Real-Time Motion Compensation for Dynamic Dental Implant Surgery

Area of Science:

• Robotics in Medicine
• Surgical Navigation Systems
• Biomedical Engineering

Background:

• Accurate instrument positioning is crucial for dental implants, especially in complex anatomy.
• Traditional navigation systems struggle with patient head movement during surgery.
• Dynamic conditions necessitate adaptive solutions for maintaining surgical tool accuracy.

Purpose of the Study:

• To propose and validate a real-time motion compensation framework for dental implant procedures.
• To integrate optical motion tracking with a collaborative robot for dynamic tool alignment.
• To enhance precision and stability in robot-assisted dental surgery.

Main Methods:

• A six-camera optical system tracked markers on a head model.
• Real-time pose data guided a collaborative robot (Kuka LBR iiwa) for tool alignment.
• Motion compensation involved inverse trajectory computation and filtering, tested with precise robotic movements.

Main Results:

• The system demonstrated low pose tracking errors (<0.2 mm) and tool center point deviations (<1.5 mm).
• Average system latency was approximately 25 ms, with minimal overshoot.
• The robot exhibited stable and repeatable motion compensation across various dynamic conditions.

Conclusions:

• The developed framework reliably compensates for real-time head motion in dental implantology.
• It maintains high positional accuracy and stability during dynamic surgical scenarios.
• This technology has the potential to significantly improve surgical safety and precision.