Accuracy of dental implant surgery with robotic position feedback and registration algorithm: An in-vitro study. (February 2021)

• Record Type: Journal Article
• Authors: Cheng, Kang-jie; Kan, Tian-shu; Liu, Yun-feng; Zhu, Wei-dong; Zhu, Fu-dong; Wang, Wei-bin; Jiang, Xian-feng; Dong, Xing-tao
• Is Part Of: Computers in biology and medicine. Volume 129(2021)
• Publication Date: 2021-02
• Subjects: Human-robot collaborative -- Dental implant -- Cone bone computed tomography -- UR5 robot -- Accurate navigation method; Medicine -- Data processing -- Periodicals; Biology -- Data processing -- Periodicals; 610.285
• DOI: 10.1016/j.compbiomed.2020.104153
• Languages: English
• ISSNs: 0010-4825

Abstract

Abstract: Background: The purpose of this study was to develop and validate a positioning method with hand-guiding and contact position feedback of robot based on a human-robot collaborative dental implant system (HRCDIS) for robotic guided dental implant surgery. Methods: An HRCDIS was developed based on a light-weight cooperative robot arm, UR5. A three-dimensional (3D) virtual partially edentulous mandibular bone was reconstructed using the cone bone computed tomography images. After designing the preoperative virtual implant planning using the computer software, a fixation guide worn on teeth for linking and fixing positioning marker was fabricated by 3D printing. The fixation guide with the positioning marker and a resin model mimicking the oral tissues were assembled on a head phantom. The planned implant positions were derived by the coordinate information of the positioning marker. The drilling process using the HRCDIS was conducted after mimicking the experimental set-up and planning the drilling trajectory. Deviations between actual and planned implant positions were measured and analyzed. Results: The head phantom experiments results showed that the error value of the central deviation at hex (refers to the center of the platform level of the implant) was 0.79 ± 0.17 mm, central deviation at the apex was 1.26 ± 0.27 mm, horizontal deviation at the hex was 0.61 ± 0.19 mm, horizontal deviation at the apex was 0.91 ± 0.55 mm, vertical deviation at the hex was 0.38 ± 0.17 mm, vertical deviation at the apex was 0.37 ± 0.20 mm, and angular deviation was 3.77 ± 1.57°. Conclusions: The results from this study preliminarily validate the feasibility of the accurate navigation method of the HRCDIS. Graphical abstract: Image 1 Highlights: A novel human-robot collaborative dental implant system (HRCDIS) was developed. An innovative contact positioning method using a hand guiding function of collaborative robot was investigated. The head phantom experiments validate that the accurate navigation method of the HRCDIS for dental implantation robots.