A collaborative robotic platform for sensor-aware fibula osteotomies in mandibular reconstruction surgery.

Journal: Computers in biology and medicine
PMID: 37263153

Abstract

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.

Authors

  • Junlei Hu
    Room 805, School of Mechanical Engineering, Shanghai Jiao Tong University, Dongchuan Road 800, Minhang District, Shanghai, 200240, China.
  • Jiannan Liu
    Shanghai Ninth People's Hospital Affiliated to Shanghai Jiao Tong University School of Medicine, Shanghai, China.
  • Yan Guo
    State Key Laboratory of Pathogen and Biosecurity, Beijing 100071, China.
  • Zhenggang Cao
    Institute of Medical Robot, Shanghai Jiao Tong University, Shanghai, 200240, China.
  • Xiaojun Chen
    Department of Gynecology, Obstetrics and Gynecology Hospital of Fudan University, Shanghai, China.
  • Chenping Zhang
    Shanghai Ninth People's Hospital Affiliated to Shanghai Jiao Tong University School of Medicine, No. 639, ZhiZao JuRd, Shanghai, 200011, China. zhang.chenping@hotmail.com.

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