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In view of the characteristics of high risk and high accuracy in cranio-maxillofacial surgery, we present a novel surgical robot system that can be used in a variety of surgeries. The surgical robot system can assist surgeons in completing biopsy of skull base lesions, radiofrequency thermocoagulation of the trigeminal ganglion, and radioactive par...
Citations
... adenoma [39]. Duan et al. [40] developed acranio maxillofacial surgical robot system to achieve precise positioning of the puncture needle for an automated surgical procedure. They proposed a master-slave control system and a hybrid automatic motion control-based navigation system to enhance needle positioning accuracy. ...
Digital dentistry and afterwards intelligent dentistry have been considered a trend in the development of both dental research and clinical practice. Robotics enhances precision and efficiency in medicine. In particular, robotics in dentistry is revolutionizing patient care with advanced technological integration, minimally invasive procedures, and improved outcomes and patient experiences. This review presents an in-depth concept of robots in digital dentistry, highlighting major contributions and impact in clinical scenarios. We first present the motivation behind dental robots and then will discuss the limitations and gaps between the research and applications of dental robots in different fields of dentistry. These robots are clinically involved in oral and maxillofacial surgery, dental implants, prosthodontics, orthognathic surgery, endodontics, and dental education treatments. The literature suggest that these robots are efficient, making quick decision, and maximize the benefit of digital dentistry. It fully automate the surgical procedure for diagnostic and treatment system. By integrating Artificial Intelligence (AI) to these robots eliminates the clinical decision making approach for predictive analysis for early detection and prevention. Finally, the key technologies and potential developments in robotics across various fields of dentistry were demonstrated. It is also discussed carefully how aspects such as mechanical design, recognition sensors, manipulation planning, and state monitoring can significantly influence the future impact of dental robots. These components play a crucial role in enhancing the functionality and efficiency of dental robotics, paving the way for advanced dental care. This review paper will enable researchers to gain better understanding of current status, challenges and future directions of dental robots.
... adenoma [39]. Duan et al. [40] developed acranio maxillofacial surgical robot system to achieve precise positioning of the puncture needle for an automated surgical procedure. They proposed a master-slave control system and a hybrid automatic motion control-based navigation system to enhance needle positioning accuracy. ...
Deformable object manipulation (DOM) holds significant importance in a variety of robotic applications. However, due to the absence of computationally efficient and accurate models, manipulating such objects remains a challenge. This complexity arises from the intricate laws of deformation and the high dimensionality of shape states. While prevailing solutions address DOM primarily using explicit servo-control methods in a model-free manner for task-specific local shape attainment, these methods falter when confronting more complicated tasks that demand global model-based planning. In response, we present a unified modeling method for DOM planning within constrained environments. Our approach integrates manipulating motions, object shapes, and environmental constraints into a singular physics-based deformation model, ensuring accurate computation of a unified robot-object state at each computational phase. By harnessing the alternating direction method of multipliers-based parallel numerical recipe with a learning-based sim2real parameter estimation strategy, we achieve superior computational efficiency and modeling accuracy. The detailed numerical evaluations and sim-to-real experiments show that our model outperforms the existing methods on DOM tasks with an updating rate
$>\!25$
FPS and a relative deformation error
$<\!10\%$
. Furthermore, we demonstrate the practical utility of our model in planning a global manipulation task.
... However it needs manual insertion through the needle guide. The 7-degree-of-freedom puncture surgery robot proposed by TiaI1iin University uses tendon-sheath transmission to reduce the space by the mechanical structure, and metal artifact [12], but the size is large and could not be adapted to different patient beds. ...
In this paper, a five-degree-of-freedom lung puncture biopsy surgical robot system was proposed to solve the clinical problem of small CT aperture and limited puncture space, and the overall size of the robot is within 20*20*20 cm. By kinematic analysis of the robot configuration, a working space that can completely cover the patient's chest was obtained. The design of the parallel manipulators was characterized with higher accuracy and stiffer than the serial robots, making the robot end-effector meet the remote immobile puncture effect and reduce the damage to the patient's skin surface. The finite element model of the structure was constructed and statically simulated by Abaqus, and the deformation and strength of the mechanism met the requirements during the operation.
