Research on the robot-assisted navigation technology in mandibular reconstruction surgery

The mandible is crucial for human physiological functions, as well as facial esthetics and expressions. The mandibular reconstruction surgery has dual challenges of restoration of both facial form and physiological function, which demands high precision in positioning and orientation of the bone graft. The traditional manual surgery heavily relies on surgeon's experience. Although the computer image-guided surgery improves the positioning accuracy, the manual manipulation is still difficult to achieve precise spatial orientation of objects, resulting in unsatisfactory intraoperative execution of preoperative surgical design. This paper integrates computer image navigation and robotic technology to assist mandible reconstruction surgery, which empowers surgeons to achieve precise spatial localization and orientation adjustment of bone grafts. The kinematic analysis is conducted, and an improved Iterative Closest Point (ICP) algorithm is proposed for spatial registration. A novel hand-eye calibration method for multi-arm robot and spatial registration of free bone blocks are proposed. The precision experiment of the image-guided navigation and the animal experiments are carried out. The impact of registration point numbers on spatial registration accuracy is analyzed. The results show the feasibility of the robot-assisted navigation for mandibular reconstruction surgery. The robotic system can improve the orientation accuracy of bone blocks to enhance the effectiveness of surgery.