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A cooperatively controlled robotic system with active constraints for enhancing efficacy in bilateral sagittal split
Jesse Haworth1, Manish Sahu2, Katherine Zhu3
1Department of Mechanical Engineering, Johns Hopkins University, Baltimore, USA. jhawort2@jh.edu.
Summary
A new robotic system enhances surgical precision for bilateral sagittal split osteotomies (BSSO). This robotic assistance improves drilling accuracy compared to freehand methods, potentially leading to better patient outcomes in maxillofacial surgery.
Area of Science:
- Maxillofacial Surgery
- Robotics in Medicine
- Surgical Technology
Background:
- Precise osteotomies are critical for successful maxillofacial procedures like the bilateral sagittal split osteotomy (BSSO).
- Freehand drilling techniques in BSSO can result in inaccuracies, negatively affecting surgical outcomes.
Purpose of the Study:
- To develop and evaluate a cooperatively controlled robot system for enhancing osteotomy precision in BSSO.
- To improve surgical accuracy and precision during drilling in maxillofacial procedures.
Main Methods:
- Development of a robot system with Haptic guidance and Active constraint modes for patient-specific surgical plans.
- Validation through feasibility experiments on 36 mandible phantoms and a cadaveric specimen.
- Comparison of freehand and robot-assisted osteotomies performed by a surgeon, resident, and student, with NASA TLX surveys for usability assessment.
Main Results:
- The robotic system significantly improved osteotomy efficacy across all user levels (student, resident, surgeon) compared to freehand drilling.
- Reduced deviations from the planned cutting plane were observed with robotic assistance.
- The robotic system also led to a reduction in perceived task load for the users.
Conclusions:
- The developed robotic system demonstrably enhances surgical drilling precision for BSSO compared to freehand methods.
- Robotic assistance holds significant potential for minimizing errors and improving patient outcomes in maxillofacial surgery.