... The second surgical robot was tested on a model in the range of 0.7188 to 1.3262 mm, and the error in animal experiments (sheep) averaged 1.17 mm on 1 side of the ascending mandible and 2.475 mm on the other side. [49][50][51][52][53] In 2013, Weber and colleagues developed a cranial drill for cochlear cranial drilling surgical robot for cochlear implantation. Postoperative CT imaging confirmed that the robot drilled holes as close as 1.0 and 0.3 mm from the facial nerve and tympanic cord, respectively. ...
Since our team reported the application of robot-assisted surgery in facial contouring surgery in 2020, further clinical trials with large samples have been conducted. This paper will report the interim results of a single-center, large-sample randomized controlled trial of the first robot developed by our team for facial contouring surgery. Meanwhile, this research field will be systematically reviewed and prospected.
Background:
The complex anatomical structure, limited field of vision, and easily damaged nerves, blood vessels, and other anatomical structures are the main challenges of a cranio-maxillofacial (CMF) plastic surgical robot. Bearing these characteristics and challenges in mind, this paper presents the design of a master-slave surgical robot system with a force feedback function to improve the accuracy and safety of CMF surgery.
Methods:
A master-slave CMF surgical robot system based on force feedback is built with the master tactile robot and compact slave robot developed in the laboratory. Model-based master robot gravity compensation and force feedback mechanism is used for the surgical robot. Control strategies based on position increment control and ratio control are adopted. Aiming at the typical mandibular osteotomy in CMF surgery, a scheme suitable for robot-assisted mandibular osteotomy is proposed. The accuracy and force feedback function of the robot system under direct control and master-slave motion modes are verified by experiments.
Results:
The drilling experiment of the mandible model in direct control mode shows that the average entrance point error is 1.37 ± 0.30 mm, the average exit point error is 1.30 ± 0.25 mm, and the average posture error is 2.27° ± 0.69°. The trajectory tracking and in vitro experiment in the master-slave motion mode show that the average position following error is 0.68 mm, and the maximum force following error is 0.586 N, achieving a good tracking and force feedback function.
Conclusion:
The experimental results show that the designed master-slave CMF robot can assist the surgeon in completing accurate mandibular osteotomy surgery. Through force feedback mechanism, it can improve the interaction between the surgeon and the robot, and complete tactile trajectory movements.
In rhinoplasty and nasal reconstruction, achieving symmetry is critical for optimal patient outcomes and reducing re-operation rates. Assessing nasal asymmetry is challenging, both pre- and intra-operatively, if based on only a surgeons’ visual perception to assess and adjust the small distances important to cosmesis (<2–3 mm). To measure nasal symmetry, we first developed an algorithm to analyze lateral nasal deviation on facial three-dimensional (3D) scans captured by external surface scanning. In this, nasal deviation is measured by first registering a 3D facial scan to orthogonal axes in order to remove tilt. The lateral position of the nasal midline is then found across transverse planes along the dorsum and nasal tip regions by probing midpoints 1 and 2 mm back from the local maximum projection. The nasal deviation measurement algorithm was validated on a simulated asymmetrical nose model with known nasal deviation. Simulated deviations were applied to the symmetrical average nose using an exponential twist away from the face, with control of the maximum deviation and degree of curvature. Modeled deviations were evaluated with the algorithm at clinically negligible (0.02–0.06 mm) average differences and for small lateral deviations (1–5 mm). Nasal deviation using the algorithms was then measured for the 100 multi-ethnic subjects in the Binghamton University 3D Facial Expression database. Average values for maximum lateral deviation, deviation across the whole nose, and deviation at the nose tip were measured to provide context to deviation measurements in surgical planning. This research presents a new nasal assessment tool that can be useful in improving symmetry in rhinoplasty and reconstruction.
Numerous research groups in the past have designed and developed robotic needle guide systems that improve the targeting accuracy and precision by either providing a physical guidance for manual insertion or enabling a complete automated intervention. Here we review systems that have been reported in the last 11 years and limited to straight line needle interventions. Most systems fall under the category of image guided systems as they either use magnetic resonance image, computed tomography, ultrasound or a combination of these modalities for real time image feedback of the intervention path being followed. Actuation and control technology along with materials used for construction are the main aspects that differentiate these systems from each other and have been reviewed here. Image compatibility test details and results are also reviewed as they are used to ensure proper functioning of these systems under the respective imaging environments. We have also reviewed needle guide systems which either don’t use any image feedback or have not reported any but provide physical guidance. Throughout this paper, we provide a comprehensive review of the technological aspects and trends in the field of robotic, straight line, needle guide intervention systems.
