Fully Automatic Robot-Assisted Surgery for Mandibular Angle Split Osteotomy

摘要: With the development of computer-assisted surgery, preoperational design is detailed in software. However, it still a challenge for surgeons to realize surgical plan craniofacial surgery. Robot-assisted surgery has advantages high accuracy and stability. It suitable high-stress procedures like drilling, milling, cutting. This study aims verify feasibility automatic drilling without soft tissues model test based on an industrial robot platform.This chose data from digital laboratory Shanghai 9th People's Hospital. The mandibular was reconstructed software also designed. Then, coordinate input robot's matrix conversion calculated by 4 marked points. trajectory generation inverse kinematics target coordinates coordinates. fixed calibrated drilling. At last, optic scanning instrument.The installment preparation cost 10 minutes, procedure 12 minutes. outside position error (1.71 ± 0.16) mm, inside (1.37 0.28) orientation (3.04 1.02)°. Additionally, total 5 beagles were tested, with (2.78 1.52) mm. No postoperative complications occurred.This first reported robot-assisted result shows possible under condition no interference tissues. artificial intelligence machine vision, may help fulfill more