An OBS-WA Algorithm for Pose Optimization of a Tooth Preparation Robot End-Effector in Confined Spaces

Most traditional instrument pose planning algorithms focus on optimizing the pose of vertical instruments in open spaces. However, there is a lack of research on pose planning for cantilevered instruments in confined environments. In this paper, we propose an innovative method to optimizing instrument pose under multi-objective constraints. The method introduces the concept of a personalized outer outer bounding sphere and defines the safe feasible region for intraoperative instruments based on the Euclidean distance. For optimizing handle orientation during surgery, we propose an algorithm based on a center search strategy, which ensures that the handle orientation solution set avoids interference with adjacent teeth. Additionally, we introduce an improved scheme based on the outer bounding sphere weighted average (OBS-WA) algorithm to optimize robotic arm joint angles, considering multi-objective constraints. One contribution of this study is the development of an improved skeleton-based instrument collision detection method that addresses the limitations of traditional triangular mesh detection in real-time performance. Another innovation lies in solving the multi-objective optimization problem within the oral cavity. By establishing a test system on an experimental platform, this study demonstrates compliance control and safety planning during tooth preparation.