Development and experiments of a multi-arm robot for mandible Reconstruction Surgery

Clinical treatment for mandible defects is Mandible Reconstruction Surgery (MRS) including bone grafts, distraction osteogenesis and bone tissue engineering, however, MRS is operated by doctors without 3D navigation at present which leads to lots of disadvantages such as bad operational control, low positioning accuracy and poor stability. Therefore, a robotic surgical system was designed to assist surgeons on manipulating. For this study, the robot system was given in brief, then mechanical design and control system of the novel three-arm robot, image processing were introduced in detail on the basis of process analysis of the MRS. Furthermore, safety design of the robot was mentioned accordingly. In addition, four experiments were done to test the performance of robotic system, and experiment results in this study show that the robot works stably and accurately. The development of this medical robot system contributes to the promotion and popularization of the MRS in clinics.