Autonomous Surgical Robot With Camera-Based Markerless Navigation for Oral and Maxillofacial Surgery
Autonomous Surgical Robot With Camera-Based Markerless Navigation for Oral and Maxillofacial Surgery
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DOI：
10.1109/tmech.2020.2971618
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发表时间：
2020-02
期刊：
影响因子：
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通讯作者：
Qingchuan Ma;E. Kobayashi;H. Suenaga;Kazuaki Hara;Junchen Wang;K. Nakagawa;I. Sakuma;K. Masamune
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文献类型：
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作者：
Qingchuan Ma;E. Kobayashi;H. Suenaga;Kazuaki Hara;Junchen Wang;K. Nakagawa;I. Sakuma;K. Masamune
口腔颌面外科手术（OMS）的结果很大程度上取决于外科医生的个人能力。在这篇文章中，自主手术机器人提出了自动执行手术，根据术前计划与外科医生的协助。受试者牙齿的3-D计算机断层扫描图像用于通过创建大量的2-D轮廓数据来建立基于形状的离线模型。在自主研发的机器人上安装单色摄像机，以捕获牙齿的实时图像，用于与离线的2-D轮廓进行比较，以在不使用常见标记的情况下验证牙齿姿态。将术前计划数据和牙齿位姿数据相结合，指导机器人在手术过程中的运动。在五个3D打印下颌骨模型上进行了钻孔实验，统计分析显示结果非常准确。这种自主机器人为机器人进行的OMS提供了一种实用的解决方案，并有可能显着减少外科医生的工作量。
The results of oral and maxillofacial surgery (OMS) significantly depend on the individual capabilities of surgeons. In this article, an autonomous surgical robot is proposed to automatically perform surgery according to a preoperative plan with the assistance of a surgeon. A 3-D computed tomography image of the subject's teeth was used to build an offline shape-based model by creating a large amount of 2-D contour data. A monochrome camera was mounted on a self-developed robot to capture the real-time image of the teeth for comparison with the offline 2-D contour to verify the teeth pose without using common markers. The data of the preoperative plan and the teeth pose were integrated to guide the movement of the robot during operation. Drilling experiments were conducted on the five 3D-printed mandible models, and a statistical analysis revealed highly accurate results. This autonomous robot provides a practical solution for robotically conducted OMS and has the potential to significantly reduce the workload of surgeons.