Robot-assisted augmented reality surgical navigation based on optical tracking for mandibular reconstruction surgery

Long Shao, Xing Li, Tianyu Fu*, Fanhao Meng, Zhihui Zhu, Ruiqi Zhao, Minghao Huo, Deqiang Xiao, Jingfan Fan, Yucong Lin, Tao Zhang*, Jian Yang

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

7 Citations (Scopus)

Abstract

Purpose: This work proposes a robot-assisted augmented reality (AR) surgical navigation system for mandibular reconstruction. The system accurately superimposes the preoperative osteotomy plan of the mandible and fibula into a real scene. It assists the doctor in osteotomy quickly and safely under the guidance of the robotic arm. Methods: The proposed system mainly consists of two modules: the AR guidance module of the mandible and fibula and the robot navigation module. In the AR guidance module, we propose an AR calibration method based on the spatial registration of the image tracking marker to superimpose the virtual models of the mandible and fibula into the real scene. In the robot navigation module, the posture of the robotic arm is first calibrated under the tracking of the optical tracking system. The robotic arm can then be positioned at the planned osteotomy after the registration of the computed tomography image and the patient position. The combined guidance of AR and robotic arm can enhance the safety and precision of the surgery. Results: The effectiveness of the proposed system was quantitatively assessed on cadavers. In the AR guidance module, osteotomies of the mandible and fibula achieved mean errors of 1.61 ± 0.62 and 1.08 ± 0.28 mm, respectively. The mean reconstruction error of the mandible was 1.36 ± 0.22 mm. In the AR-robot guidance module, the mean osteotomy errors of the mandible and fibula were 1.47 ± 0.46 and 0.98 ± 0.24 mm, respectively. The mean reconstruction error of the mandible was 1.20 ± 0.36 mm. Conclusions: The cadaveric experiments of 12 fibulas and six mandibles demonstrate the proposed system's effectiveness and potential clinical value in reconstructing the mandibular defect with a free fibular flap.

Original languageEnglish
Pages (from-to)363-377
Number of pages15
JournalMedical Physics
Volume51
Issue number1
DOIs
Publication statusPublished - Jan 2024

Keywords

  • augmented reality
  • mandibular reconstruction
  • optical tracking
  • robot-assisted
  • spatial registration

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Shao, L., Li, X., Fu, T., Meng, F., Zhu, Z., Zhao, R., Huo, M., Xiao, D., Fan, J., Lin, Y., Zhang, T., & Yang, J. (2024). Robot-assisted augmented reality surgical navigation based on optical tracking for mandibular reconstruction surgery. Medical Physics, 51(1), 363-377. https://doi.org/10.1002/mp.16598