マサムネ　ケン   Masamune Ken   正宗　賢    所属   医学研究科 医学研究科 (医学部医学科をご参照ください)    職種   教授
論文種別	その他
言語種別	英語
査読の有無	査読あり
表題	Autonomous surgical robot with camera-based markerless navigation for oral and maxillofacial surgery
掲載誌名	正式名：IEEE/ASME Transactions on Mechatronics ISSNコード：1941014X
掲載区分	国外
出版社	IEEE
巻・号・頁	25(2),pp.1084-1094
著者・共著者	MA Qingchuan†, KOBAYASHI Etsuko, SUENAGA Hideyuki, HARA Kazuaki, WANG Junchen, NAKAGAWA Keiichi , SAKUMA ,Ichiro, MASAMUNE Ken
発行年月	2020/02/06
概要	The results of oral and maxillofacial surgery (OMS) significantly depend on the individual capabilities of surgeons. In this study, an autonomous surgical robot is proposed to automatically perform surgery according to a preoperative plan with the assistance of a surgeon. A three-dimensional (3D) computed tomography image of the subject's teeth was used to build an offline shape-based model by creating a large amount of two-dimensional (2D) contour data. A monochrome camera was mounted on a self-developed robot to capture the real-time image of the teeth for comparison with the offline 2D contour to verify the teeth pose without using common markers. The data of the preoperative plan and the teeth pose were integrated to guide the movement of the robot during operation. Drilling experiments were conducted on the five 3D-printed mandible models, and a statistical analysis revealed highly accurate results. This autonomous robot provides a practical solution for robotically conducted OMS and has the potential to significantly reduce the workload of surgeons.
DOI	10.1109/TMECH.2020.2971618