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Collaborative Control Method and Experimental Research on Robot-Assisted Craniomaxillofacial Osteotomy Based on the
Jinyang Wu1, Wenyu Hui1, Jindong Niu2
1Shanghai Key Laboratory of Stomatology; Department of Oral and Cranio-maxillofacial Surgery, Shanghai Ninth People's Hospital, Shanghai Jiao Tong University School of Medicine; College of Stomatology, Shanghai Jiao Tong University; National Center for Stomatology; National Clinical Research Center for Oral Diseases.
This study introduces a collaborative control method for surgical robots, integrating force feedback and optical navigation. This approach enhances robot-assisted craniomaxillofacial osteotomies by combining robotic precision with surgeon expertise, improving safety and flexibility.
Area of Science:
- Robotics in Surgery
- Biomedical Engineering
- Surgical Navigation
Background:
- Surgical robots offer precision but lack tactile force feedback and surgeon intervention capabilities.
- This limits their application in complex bone surgeries like osteotomies.
- Existing systems struggle to integrate real-time surgical data with robotic control.
Purpose of the Study:
- To develop and evaluate a collaborative control method for robot-assisted craniomaxillofacial surgery.
- To integrate force feedback and optical navigation for enhanced surgical control.
- To combine the strengths of surgical robots with surgeons' clinical experience.
Main Methods:
- The CMF ROBOT system was enhanced with a force feedback system for collaborative control.
- A force-velocity control algorithm was designed, utilizing real-time force data.
- Preliminary tests involved robot-assisted Le Fort I osteotomies and genioplasty using the developed system.
Main Results:
- The force sensor successfully recorded real-time resistance data during robot-assisted osteotomies.
- Repeatability was acceptable for bilateral maxillary Le Fort I osteotomies (P > 0.05).
- Repeatability was unfavorable for genioplasty (P < 0.05), indicating areas for improvement.
Conclusions:
- The study demonstrated the feasibility of robot-assisted craniomaxillofacial osteotomy using force feedback and optical navigation.
- The collaborative control method shows potential to increase the flexibility and safety of surgical robots.
- Further refinement is needed, particularly for procedures like genioplasty.
