundation of China; DLY201808 Multicenter clinical research project of Shanghai Jiao Tong University School of Medicine; 23ZR1438100 Shanghai Natural Science Foundation; 23S31904400 Science and Technology Innovation Plan Of Shanghai Science and Technology Commission |
| فهرسة مساهمة: | Keywords: Dental implant; Human–robot collaborative; Monocular vision; Optical positioning system; Oral surgery; Robot-assisted surgery |
| تواريخ الأحداث: | Date Created: 20240601 Date Completed: 20240831 Latest Revision: 20240831 |
| رمز التحديث: | 20240902 |
| DOI: | 10.1007/s11548-024-03161-8 |
| PMID: | 38822980 |
| قاعدة البيانات: | MEDLINE |
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Full Text Finder | تدمد: | 1861-6429 |
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| DOI: | 10.1007/s11548-024-03161-8 |