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Accuracy of dental implant surgery with robotic position feedback and registration algorithm: An in-vitro study
Kang-Jie Cheng1, Tian-Shu Kan1, Yun-Feng Liu1
1College of Mechanical Engineering, Zhejiang University of Technology, Hangzhou, 310023, China; Key Laboratory of Special Purpose Equipment and Advanced Processing Technology, Ministry of Education and Zhejiang Province, Zhejiang University of Technology, Hangzhou, 310023, China.
This study developed a human-robot collaborative dental implant system (HRCDIS) for precise robotic guided surgery. The system achieved accurate positioning, validating its feasibility for dental implant procedures.
Area of Science:
- Robotics
- Dental Surgery
- Medical Imaging
Background:
- Development of a novel human-robot collaborative dental implant system (HRCDIS).
- Utilizes a UR5 lightweight cooperative robot arm for enhanced surgical precision.
- Integrates hand-guiding and contact position feedback for intuitive control.
Purpose of the Study:
- To develop and validate a precise positioning method for robotic guided dental implant surgery.
- To assess the accuracy of the HRCDIS in replicating planned implant positions.
- To establish the feasibility of using HRCDIS in complex dental procedures.
Main Methods:
- 3D reconstruction of mandibular bone from cone beam computed tomography (CBCT) images.
- Preoperative virtual implant planning and 3D printing of a fixation guide with a positioning marker.
- Assembly on a head phantom for simulating oral tissues and conducting drilling experiments.
Main Results:
- The HRCDIS demonstrated accurate positioning with deviations as low as 0.37 ± 0.20 mm vertically at the apex.
- Angular deviation was measured at 3.77 ± 1.57°.
- The system achieved precise navigation, crucial for complex implant placements.
Conclusions:
- The developed positioning method for the HRCDIS is preliminarily validated.
- The study confirms the feasibility of accurate navigation in robotic guided dental implant surgery.
- HRCDIS shows promise for improving precision and outcomes in dental implantology.
