Automatic robot-world calibration in an optical-navigated surgical robot system and its application for oral implant pla
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ORIGINAL ARTICLE
Automatic robot‑world calibration in an optical‑navigated surgical robot system and its application for oral implant placement Yang Li1 · Junlei Hu1 · Baoxin Tao2 · Dedong Yu2 · Yihan Shen2 · Shengchi Fan2 · Yiqun Wu2 · Xiaojun Chen1 Received: 12 February 2020 / Accepted: 14 July 2020 © CARS 2020
Abstract Purpose Robot-world calibration, used to precisely determine the spatial relation between optical tracker and robot, is regarded as an essential step for optical-navigated surgical robot system to improve the surgical accuracy. However, these methods are complicated with numerous computation. Therefore, a more efficient method of a robot-world calibration is necessary. Methods A fully automatic robot-world calibration was proposed and applied in a surgical robot system for oral implant placement. Making full usage of the movement characteristics of a tandem robot, the least square fitting algorithm was implemented to calculate the relationship between the tool center point of the robot and the robot reference frame, with the robot-world calibration matrix obtained as result. Results The experiment was designed to verify the accuracy of the robot-world calibration. The average distance deviation was 1.11 mm, and the average angle deviation was 0.99°. From the animal experiment on the pig maxilla, the entry, apical and angle deviation of the surgical robot system were 1.44 ± 1.01 mm, 1.68 ± 0.76 mm, 1.01 ± 1.06°, respectively. Conclusion The surgical robot system for oral implant placement with our robot-world calibration maintains a high precision. Besides, the operation range of the surgical tool is no longer limited by the visual range of the optical tracking device. Hence, it is unnecessary to adjust the optical tracking device for the planned implant trajectories to different positions and directions. Keywords Robot-world calibration · Oral implant placement · Surgical robot system
Introduction Oral implant placement requires high precision to recover functions and avoid complications, which is a huge challenge for surgeons. There are several commercial navigation systems widely used in the field of dental implant placement, for example, Navident system (ClaroNav, Canada) [1], Yang Li and Junlei Hu have the equal contribution to this paper. * Xiaojun Chen [email protected] 1
Room 805, School of Mechanical Engineering, Shanghai Jiao Tong University, Dongchuan Road 800, Minhang District, Shanghai 200240, China
Department of 2nd Dental Center, Shanghai Ninth People’s Hospital, College of Stomatology, Shanghai Jiao Tong University School of Medicine; National Clinical Research Center for Oral Diseases; Shanghai Key Laboratory of Stomatology & Shanghai Research Institute of Stomatology, Shanghai, China
2
LandmarX system (Medtronic Xomed, Inc, the USA) [2], VectorVision system (BrainLab, Germany) [3] and Aq Navi Surgical Navigation System (Taiwan Implant Technology Company, Taiwan) [4]. Among them, Navident system is a vision-based surgical navigation system, while LandmarX s
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