Admittance‐Controlled Robotic Assistant for Fibula Osteotomies in Mandible Reconstruction Surgery

Abstract

Herein, a semiautonomous robot control system for mandible reconstruction surgery is proposed. To reconstruct a segmental defect of the mandible caused by cancerous tissue, a piece of matched fibula bone is often segmented and used to replace the removed mandible section. Herein, to provide guidance to the surgeon during fibula segmentation according to the reconstruction surgical plan and improve the fibula bone cutting accuracy, an admittance‐controlled robotic assistant incorporating 3D augmented reality (AR) visualization and haptic virtual fixtures (VFs) is proposed. The admittance controller is used to reduce the surgeon's hand tremor. VF and AR are used to provide haptic and visual guidance to the surgeon, respectively. A feasibility study is conducted through a comparison of fibula osteotomies when performed with image‐guided surgery, AR‐guided surgery, VF‐guided robot‐assisted surgery, and AR‐ and VF‐guided robot‐assisted surgery. Experimental results show the effectiveness of the proposed admittance‐controlled robotic assistant with AR and VF compared with the other three methods. The proposed method is found to be able to increase precision of the osteotomized segments with a lower average linear variation of 1.04 ± 0.79 mm and a lower average angular variation of 1.83 ± 1.85° compared with the virtual preoperative plan.

Piezo robotic hand for motion manipulation from micro to macro

“…The increasing number of robotic systems has promoted rapid progress in some advanced technology fields, including biomedical engineering 1 , 2 , clinical surgery 3 – 5 , semiconductor manufacturing 6 , 7 , micro/nano positioning and manipulating 8 , 9 . Meanwhile, multi-DOF motion manipulation of various objects has been a crucial skill for robotic systems 10 , 11 .…”

A collaborative robotic platform for sensor-aware fibula osteotomies in mandibular reconstruction surgery

“…The Er:YAG laser was guided by the optical tracking system to osteotomy. Haptic virtual fixtures were used to guide fibulectomies with two kinds of robots [15,16]. However, during the osteotomy, surgeons are unable to have physical interaction with robot.…”

A Collaborative Robotic Platform for Sensor-Aware Fibula Osteotomies in Mandibular Reconstruction Surgery

“…The Er:YAG laser was guided by the optical tracking system to osteotomy. Haptic virtual fixtures were used to guide fibulectomies with two kinds of robots [15,16]. However, during the osteotomy, surgeons are unable to have physical interaction with robot.…”