College of Mechanical Engineering, Zhejiang University of Technology, Hangzhou, China.
Key Laboratory of Special Purpose Equipment and Advanced Processing Technology, Ministry of Education and Zhejiang Province, Zhejiang University of Technology, Hangzhou, China.
Int J Med Robot. 2022 Feb;18(1):e2346. doi: 10.1002/rcs.2346. Epub 2021 Nov 8.
The purpose of this study is to develop a methodology to better control a human-robot collaboration for robotic dental implant placement. We have designed a human-robot collaborative implant system (HRCDIS) which is based on a zero-force hand-guiding concept and a operational task management workflow that can achieve highly accurate and stable osteotomy drilling based on a surgeon's decision and robotic arm movements during implant surgery.
The HRCDIS brings forth the robot arm positions, exact drilling location, direction and performs automatic drilling. The HRCDIS can also avoid complex programing in the robot. The purpose of the study is to evaluate the accuracy of drilling resulting from our developed operational task management method (OTMM). The OTMM can enable the robot to switch, pause, and resume drilling tasks. The force required for hand-guiding in a zero-force control mode of the robot was detected by a 6D force sensor. We compared our force data to those provided by the manufacturer's manual. The study was conducted on a phantom head with a 3D-printed jaw bone to verify the validity of our HRCDIS. We appraised the discrepancies between free-hand drillings and the HRCDIS controlled drillings at apical centre and head centre of the implant and implant angulation to the baseline data from a virtual surgical planning model.
The average required force used by hand-guiding to operate the robot with HRCDIS was near 7 Newton which is much less than the manufacturer's specification (30 Newton). The results from our study showed that the average error at implant head was 1.04 ± 0.37 mm, 1.56 ± 0.52 mm at the implant apex, and deviation of implant angle was 3.74 ± 0.67°.
The results from this study validate the merit of the human-robot collaboration control by the HRCDIS. Based on the improved navigation system using HRCDIS, a robotic implant placement can provide seamless drilling with ease, efficiency and accuracy.
本研究旨在开发一种更好地控制人机协作机器人牙种植体放置的方法。我们设计了一种基于零力手引导概念和操作任务管理工作流程的人机协作植入系统 (HRCDIS)，该系统可以根据外科医生的决策和机器人手臂在植入手术过程中的运动，实现高精度和稳定的截骨钻孔。
HRCDIS 带来了机器人手臂的位置、精确的钻孔位置、方向，并执行自动钻孔。HRCDIS 还可以避免机器人的复杂编程。本研究旨在评估我们开发的操作任务管理方法 (OTMM) 产生的钻孔精度。OTMM 可以使机器人切换、暂停和恢复钻孔任务。机器人零力控制模式下的手引导所需的力由 6D 力传感器检测。我们将我们的力数据与制造商手册提供的数据进行了比较。该研究在具有 3D 打印颌骨的幻影头上进行，以验证我们的 HRCDIS 的有效性。我们评估了自由手钻孔和 HRCDIS 控制钻孔在种植体根尖中心和头部中心以及种植体与基线数据的角度偏差之间的差异虚拟手术规划模型。
使用 HRCDIS 操作机器人时，手引导所需的平均力接近 7 牛顿，远小于制造商的规格（30 牛顿）。我们的研究结果表明，种植体头部的平均误差为 1.04±0.37 毫米，种植体根尖为 1.56±0.52 毫米，种植体角度偏差为 3.74±0.67°。
本研究的结果验证了 HRCDIS 进行人机协作控制的优点。基于使用 HRCDIS 的改进导航系统，机器人植入物放置可以提供轻松、高效和准确的无缝钻孔。
