An integrated system for planning, navigation and robotic assistance for mandible reconstruction surgery

Abstract

Mandibular reconstruction is an extremely complex and high-risk surgery. The aim of the study was to integrate robotics technology into mandibular reconstruction surgery as it can reduce surgeons' workload and improve the accuracy and quality of the surgery. In this study, we first introduced a mandibular reconstruction surgery robotic system, which includes integrated surgery planning, an optical navigation system, and a robot-assisted operation. Second, we addressed novel mandibular reconstruction surgery that is aided by a multi-arm robot with an optical navigation system. Finally, we conducted an accuracy test, a skull model experiment, and an animal experiment to evaluate the robotic system. Experiments showed that the robot's mean placement error was 1.0205 mm, which was acceptable for clinical application. We will continue to study this point, however, and plan to reduce the error eventually to 1.00 mm. The robot ran smoothly and accurately. It was also able to perform fibular segment implantation, positioning, and auxiliary fixation during mandibular reconstruction surgery.

Development and preliminary evaluation of an autonomous surgical system for oral and maxillofacial surgery

“…Typical OMS may last for 8 hours or even longer, which is really fatiguing for the surgeon. The operation performed through the patient's mouth cavity resulting in a very limited workspace …”

“…Navigation systems can improve the visual capability but cannot reduce the physical burden of the surgeon; medical robots can augment manual capability but have no help with the visual capability. Therefore, some integrated OMS systems have already been developed to improve both visual and manual capability of the surgeon, which provide a promising and practical way to help the surgeon conduct intricate operation. In the integrated system, the surgeon is the connector between the navigation and robot, who watches the display of navigation system and uses the manipulator to control the robot.…”

“…The operation performed through the patient's mouth cavity resulting in a very limited workspace. 4 To guide the operation and relieve the physical burden, some navigation systems and medical robots have been developed to assist the surgeon during the operation. 5 The basic function of navigation systems is that it augments the visual capability of the surgeon.…”

“…Therefore, some integrated OMS systems have already been developed to improve both visual and manual capability of the surgeon, 4,[22][23][24] which provide a promising and practical way to help the surgeon conduct intricate operation. In the integrated system, the surgeon is the connector between the navigation and robot, who watches the display of navigation system and uses the manipulator to control In our previous work, a markerless navigation system and a compact robot were individually developed for the artificial reality (AR) guide and positioning purpose for OMS, [12][13][14]21 whose main targets focused on assisting the surgeon.…”

Optimal Path Planning using RRT* based Approaches: A Survey and Future Directions

“…Path planning algorithms are of vital importance for motion planning of mobile robots due to their numerous applications in autonomous cars [2], Unmanned Aerial Vehicles (UAVs) [3], forklifts [4], surveillance operations [5], medical [6], planetary and space missions [1,7]. Initial complete practical planners such as Road Map (RM), Potential Fields, and Cell Decomposition (CD) techniques are unable to deal with dynamic and complex high dimension problems [1,[7][8][9][10].…”