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Development and validation of a collaborative robotic platform based on monocular vision for oral surgery: an in
Jingyang Huang1, Jiahao Bao1, Zongcai Tan2
1Department of Oral and Craniomaxillofacial Surgery, Shanghai Ninth People's Hospital, Shanghai Jiao Tong University School of Medicine, College of Stomatology, National Center for Stomatology, National Clinical Research Center for Oral Diseases, Shanghai Key Laboratory of Stomatology, Shanghai Research Institute of Stomatology, Shanghai, 200011, China.
This study introduces a novel monocular vision system for oral surgery robots, improving precision and safety. The developed robotic platform demonstrates high accuracy and effective safety measures in vitro, offering a promising alternative to current binocular systems.
Area of Science:
- Robotics
- Surgical Technology
- Computer Vision
Background:
- Current optical-navigated oral surgical robots often rely on binocular vision, which faces limitations like obscured visibility and ambient light interference.
- These limitations can impact the accuracy and safety of surgical procedures.
Purpose of the Study:
- To develop a lightweight robotic platform for oral surgery utilizing monocular vision.
- To enhance the precision and efficiency of oral surgical procedures through a novel monocular optical positioning system (MOPS).
Main Methods:
- Developed a semi-autonomous robotic platform incorporating a monocular optical positioning system (MOPS).
- Conducted in vitro experiments simulating dental implant procedures to evaluate system performance.
- Performed tests for singularity detection/avoidance, collision detection/processing, and drilling accuracy under slight movements.
Main Results:
- The MOPS achieved a position error of 0.0906 ± 0.0762 mm and a rotation error of 0.0158 ± 0.0069 degrees.
- The robot's surgical calibration point had an average error of 0.42 mm (max 0.57 mm).
- The system demonstrated effective singularity avoidance and safety in simulated collision and movement scenarios.
Conclusions:
- The monocular vision system (MOPS) meets clinical accuracy requirements for oral surgery.
- This technology presents a viable alternative to existing binocular systems in oral surgical robotics.
- Further research is needed to facilitate clinical application of the monocular vision oral robot.
