Automatic robot-world calibration in an optical-navigated surgical robot system and its application for oral implant placement

2020 ◽  
Vol 15 (10) ◽  
pp. 1685-1692
Author(s):  
Yang Li ◽  
Junlei Hu ◽  
Baoxin Tao ◽  
Dedong Yu ◽  
Yihan Shen ◽  
...  
2020 ◽  
Vol 75 ◽  
pp. 72-78 ◽  
Author(s):  
Zhenggang Cao ◽  
Chunxia Qin ◽  
Shengchi Fan ◽  
Dedong Yu ◽  
Yiqun Wu ◽  
...  

Author(s):  
Haibo Feng ◽  
Yanwu Zhai ◽  
Yili Fu

Purpose Surgical robot systems have been used in single-port laparoscopy (SPL) surgery to improve patient outcomes. This study aims to develop a vision robot system for SPL surgery to effectively improve the visualization of surgical robot systems for relatively complex surgical procedures. Design/methodology/approach In this paper, a new master-slave magnetic anchoring vision robotic system for SPL surgery was proposed. A lighting distribution analysis for the imaging unit of the vision robot was carried out to guarantee illumination uniformity in the workspace during SPL surgery. Moreover, cleaning force for the lens of the camera was measured to assess safety for an abdominal wall, and performance assessment of the system was performed. Findings Extensive experimental results for illumination, control, cleaning force and functionality test have indicated that the proposed system has an excellent performance in providing the visual feedback. Originality/value The main contribution of this paper lies in the development of a magnetic anchoring vision robot system that successfully improves the ability of cleaning the lens and avoiding the blind area in a field of view.


2020 ◽  
Vol 9 (8) ◽  
pp. 2322 ◽  
Author(s):  
Stefano Pieralli ◽  
Benedikt Christopher Spies ◽  
Valentin Hromadnik ◽  
Robert Nicic ◽  
Florian Beuer ◽  
...  

3D printed surgical guides are used for prosthetically-driven oral implant placement. When manufacturing these guides, information regarding suitable printing techniques and materials as well as the necessity for additional, non-printed stock parts such as metal sleeves is scarce. The aim of the investigation was to determine the accuracy of a surgical workflow for oral implant placement using guides manufactured by means of fused deposition modeling (FDM) from a biodegradable and sterilizable biopolymer filament. Furthermore, the potential benefit of metal sleeve inserts should be assessed. A surgical guide was designed for the installation of two implants in the region of the second premolar (SP) and second molar (SM) in a mandibular typodont model. For two additive manufacturing techniques (stereolithography [SLA]: reference group, FDM: observational group) n = 10 surgical guides, with (S) and without (NS) metal sleeves, were used. This resulted in 4 groups of 10 samples each (SLA-S/NS, FDM-S/NS). Target and real implant positions were superimposed and compared using a dedicated software. Sagittal, transversal, and vertical discrepancies at the level of the implant shoulder, apex and regarding the main axis were determined. MANOVA with posthoc Tukey tests were performed for statistical analyses. Placed implants showed sagittal and transversal discrepancies of <1 mm, vertical discrepancies of <0.6 mm, and axial deviations of ≤3°. In the vertical dimension, no differences between the four groups were measured (p ≤ 0.054). In the sagittal dimension, SLA groups showed decreased deviations in the implant shoulder region compared to FDM (p ≤ 0.033), whereas no differences in the transversal dimension between the groups were measured (p ≤ 0.054). The use of metal sleeves did not affect axial, vertical, and sagittal accuracy, but resulted in increased transversal deviations (p = 0.001). Regarding accuracy, biopolymer-based surgical guides manufactured by means of FDM present similar accuracy than SLA. Cytotoxicity tests are necessary to confirm their biocompatibility in the oral environment.


Author(s):  
Dirk Engel ◽  
Arno Pernozzoli ◽  
Oliver Schorr ◽  
Jakob Brief ◽  
Thorsten Heurich ◽  
...  

2012 ◽  
Vol 8 (1) ◽  
pp. 31-36
Author(s):  
Hongbo Wang ◽  
Xue Yang ◽  
Xiaoqian Zheng ◽  
Ning Du ◽  
Hongwei Zhen ◽  
...  

2008 ◽  
Vol 2008 (0) ◽  
pp. _1P1-C10_1-_1P1-C10_4 ◽  
Author(s):  
Kaoru OKADA ◽  
Atsuhi KATO ◽  
Toyohiro NOGUCHI ◽  
Kazutaka TOYODA ◽  
Kazuya KAWAMURA ◽  
...  

Sign in / Sign up

Export Citation Format

Share Document