Evidence map›Paper›PMID 32715383›Full record

ArticleInternational journal of computer assisted radiology and surgery2020

Automatic robot-world calibration in an optical-navigated surgical robot system and its application for oral implant placement.

Yang Li, Junlei Hu, Baoxin Tao, Dedong Yu, Yihan Shen, Shengchi Fan, Yiqun Wu, Xiaojun Chen

Abstract read
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In one paragraph

Article in International journal of computer assisted radiology and surgery, 2020. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 11 papers, 1 of them a synthesis that pooled it.

0numbers the graph read from it
0cells of the map it votes in
11citing papers in PubMed, 1 pooled it
1.8field-weighted citation impact, top 16% of its field
1 · What the graph read from it

What it found

Each row is one number read from the abstract, on the scale the paper reported it, with its interval. Left of the dashed line favours the treatment, right favours the comparator. Under each row is the sentence it came from. New to these charts? A ten-minute tutorial.

The abstract states no effect estimate the extractor could read, or names no intervention and outcome on the map, so this paper lights no cell and moves no belief. It is still indexed, cited and linked below.

2 · The registry

The trial behind it

Trials whose registry record cites this paper, or whose number appears in the abstract. A trial that started after this paper was published is citing it as background, not reporting it.

Neither the registry nor the abstract names a trial number. If this is a trial report, that itself is worth knowing.

3 · Its place in the literature

Who cites it

11 citing papers in PubMed, 1 synthesis or guideline pooled it, 41 citations in OpenAlex.

  1. Pooled it
  2. Review
  3. Article
  4. Article
  5. Article
  6. Article
  7. Article
  8. Efficient intraoral photogrammetry using self-identifying projective invariant marker.International journal of computer assisted radiology and surgery · 2024
    Article
  9. Review
  10. Article
  11. An image-guided hybrid robot system for dental implant surgery.International journal of computer assisted radiology and surgery · 2022
    Article
4 · The record

Corrections and comments

PubMed lists nothing against this paper. Absence here is not a guarantee, only a check that was made.

5 · Who and what money

Authors and funding

8 authors at 1 institution in 2 countries.

Yang LiRoom 805, School of Mechanical Engineering, Shanghai Jiao Tong University, Dongchuan Road 800, Minhang District, Shanghai, 200240, China.
Junlei HuRoom 805, School of Mechanical Engineering, Shanghai Jiao Tong University, Dongchuan Road 800, Minhang District, Shanghai, 200240, China.
Baoxin TaoDepartment of 2nd Dental Center, Shanghai Ninth People's Hospital, College of Stomatology, Shanghai Jiao Tong University School of Medicine; National Clinical Research Center for Oral Diseases; Shanghai Key Laboratory of Stomatology & Shanghai Research Institute of Stomatology, Shanghai, China.
Dedong YuDepartment of 2nd Dental Center, Shanghai Ninth People's Hospital, College of Stomatology, Shanghai Jiao Tong University School of Medicine; National Clinical Research Center for Oral Diseases; Shanghai Key Laboratory of Stomatology & Shanghai Research Institute of Stomatology, Shanghai, China.
Yihan ShenDepartment of 2nd Dental Center, Shanghai Ninth People's Hospital, College of Stomatology, Shanghai Jiao Tong University School of Medicine; National Clinical Research Center for Oral Diseases; Shanghai Key Laboratory of Stomatology & Shanghai Research Institute of Stomatology, Shanghai, China.
Shengchi FanDepartment of 2nd Dental Center, Shanghai Ninth People's Hospital, College of Stomatology, Shanghai Jiao Tong University School of Medicine; National Clinical Research Center for Oral Diseases; Shanghai Key Laboratory of Stomatology & Shanghai Research Institute of Stomatology, Shanghai, China.
Yiqun WuDepartment of 2nd Dental Center, Shanghai Ninth People's Hospital, College of Stomatology, Shanghai Jiao Tong University School of Medicine; National Clinical Research Center for Oral Diseases; Shanghai Key Laboratory of Stomatology & Shanghai Research Institute of Stomatology, Shanghai, China.
Xiaojun ChenRoom 805, School of Mechanical Engineering, Shanghai Jiao Tong University, Dongchuan Road 800, Minhang District, Shanghai, 200240, China. xiaojunchen@sjtu.edu.cn.ORCID http://orcid.org/0000-0002-0298-4491
Shanghai Jiao Tong University · CN

Funding

National Key R&D Program of China 2017YFB1302900National Natural Science Foundation of China 81828003National Natural Science Foundation of China 81971709National Natural Science Foundation of China 82011530141National Natural Science Foundation of China M-0019Shanghai Jiao Tong University Foundation on Medical and Technological Joint Science Research YG2019ZDA06Shanghai Jiao Tong University Foundation on Medical and Technological Joint Science Research ZH2018QNA23Shanghai Jiao Tong University Foundation on Medical and Technological Joint Science Research ZH2018ZDA15the Foundation of Ministry of Education of China Science and Technology Development Center 2018C01038the Foundation of Science and Technology Commission of Shanghai Municipality 19510712200
6 · The paper itself

Abstract

purposeRobot-world calibration, used to precisely determine the spatial relation between optical tracker and robot, is regarded as an essential step for optical-navigated surgical robot system to improve the surgical accuracy. However, these methods are complicated with numerous computation. Therefore, a more efficient method of a robot-world calibration is necessary.

methodsA fully automatic robot-world calibration was proposed and applied in a surgical robot system for oral implant placement. Making full usage of the movement characteristics of a tandem robot, the least square fitting algorithm was implemented to calculate the relationship between the tool center point of the robot and the robot reference frame, with the robot-world calibration matrix obtained as result.

resultsThe experiment was designed to verify the accuracy of the robot-world calibration. The average distance deviation was 1.11 mm, and the average angle deviation was 0.99°. From the animal experiment on the pig maxilla, the entry, apical and angle deviation of the surgical robot system were 1.44 ± 1.01 mm, 1.68 ± 0.76 mm, 1.01 ± 1.06°, respectively.

conclusionThe surgical robot system for oral implant placement with our robot-world calibration maintains a high precision. Besides, the operation range of the surgical tool is no longer limited by the visual range of the optical tracking device. Hence, it is unnecessary to adjust the optical tracking device for the planned implant trajectories to different positions and directions.

Indexed as

Dental ImplantsOptical DevicesAlgorithmsAnimalsCalibrationMaxillaPhantoms, ImagingRoboticsSurgery, Computer-AssistedSwineDental ImplantsOral implant placementRobot-world calibrationSurgical robot system

Identifiers

PMID32715383
OpenAlexW3045199323

What OpenQuestion holds

Textmetadata
Read underepoch 390

Registered trials

None linked

Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.