Preoperative Planning Framework for Robot-Assisted Dental Implant Surgery: Finite-Parameter Surrogate Model and Optimization of Instrument Placement
For robot-assisted dental implant surgery, it is necessary to feed the instrument into a specified position to perform surgery. To improve safety and efficiency, a preoperative planning framework, including a finite-parameter surrogate model (FPSM) and an automatic instrument-placement method, is pr...
| Main Authors: | , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2023-08-01
|
| Series: | Bioengineering |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2306-5354/10/8/952 |
| _version_ | 1797585503016452096 |
|---|---|
| author | Yan Wang Wei Wang Yueri Cai Qiming Zhao Yuyang Wang |
| author_facet | Yan Wang Wei Wang Yueri Cai Qiming Zhao Yuyang Wang |
| author_sort | Yan Wang |
| collection | DOAJ |
| description | For robot-assisted dental implant surgery, it is necessary to feed the instrument into a specified position to perform surgery. To improve safety and efficiency, a preoperative planning framework, including a finite-parameter surrogate model (FPSM) and an automatic instrument-placement method, is proposed in this paper. This framework is implemented via two-stage optimization. In the first stage, a group of closed curves in polar coordinates is used to represent the oral cavity. By optimizing a finite number of parameters for these curves, the oral structure is simplified to form the FPSM. In the second stage, the FPSM serves as a fast safety estimator with which the target position/orientation of the instrument for the feeding motion is automatically determined through particle swarm optimization (PSO). The optimized feeding target can be used to generate a virtual fixture (VF) to avoid undesired operations and to lower the risk of collision. This proposed framework has the advantages of being safe, fast, and accurate, overcoming the computational burden and insufficient real-time performance of complex 3D models. The framework has been developed and tested, preliminarily verifying its feasibility, efficiency, and effectiveness. |
| first_indexed | 2024-03-11T00:07:02Z |
| format | Article |
| id | doaj.art-f56c02e96fc44a188b5c6acbe3cb1557 |
| institution | Directory Open Access Journal |
| issn | 2306-5354 |
| language | English |
| last_indexed | 2024-03-11T00:07:02Z |
| publishDate | 2023-08-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Bioengineering |
| spelling | doaj.art-f56c02e96fc44a188b5c6acbe3cb15572023-11-19T00:18:18ZengMDPI AGBioengineering2306-53542023-08-0110895210.3390/bioengineering10080952Preoperative Planning Framework for Robot-Assisted Dental Implant Surgery: Finite-Parameter Surrogate Model and Optimization of Instrument PlacementYan Wang0Wei Wang1Yueri Cai2Qiming Zhao3Yuyang Wang4School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, ChinaSchool of Mechanical Engineering and Automation, Beihang University, Beijing 100191, ChinaSchool of Mechanical Engineering and Automation, Beihang University, Beijing 100191, ChinaSchool of Mechanical Engineering and Automation, Beihang University, Beijing 100191, ChinaSchool of Mechanical Engineering and Automation, Beihang University, Beijing 100191, ChinaFor robot-assisted dental implant surgery, it is necessary to feed the instrument into a specified position to perform surgery. To improve safety and efficiency, a preoperative planning framework, including a finite-parameter surrogate model (FPSM) and an automatic instrument-placement method, is proposed in this paper. This framework is implemented via two-stage optimization. In the first stage, a group of closed curves in polar coordinates is used to represent the oral cavity. By optimizing a finite number of parameters for these curves, the oral structure is simplified to form the FPSM. In the second stage, the FPSM serves as a fast safety estimator with which the target position/orientation of the instrument for the feeding motion is automatically determined through particle swarm optimization (PSO). The optimized feeding target can be used to generate a virtual fixture (VF) to avoid undesired operations and to lower the risk of collision. This proposed framework has the advantages of being safe, fast, and accurate, overcoming the computational burden and insufficient real-time performance of complex 3D models. The framework has been developed and tested, preliminarily verifying its feasibility, efficiency, and effectiveness.https://www.mdpi.com/2306-5354/10/8/952dental implant surgerysurrogate modelvirtual fixtureparticle swarm optimization |
| spellingShingle | Yan Wang Wei Wang Yueri Cai Qiming Zhao Yuyang Wang Preoperative Planning Framework for Robot-Assisted Dental Implant Surgery: Finite-Parameter Surrogate Model and Optimization of Instrument Placement Bioengineering dental implant surgery surrogate model virtual fixture particle swarm optimization |
| title | Preoperative Planning Framework for Robot-Assisted Dental Implant Surgery: Finite-Parameter Surrogate Model and Optimization of Instrument Placement |
| title_full | Preoperative Planning Framework for Robot-Assisted Dental Implant Surgery: Finite-Parameter Surrogate Model and Optimization of Instrument Placement |
| title_fullStr | Preoperative Planning Framework for Robot-Assisted Dental Implant Surgery: Finite-Parameter Surrogate Model and Optimization of Instrument Placement |
| title_full_unstemmed | Preoperative Planning Framework for Robot-Assisted Dental Implant Surgery: Finite-Parameter Surrogate Model and Optimization of Instrument Placement |
| title_short | Preoperative Planning Framework for Robot-Assisted Dental Implant Surgery: Finite-Parameter Surrogate Model and Optimization of Instrument Placement |
| title_sort | preoperative planning framework for robot assisted dental implant surgery finite parameter surrogate model and optimization of instrument placement |
| topic | dental implant surgery surrogate model virtual fixture particle swarm optimization |
| url | https://www.mdpi.com/2306-5354/10/8/952 |
| work_keys_str_mv | AT yanwang preoperativeplanningframeworkforrobotassisteddentalimplantsurgeryfiniteparametersurrogatemodelandoptimizationofinstrumentplacement AT weiwang preoperativeplanningframeworkforrobotassisteddentalimplantsurgeryfiniteparametersurrogatemodelandoptimizationofinstrumentplacement AT yuericai preoperativeplanningframeworkforrobotassisteddentalimplantsurgeryfiniteparametersurrogatemodelandoptimizationofinstrumentplacement AT qimingzhao preoperativeplanningframeworkforrobotassisteddentalimplantsurgeryfiniteparametersurrogatemodelandoptimizationofinstrumentplacement AT yuyangwang preoperativeplanningframeworkforrobotassisteddentalimplantsurgeryfiniteparametersurrogatemodelandoptimizationofinstrumentplacement |