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Published on: August 24, 2018
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A collaborative robotic platform for sensor-aware fibula osteotomies in mandibular reconstruction surgery
Junlei Hu1, Jiannan Liu2, Yan Guo3
1Department of Oral Maxillofacial - Head & Neck Oncology, Shanghai Ninth People's Hospital Affiliated to Shanghai Jiao Tong University School of Medicine, Shanghai, 200011, China; School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, 200240, China.
Computers in Biology and Medicine
|June 1, 2023
Summary
This study introduces a surgical robot for precise fibula osteotomy in mandibular reconstruction. The robot
Area of Science:
- Surgical Robotics
- Biomedical Engineering
- Orthopedic Surgery
Background:
- Fibula osteotomy is critical in mandibular reconstruction using free fibula flaps (FFF).
- Current template-guided methods risk damaging fibular vessels.
- Need for enhanced precision and safety in fibula osteotomy.
Purpose of the Study:
- To develop a surgical robot for precise fibula osteotomies.
- To propose a sensor-aware hybrid force-motion control algorithm for safe osteotomy.
- To improve accuracy and reduce risks in mandibular reconstruction surgery.
Main Methods:
- Developed a surgical robot system for fibula osteotomy.
- Implemented an algorithm for sensor-aware hybrid force-motion control.
- Included osteotomy motion modeling, admittance control, and sawed-through detection.
Main Results:
- Achieved average linear variation of 1.08±0.41mm in osteotomized segments.
- Attained average angular variation of 1.32±0.65 degrees.
- Optimized sawed-through detection with an average offset of 0.5mm at a threshold of 0.5.
Conclusions:
- The surgical robot enables precise and safe fibula osteotomy.
- Assisted robotic surgery enhances accuracy in mandibular reconstruction.
- This technology offers a safer alternative to traditional osteotomy methods.
