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An image-guided hybrid robot system for dental implant surgery

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International Journal of Computer Assisted Radiology and Surgery Aims and scope Submit manuscript

Abstract

Purpose

Dental implant surgery is an effective method for remediating the loss of teeth. Robot is expected to increase the accuracy of dental implant surgery. However, most of them are industrial serial robot, with low stiffness and non-unique inverse kinematic solution, which may reduce the success rate and safety of robotic surgery. Compared to serial robot, parallel robot is more stiffness and has unique inverse kinematic. However, its workspace is small, which may not meet surgical requirements. Therefore, a novel hybrid robot dedicated to dental implant is proposed.

Methods

The hybrid robot is composed of three translation joints, two revolute joints, and Stewart parallel manipulator. Stewart is used for performing surgical operation, while the joints are used for enlarging the workspace of Stewart. In order to ensure the safety of robot motion, physical human–robot interaction based on a variable admittance controller is applied in the robotic system. In addition, considering the small workspace of Stewart, an optimal model is proposed to minimize the joint movement of Stewart in adjusting the orientation of drill bit.

Results

Phantom experiments were carried out based on the prototype robot. In the experiments, the optimal model could be solved after 20 iterations, finding an ideal joint configuration. The proposed variable admittance controller could enhance comfort level effectively. The accuracy of robot is evaluated by angle, entry and exit deviation, which are 0.74 ± 0.25°, 0.93 ± 0.28 mm, and 0.96 ± 0.23 mm, respectively.

Conclusion

The phantom experiments validate the functionality of the proposed hybrid robot. The satisfactory performance makes it more widely used in the practical dental implant surgery in the future.

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Acknowledgements

This work was supported by Grants from National Key R&D Program of China (2017YFB1302901).

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Authors and Affiliations

  1. School of Mechanical Engineering, Shanghai Jiao Tong University, Room 901, Dongchuan Road 800, Minhang District, Shanghai, 200240, China

    Yuan Feng, JiaCheng Fan, ShiGang Wang, JinQiu Mo, QingHua Liang & XiaoJun Chen

  2. Department of Second Dental Center, Shanghai Ninth People’s Hospital, College of Stomatology, Shanghai Jiao Tong University, School of Medicine, National Clinical Research Center for Oral Disease, Shanghai Key Laboratory of Stomatology and Shanghai Research Institute of Stomatology, 639, Zhizaoju Road, Shanghai, 200011, China

    BaoXin Tao & YiQun Wu

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  1. Yuan Feng
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Correspondence to QingHua Liang or XiaoJun Chen.

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All procedures performed in studies involving human participants were in accordance with the ethical standards of the institutional and/or national research committee and with the 1964 Helsinki declaration and its later amendments or comparable ethical standards.

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Feng, Y., Fan, J., Tao, B. et al. An image-guided hybrid robot system for dental implant surgery. Int J CARS 17, 15–26 (2022). https://doi.org/10.1007/s11548-021-02484-0

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