人机协作机器人系统实现精准下颌角截骨手术
Collaborative Human-Robot Surgery for Mandibular Angle Split Osteotomy: Optical Tracking based Approach
- 分三步控制：机器人负责定位定向，医生掌控力度确保安全
- 实测钻孔误差仅1.85毫米，符合临床精度要求
- 无需头夹固定，用牙托光学追踪实现术中导航
下颌角截骨术（MASO）是口腔颌面外科的重要手术，其成功高度依赖医生经验。本文提出一种人机协同系统，依据术前规划，在医生指导下完成MASO。通过任务分解将手术分为三个子任务：（1）位置控制，（2）姿态控制，均由机器人执行以实现精确对齐；（3）力控由医生操作，保障手术安全。为避免使用颅骨夹具，引入光学跟踪系统（OTS），通过安装在牙合垫上的光学追踪器测量下颌骨运动。提出了注册方法与机器人-OTS标定方法，确保导航可靠性。在真实模拟模型上进行钻孔实验，结果显示计划点与实际钻孔点之间的平均误差为1.85mm。
原文摘要 · Abstract (English)
Mandibular Angle Split Osteotomy (MASO) is a significant procedure in oral and maxillofacial surgery. Despite advances in technique and instrumentation, its success still relies heavily on the surgeon's experience. In this work, a human-robot collaborative system is proposed to perform MASO according to a preoperative plan and under guidance of a surgeon. A task decomposition methodology is used to divide the collaborative surgical procedure into three subtasks: (1) positional control and (2) orientation control, both led by the robot for precise alignment; and (3) force-control, managed by surgeon to ensure safety. Additionally, to achieve patient tracking without the need for a skull clamp, an optical tracking system (OTS) is utilized. Movement of the patient mandibular is measured with an optical-based tracker mounted on a dental occlusal splint. A registration method and Robot-OTS calibration method are introduced to achieve reliable navigation within our framework. The experiments of drilling were conducted on the realistic phantom model, which demonstrated that the average error between the planned and actual drilling points is 1.85mm.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。