Development Of System And Establishment Of Technical Route Of Medical Robotic System For Cranio-maxillofacial Sugery Based On Optical Navagation System

PURPOSE:Precise operation is the most important requirement and target forcranio-maxillofacial surgery. However, the accuracy was always limited forconventional surgical technique. In order to deal with the problem, the surgicalnavigation system and the medical robotic system could to be introduced, which havebeen proved effective to improve the positioning accuracy and operational accuracyseparately pre-/intra-operatively. The key technique of integration the opticalnavigation system with robotic system was studied in this paper. We aimed toestablish one novel navigation-guide robotic system for craniofacial surgery andmanufacture the theory prototype.METHODS:1. To self-design the ontological structure of robotic system meeting therequirements of craniofacial surgery;2. To manufacture and assemble one new7-DOF medical robotic system;3. Theoretical research of navigation-guided control mode: To study the key technique and communication connection of integration the7-DOF robotic systemwith the navigation system TBNAVIS-CMFS (Shanghai Jiao Tong University);4. Establishment of theoretical prototype: The theoretical prototype was establishedin simulated operation room, which included three parts: software workstation,navigation positioning workstation, and7-DOF robotic system;5. Trail running of theoretical prototype: The trail running was designed as follows:Firstly, to manufacture the skull model based on CT image data; Secondly, to planthe robotic surgical program of Lefort I osteotomy on navigation platform; Thirdly,to transmit the surgical plan to robotic system during operation; Finally, therobotic surgical procedure could be viewed and recorded on screen.RESULTS:1. It was achieved to establish the7-DOF medical robotic system with independentintellectual property rights;2. It was achieved the theoretical research of navigation-guided control mode bydeveloping the control platform and communication connection between thenavigation system and the robotic system successfully;3. The robotic system could received the instruction from the navigation system andperformed the planned operation automatically; the whole surgical procedurecould be visible; the planned Lefort I osteotomying procedure was completed onskull model with straight cutting line.4. It was achieved to establish the theoretical prototype of navigation-guided roboticsystem for craniofacial surgery. CONCLUSIONS：1. The study on the communication connection and control techinique was provedeffective to integrate the optical navigation system with the7-DOF robotic system,which verified the feasibility of technical route of self-developingnavigation-guided robotic system for craniofacial surgery.2. The theoretical prototype of navigation-guided robotic system for craniofacialsurgery was established preliminarily, which established the theoretical basis andmeans important guidance significance for the further development ofexperimental prototype.