Development and preliminary evaluation of an autonomous surgical system for oral and maxillofacial surgery
Development and preliminary evaluation of an autonomous surgical system for oral and maxillofacial surgery
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DOI：
10.1002/rcs.1997
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发表时间：
2019-08-01
影响因子：
2.5
通讯作者：
Masamune, Ken
中科院分区：
文献类型：
--
作者：
Ma, Qingchuan;Kobayashi, Etsuko;Masamune, Ken
研究背景口腔颌面外科手术中人为因素影响手术的准确性和安全性。本研究提出了一种自主手术系统，旨在外科医生的协助和监督下进行OMS。方法将无标记导航模块和紧凑型OMS机器人无缝集成到该系统中。阐述了各模块的技术指标和系统的工作原理。在5个3D打印下颌骨模型上进行钻孔实验，以测试位姿检测能力并评估操作性能。结果实验表明，该系统能够成功地引导机器人完成手术，而不受下颌位姿的影响。软件和硬件的精度是可以接受的，并且可以在定位精度方面实现潜在的性能改进。结论该系统为减少手术室管理中的人为因素提供了一种全新的理念和切实可行的解决方案，可能会改变外科医生在未来手术室中的角色，最终有利于手术室管理的效果。
Background Human-related factors affect the accuracy and safety of the oral and maxillofacial surgery (OMS). This study proposed an autonomous surgical system aiming to conduct the OMS under the assistance and surveillance of the surgeon. Methods A markerless navigation module and a compact OMS robot were seamlessly integrated into this system. The specifications of each module and the working concept of the system were elaborated in this paper. A drilling experiment was conducted on five 3D-printed mandible models to test the pose detecting capability and evaluate the operational performance. Results The experiment showed that this system could successfully guide the robot finishing the operation regardless of the mandible pose. The accuracy of software and hardware are acceptable and potential performance improvement can be achieved in positioning accuracy. Conclusion This system proposed a novel concept and a practical solution to decrease the human-related factors on the OMS, which may change the role of the surgeon in the future operating room and finally benefit the outcomes of OMS.