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Abstract
Genioplasty is the main way to treat diseases such as chin asymmetry, dysplasia and overdevelopment, which involve the three-dimensional direction abnormalities of the chin. Since this kind of surgery mainly uses intraoral incisions, the narrow surgical field of intraoral incisions and the surrounding important neurovascular tissues make it easy for complications, to occur during the osteotomy process, which results in greater surgical risks. The first craniofacial-plastic surgical robot (CPSR-I) system is developed to complete the precise positioning and improve the surgeon's force perception ability. The Kalman filtering method is adopted to reduce the interference of sensor signal noise. An adaptive fuzzy control system, which has strong robustness and adaptability to the environment, is designed to improve the stability of robot-assisted surgical operations. To solve the problem of the depth perception, we propose an automatic bone drilling control strategy that combines position and force conditions to ensure that the robot can automatically stop when the bone is penetrated. On the basis of model surgery and animal experiments, preliminary experiments were carried out clinically. Based on the early results of 6 patients, the robot-assisted approach appears to be a safe and effective strategy for genioplasty.
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Details
1 Shanghai Jiao Tong University, Institute of Forming Technology & Equipment, Shanghai, China (GRID:grid.16821.3c) (ISNI:0000 0004 0368 8293); Shanghai Jiao Tong University, Department of Plastic and Reconstructive Surgery, Shanghai 9Th People’s Hospital, School of Medicine, Shanghai, China (GRID:grid.16821.3c) (ISNI:0000 0004 0368 8293)
2 Shanghai Jiao Tong University, Institute of Forming Technology & Equipment, Shanghai, China (GRID:grid.16821.3c) (ISNI:0000 0004 0368 8293)
3 Shanghai Jiao Tong University, Department of Plastic and Reconstructive Surgery, Shanghai 9Th People’s Hospital, School of Medicine, Shanghai, China (GRID:grid.16821.3c) (ISNI:0000 0004 0368 8293)
4 Shanghai Jiao Tong University, Department of Plastic and Reconstructive Surgery, Shanghai 9Th People’s Hospital, School of Medicine, Shanghai, China (GRID:grid.16821.3c) (ISNI:0000 0004 0368 8293); Shanghai University of Medicine & Health Sciences, The College of Medical Instrument, Shanghai, China (GRID:grid.507037.6); Department of Plastic and Reconstructive Surgery, Maternal and Child Health Care Hospital of Hainan Province, Haikou, China (GRID:grid.459758.2)
5 Shanghai Jiao Tong University, Institute of Forming Technology & Equipment, Shanghai, China (GRID:grid.16821.3c) (ISNI:0000 0004 0368 8293); Shanghai Jiao Tong University, Institute of Medical Robotics, Shanghai, China (GRID:grid.16821.3c) (ISNI:0000 0004 0368 8293); Shanghai Jiao Tong University, National Digital Manufacturing Technology Center, Shanghai, China (GRID:grid.16821.3c) (ISNI:0000 0004 0368 8293)