Toward robot-assisted dental surgery: Path generation and navigation system using optical tracking approach

Abstract

-The main aim of this paper is to develop dental implant surgical navigation system based on homogenous transformation algorithms. This work is a partial section of robot-assisted surgical development. The previous works are presented in numerous basic research. They are methodology design on tool tip calibration, optical marker recognition, and pose determination using neural networks. This paper concerns with tracking path generation system based on fundamental of optical tracking. The intraoperative system is the principal focus area of this study. The homogenous transformation has been calculated in term of kinematics equation among marker relationship. The stereo camera is utilized to retrieve 3D position of different pattern styles of markers. The beneath marker recognition algorithm using rotation-invariant neural network and physical method is performed to identify markers. The fundamental relationship among markers are computed to obtain the orientation and translation between the guided path and the instrument's tool tip. The experiment has been demonstrated and performed under prototype model. The method is to work on procedure step by step. They begin with patient information input and continuously perform on marker recognition, tool tip calibrations and marker digitization. The path tracking is executed to observe the accuracy of the system. The result shows that the system can be performed to track path based on beforehand planning.

Robotics in Dentistry: A Narrative Review

“…To overcome the technical difficulties associated with oral implant treatment, a computer-aided oral implant system was introduced, including framing, modeling, preoperative 3D planning, registration, optical tracking, and real-time navigation systems [ 29 ]. The construction of a computer-aided system combining preoperative planning and surgical navigation [ 4 ] and a homogeneous transformation-algorithm-based navigation system for implant surgery [ 30 ] has also been proposed. An image-guided robotic system for dental implants was proposed in 2011 [ 31 ].…”

A safe ex-vivo application of an autonomous medical robot with AI

“…To compute the angular force component Fd ω , an error quaternion (or rotation quaternion) R needs to be computed. This can be computed by: 𝑅 = 𝑄 𝑑 × 𝑄 𝑐 −1 ( 11 ) in which Qd is the desired end effector rotation quaternion and Q − c 1 is the inverse of the quaternion corresponding to the current end effector rotation. To nullify the effect of external forces the torque acting upon the robot frame can be estimated by: 𝜏 𝑒𝑥𝑡 = 𝜏 𝑚 − 𝑔 − 𝜏 0 ( 12 ) in which τm is the torque on the joints measured at time step t, g is the gravity acting on the robot calculated from the current robot state and τ0 is the torque acting on the robot at t = 0 (which is calculated by τ0 = τm0 g0).…”

“…6 Robot-assisted surgery (RAS) is already being used in many branches of medicine, 7,8 but still relies on the human operator while the robot supports the human action, compensating for our human imperfections like tremor of the hands, 9 often magnified in laparoscopic procedures, or the inability to accurately pinpoint locations in 3D space. 8,[10][11][12][13][14][15][16][17][18] RAS also helps reducing the invasiveness of a surgical procedure. 18 RAS mostly involves specialized systems suitable (only) for the demands and needs for a specific surgical task.…”

Computerized implant-dentistry: Advances toward automation

“…[ 40 ] In fact, a partial section of robot-assisted dental surgery project has already been attempted to develop fully aided system on navigated, guided and assisted surgical performance. [ 41 ]…”