TY - GEN
T1 - Development of Automatically Controlled Facial Osteotomy Robot using Force Information - For Safe le Fort i Osteotomy
AU - Niwa, Koji
AU - Yane, Kazuki
AU - Kido, Yusuke
AU - Kitamura, Tomoya
AU - Nozaki, Takahiro
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - The development of automatically controlled medical robots (ACMR) has certain limitations. Due to their rigidity, if they are used in surgery, it would be extremely difficult to protect the patient's soft blood vessels and nerves. Hence, ACMR have not been put into practical use. The main purpose of this research is to address the limitations in order to develop the world's first ACMR that has a successful practical application within surgery. The first surgical procedure we aim to apply the ACMR to is Le Fort I osteotomy in maxillofacial surgery. While performing Le Fort I osteotomy, the robots must avoid damage to the descending palatine artery, which can cause fatal bleeding. We succeeded in automatically stopping the osteotomy immediately before the artery without the need to acquire model numerical information in advance, that is, with a model-free detection. The proposed method for auto-stopping is to identify the osteotomy reaction force obtained by the reaction force observer using the concept of the Z-score.
AB - The development of automatically controlled medical robots (ACMR) has certain limitations. Due to their rigidity, if they are used in surgery, it would be extremely difficult to protect the patient's soft blood vessels and nerves. Hence, ACMR have not been put into practical use. The main purpose of this research is to address the limitations in order to develop the world's first ACMR that has a successful practical application within surgery. The first surgical procedure we aim to apply the ACMR to is Le Fort I osteotomy in maxillofacial surgery. While performing Le Fort I osteotomy, the robots must avoid damage to the descending palatine artery, which can cause fatal bleeding. We succeeded in automatically stopping the osteotomy immediately before the artery without the need to acquire model numerical information in advance, that is, with a model-free detection. The proposed method for auto-stopping is to identify the osteotomy reaction force obtained by the reaction force observer using the concept of the Z-score.
KW - Facial osteotomy
KW - automatic control
KW - reaction force observer
KW - robot surgery
UR - http://www.scopus.com/inward/record.url?scp=85172078981&partnerID=8YFLogxK
U2 - 10.1109/ISIE51358.2023.10228084
DO - 10.1109/ISIE51358.2023.10228084
M3 - Conference contribution
AN - SCOPUS:85172078981
T3 - IEEE International Symposium on Industrial Electronics
BT - 2023 IEEE 32nd International Symposium on Industrial Electronics, ISIE 2023 - Proceedings
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 32nd IEEE International Symposium on Industrial Electronics, ISIE 2023
Y2 - 19 June 2023 through 21 June 2023
ER -