Evaluation of a custom‐designed human–robot collaboration control system for dental implant robot

作者：Tian‐shu Kan, Kang‐jie Cheng, Yunfeng Liu, Russell Wang, Weidong Zhu, Fudong Zhu, Xian‐feng Jiang, Xing‐tao Dong · 发表于：International Journal of Medical Robotics and Computer Assisted Surgery · 年份：2021 · DOI：10.1002/rcs.2346 · 被引用次数：54 · 研究领域：Dental Implant Techniques and Outcomes、Stroke Rehabilitation and Recovery、Temporomandibular Joint Disorders

BACKGROUND: The purpose of this study is to develop a methodology to better control a human-robot collaboration for robotic dental implant placement. We have designed a human-robot collaborative implant system (HRCDIS) which is based on a zero-force hand-guiding concept and a operational task management workflow that can achieve highly accurate and stable osteotomy drilling based on a surgeon's decision and robotic arm movements during implant surgery. METHOD: The HRCDIS brings forth the robot arm positions, exact drilling location, direction and performs automatic drilling. The HRCDIS can also avoid complex programing in the robot. The purpose of the study is to evaluate the accuracy of drilling resulting from our developed operational task management method (OTMM). The OTMM can enable the robot to switch, pause, and resume drilling tasks. The force required for hand-guiding in a zero-force control mode of the robot was detected by a 6D force sensor. We compared our force data to those provided by the manufacturer's manual. The study was conducted on a phantom head with a 3D-printed jaw bone to verify the validity of our HRCDIS. We appraised the discrepancies between free-hand drillings and the HRCDIS controlled drillings at apical centre and head centre of the implant and implant angulation to the baseline data from a virtual surgical planning model. RESULTS: The average required force used by hand-guiding to operate the robot with HRCDIS was near 7 Newton which is much les...