A Guiding and Positioning Motion Strategy Based on a New Conical Virtual Fixture for Robot-Assisted Oral Surgery

Abstract

In robot-assisted oral surgery, the surgical tool needs to be fed into the target position to perform surgery. However, unmodeled extraoral and complex intraoral environments bring difficulties to motion planning. Meanwhile, the motion is operated manually by the surgeon, causing relatively limited accuracy as well as the risk of misoperation. Moreover, the random movements of the patient’s head bring additional disturbance to the task. To achieve the task, a motion strategy based on a new conical virtual fixture (VF) was proposed. First, by preoperatively specifying a conical guiding cone as the VF, virtual repulsive forces were applied on the out-of-range end effector. Then, based on the two-point adjustment model and velocity conversion, the effect of VF was established to prevent the end-effector from exceeding the constraint region. Finally, a vision system corrects the guiding cone to compensate for the random movement of the patient’s head to feed to a dynamic target. As an auxiliary framework for surgical operation, the proposed strategy has the advantages of safety, accuracy, and dynamic adaptability. Both simulations and experiments are conducted, verifying the feasibility of the proposed strategy.

Preliminary study of a new macro‐micro robot system for dental implant surgery: Design, development and control

“…The measured position/posture will be sent to both the mechatronics executing subsystem and the feeding sub-system. 3) The feeding sub-system is based on master-slave control, consisting of a master handle, a virtual fixture strategy, 40 and an instrument placement strategy. 41 The doctor grasps and moves the master handle and the manipulator can move simultaneously according to the master handle.…”

“…41 The doctor grasps and moves the master handle and the manipulator can move simultaneously according to the master handle. Because the predefined virtual fixture can avoid collisions and guide the manual driving, 40,41 this sub-system can assist in safe and accurate feeding to the planned target. Additionally, parameters for this sub-system will be updated in real-time by the binocular vision sub-system, making it a dynamic guiding rather than a static guiding.…”

“…Steps 1,3,4 and 6 are auxiliary steps of driving the manipulator, which has already been studied in our previous work. 40,41 In this study, the design of the implanting actuator and a force-based control method, corresponding to step 5, will be carried out in later sections. Moreover, in Figure 1, all the items (sub-systems, modules, and steps) which are studied in this paper are highlighted.…”

Dynamic Virtual Fixture Generation Based on Intra-Operative 3D Image Feedback in Robot-Assisted Minimally Invasive Thoracic Surgery

“…The human-centered nature of medical robot applications requires different sets of design specifications and safety considerations. Although control and planning techniques for human–robot collaboration are being developed by an increasing number of researchers [ 1 , 2 , 3 ], the interaction between humans, robots, and the environment and its feedback remains a challenge.…”

Preoperative Planning Framework for Robot-Assisted Dental Implant Surgery: Finite-Parameter Surrogate Model and Optimization of Instrument Placement

“…To perform the surgery, it is necessary to feed the instrument into the specified position inside the oral cavity. For this task, our team has already proposed a virtual fixture (VF) for oral surgery in previous work [ 12 ], in which its geometry and effect mode was designed. However, in our previous work, the target should be defined manually, causing some uncertainty and risk of collision.…”