TY - GEN
T1 - A Shared-Control Dexterous Robotic System for Assisting Transoral Mandibular Fracture Reduction: Development and Cadaver Study
AU - Wang, Yan
AU - Zheng, Hao
AU - Lee, Yu Chung
AU - Chan, Catherine P.L.
AU - Chan, Jason Ying Kuen
AU - Taylor, Russell H.
AU - Samuel Au, Kwok Wai
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023/10
Y1 - 2023/10
N2 - The rigid and straight nature of conventional surgical drills and screwdrivers makes it difficult to access the posterior mandible for fracture reduction without the creation of facial incisions. To assist transoral mandibular fracture reduction in hard-to-reach areas, we propose a shared-control dexterous robotic system. The end effector of this system is an articulated drilling/screwing tool to provide distal dexterity. This system uses an admittance-control-based approach to provide precision and stability during shared-control hole-drilling processes. A cadaver study showed the efficacy of the proposed system to assist plate fixation in the reduction of mandibular fractures. The proposed articulated surgical tool was capable of drilling holes in and driving screws into the mandible of a cadaver head. In addition, the shared-control robotic system ensured that the drill moved along its axial direction, leading to stable and precise hole drilling.
AB - The rigid and straight nature of conventional surgical drills and screwdrivers makes it difficult to access the posterior mandible for fracture reduction without the creation of facial incisions. To assist transoral mandibular fracture reduction in hard-to-reach areas, we propose a shared-control dexterous robotic system. The end effector of this system is an articulated drilling/screwing tool to provide distal dexterity. This system uses an admittance-control-based approach to provide precision and stability during shared-control hole-drilling processes. A cadaver study showed the efficacy of the proposed system to assist plate fixation in the reduction of mandibular fractures. The proposed articulated surgical tool was capable of drilling holes in and driving screws into the mandible of a cadaver head. In addition, the shared-control robotic system ensured that the drill moved along its axial direction, leading to stable and precise hole drilling.
UR - http://www.scopus.com/inward/record.url?scp=85182524274&partnerID=8YFLogxK
U2 - 10.1109/IROS55552.2023.10342097
DO - 10.1109/IROS55552.2023.10342097
M3 - Conference article published in proceeding or book
AN - SCOPUS:85182524274
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 8431
EP - 8438
BT - 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2023
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2023
Y2 - 1 October 2023 through 5 October 2023
ER -