Accuracy of dental implant surgery with robotic position feedback and registration algorithm: An in-vitro study

Kang-Jie Cheng; Tian-Shu Kan; Yun-Feng Liu; Wei-Dong Zhu; Fu-Dong Zhu; Wei-Bin Wang; Xian-Feng Jiang; Xing-Tao Dong

doi:10.1016/j.compbiomed.2020.104153

Accuracy of dental implant surgery with robotic position feedback and registration algorithm: An in-vitro study

Comput Biol Med. 2021 Feb:129:104153. doi: 10.1016/j.compbiomed.2020.104153. Epub 2020 Nov 26.

Authors

Kang-Jie Cheng¹, Tian-Shu Kan¹, Yun-Feng Liu², Wei-Dong Zhu³, Fu-Dong Zhu⁴, Wei-Bin Wang¹, Xian-Feng Jiang¹, Xing-Tao Dong¹

Affiliations

¹ College of Mechanical Engineering, Zhejiang University of Technology, Hangzhou, 310023, China; Key Laboratory of Special Purpose Equipment and Advanced Processing Technology, Ministry of Education and Zhejiang Province, Zhejiang University of Technology, Hangzhou, 310023, China.
² College of Mechanical Engineering, Zhejiang University of Technology, Hangzhou, 310023, China; Key Laboratory of Special Purpose Equipment and Advanced Processing Technology, Ministry of Education and Zhejiang Province, Zhejiang University of Technology, Hangzhou, 310023, China. Electronic address: liuyf76@126.com.
³ State Key Laboratory of Fluid Power and Mechatronic Systems, School of Mechanical Engineering, Zhejiang University, Hangzhou, 310027, China.
⁴ The Affiliated Stomatology Hospital, Zhejiang University School of Medicine, Hangzhou, 310006, China.

PMID: 33260102
DOI: 10.1016/j.compbiomed.2020.104153

Abstract

Background: The purpose of this study was to develop and validate a positioning method with hand-guiding and contact position feedback of robot based on a human-robot collaborative dental implant system (HRCDIS) for robotic guided dental implant surgery.

Methods: An HRCDIS was developed based on a light-weight cooperative robot arm, UR5. A three-dimensional (3D) virtual partially edentulous mandibular bone was reconstructed using the cone bone computed tomography images. After designing the preoperative virtual implant planning using the computer software, a fixation guide worn on teeth for linking and fixing positioning marker was fabricated by 3D printing. The fixation guide with the positioning marker and a resin model mimicking the oral tissues were assembled on a head phantom. The planned implant positions were derived by the coordinate information of the positioning marker. The drilling process using the HRCDIS was conducted after mimicking the experimental set-up and planning the drilling trajectory. Deviations between actual and planned implant positions were measured and analyzed.

Results: The head phantom experiments results showed that the error value of the central deviation at hex (refers to the center of the platform level of the implant) was 0.79 ± 0.17 mm, central deviation at the apex was 1.26 ± 0.27 mm, horizontal deviation at the hex was 0.61 ± 0.19 mm, horizontal deviation at the apex was 0.91 ± 0.55 mm, vertical deviation at the hex was 0.38 ± 0.17 mm, vertical deviation at the apex was 0.37 ± 0.20 mm, and angular deviation was 3.77 ± 1.57°.

Conclusions: The results from this study preliminarily validate the feasibility of the accurate navigation method of the HRCDIS.

Keywords: Accurate navigation method; Cone bone computed tomography; Dental implant; Human-robot collaborative; UR5 robot.

Publication types

Research Support, Non-U.S. Gov't

MeSH terms

Algorithms
Computer-Aided Design
Cone-Beam Computed Tomography
Dental Implants*
Feedback
Humans
Imaging, Three-Dimensional
Robotic Surgical Procedures*
Robotics*
Surgery, Computer-Assisted*

Substances

Dental Implants