目的:手术机器人有效提高外科手术的准确性和安全性。当前的光学导航口腔手术机器人通常是基于双目视觉定位系统开发的,容易受到包括能见度模糊在内的因素的影响,有限的工作场所,和环境光干扰。因此,这项研究的目的是开发一种基于单目视觉的轻型机器人平台,用于口腔手术,以提高手术程序的精度和效率。
方法:将单目光学定位系统(MOPS)应用于口腔手术机器人,并利用单目视觉开发了半自主机器人平台。设计了一系列体外实验来模拟牙科植入程序,以评估光学定位系统的性能并评估机器人系统的准确性。奇异配置检测和回避测试,碰撞检测和处理测试,并进行了轻微运动下的钻孔试验,验证了机器人系统的安全性。
结果:MOPS的位置误差和旋转误差分别为0.0906±0.0762mm和0.0158±0.0069度,分别。通过正解和逆解计算的机械臂的姿态角是准确的。此外,机器人的手术校准点表现出0.42毫米的平均误差,最大误差为0.57mm。同时,在体外实验过程中,机器人系统能够有效地避免奇异性,并在存在轻微患者运动和碰撞的情况下表现出强大的安全措施。
结论:这项体外研究的结果表明,MOPS的准确性符合临床要求,使其成为口腔手术机器人领域的有希望的替代品。将计划进一步的研究,使单目视觉口腔机器人适合临床应用。
OBJECTIVE: Surgical robots effectively improve the accuracy and safety of surgical procedures. Current optical-navigated oral surgical robots are typically developed based on binocular vision positioning systems, which are susceptible to factors including obscured visibility, limited workplace, and ambient light interference. Hence, the purpose of this study was to develop a lightweight robotic platform based on monocular vision for oral surgery that enhances the precision and efficiency of surgical procedures.
METHODS: A monocular optical positioning system (MOPS) was applied to oral surgical robots, and a semi-autonomous robotic platform was developed utilizing monocular vision. A series of vitro experiments were designed to simulate dental implant procedures to evaluate the performance of optical positioning systems and assess the robotic system accuracy. The singular configuration detection and avoidance test, the collision detection and processing test, and the drilling test under slight movement were conducted to validate the safety of the robotic system.
RESULTS: The position error and rotation error of MOPS were 0.0906 ± 0.0762 mm and 0.0158 ± 0.0069 degrees, respectively. The attitude angle of robotic arms calculated by the forward and inverse solutions was accurate. Additionally, the robot\'s surgical calibration point exhibited an average error of 0.42 mm, with a maximum error of 0.57 mm. Meanwhile, the robot system was capable of effectively avoiding singularities and demonstrating robust safety measures in the presence of minor patient movements and collisions during vitro experiment procedures.
CONCLUSIONS: The results of this in vitro study demonstrate that the accuracy of MOPS meets clinical requirements, making it a promising alternative in the field of oral surgical robots. Further studies will be planned to make the monocular vision oral robot suitable for clinical application.