用于下颌骨重建手术中传感器感知腓骨截骨的协作机器人平台。
A collaborative robotic platform for sensor-aware fibula osteotomies in mandibular reconstruction surgery.
机构信息
Department of Oral Maxillofacial - Head & Neck Oncology, Shanghai Ninth People's Hospital Affiliated to Shanghai Jiao Tong University School of Medicine, Shanghai, 200011, China; School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, 200240, China.
Department of Oral Maxillofacial - Head & Neck Oncology, Shanghai Ninth People's Hospital Affiliated to Shanghai Jiao Tong University School of Medicine, Shanghai, 200011, China.
出版信息
Comput Biol Med. 2023 Aug;162:107040. doi: 10.1016/j.compbiomed.2023.107040. Epub 2023 May 23.
Precision and safety are crucial in performing fibula osteotomy during mandibular reconstruction with free fibula flap (FFF). However, current clinical methods, such as template-guided osteotomy, have the potential to cause damage to fibular vessels. To address the challenge, this paper introduces the development of the surgical robot for fibula osteotomies in mandibular reconstruction surgery and propose an algorithm for sensor-aware hybrid force-motion control for safe osteotomy, which includes three parts: osteotomy motion modeling from surgeons' demonstrations, Dynamic-system-based admittance control and osteotomy sawed-through detection. As a result, the average linear variation of the osteotomized segments was 1.08±0.41mm, and the average angular variation was 1.32±0.65. The threshold of osteotomy sawed-through detection is 0.5 at which the average offset is 0.5mm. In conclusion, with the assistance of surgical robot for mandibular reconstruction, surgeons can perform fibula osteotomy precisely and safely.
在游离腓骨瓣（FFF）进行下颌骨重建时，腓骨切开术的精确性和安全性至关重要。然而，目前的临床方法，如模板引导的截骨术，有可能对腓侧血管造成损伤。为了解决这一挑战，本文介绍了用于下颌骨重建手术中腓骨切开的手术机器人的开发，并提出了一种用于安全截骨的传感器感知混合力-运动控制算法，该算法包括三个部分：来自外科医生演示的截骨运动建模、基于动态系统的导纳控制和截骨锯通过检测。结果表明，截骨段的平均线性变化为 1.08±0.41mm，平均角度变化为 1.32±0.65。截骨锯通过检测的阈值为 0.5，平均偏移量为 0.5mm。总之，在用于下颌骨重建的手术机器人的辅助下，外科医生可以精确、安全地进行腓骨切开术。
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