Evidence map›Paper›PMID 34449036›Full record

ArticleInternational journal of computer assisted radiology and surgery2022

An image-guided hybrid robot system for dental implant surgery.

Yuan Feng, JiaCheng Fan, BaoXin Tao, ShiGang Wang, JinQiu Mo, YiQun Wu, QingHua Liang, XiaoJun Chen

Abstract read
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In one paragraph

Article in International journal of computer assisted radiology and surgery, 2022. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 12 papers, 1 of them a synthesis that pooled it.

0numbers the graph read from it
0cells of the map it votes in
12citing papers in PubMed, 1 pooled it
–field-weighted citation impact
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

12 citing papers in PubMed, 1 synthesis or guideline pooled it.

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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.

Yuan FengSchool of Mechanical Engineering, Shanghai Jiao Tong University, Room 901, Dongchuan Road 800, Minhang District, Shanghai, 200240, China.
JiaCheng FanSchool of Mechanical Engineering, Shanghai Jiao Tong University, Room 901, Dongchuan Road 800, Minhang District, Shanghai, 200240, China.
BaoXin TaoDepartment of Second Dental Center, Shanghai Ninth People's Hospital, College of Stomatology, Shanghai Jiao Tong University, School of Medicine, National Clinical Research Center for Oral Disease, Shanghai Key Laboratory of Stomatology and Shanghai Research Institute of Stomatology, 639, Zhizaoju Road, Shanghai, 200011, China.
ShiGang WangSchool of Mechanical Engineering, Shanghai Jiao Tong University, Room 901, Dongchuan Road 800, Minhang District, Shanghai, 200240, China.
JinQiu MoSchool of Mechanical Engineering, Shanghai Jiao Tong University, Room 901, Dongchuan Road 800, Minhang District, Shanghai, 200240, China.
YiQun WuDepartment of Second Dental Center, Shanghai Ninth People's Hospital, College of Stomatology, Shanghai Jiao Tong University, School of Medicine, National Clinical Research Center for Oral Disease, Shanghai Key Laboratory of Stomatology and Shanghai Research Institute of Stomatology, 639, Zhizaoju Road, Shanghai, 200011, China.
QingHua LiangSchool of Mechanical Engineering, Shanghai Jiao Tong University, Room 901, Dongchuan Road 800, Minhang District, Shanghai, 200240, China. qhliang@sjtu.edu.cn.
XiaoJun ChenSchool of Mechanical Engineering, Shanghai Jiao Tong University, Room 901, Dongchuan Road 800, Minhang District, Shanghai, 200240, China. xiaojunchen@sjtu.edu.cn.

Funding

National Key R&D Program of China 2017YFB1302901
6 · The paper itself

Abstract

purposeDental implant surgery is an effective method for remediating the loss of teeth. Robot is expected to increase the accuracy of dental implant surgery. However, most of them are industrial serial robot, with low stiffness and non-unique inverse kinematic solution, which may reduce the success rate and safety of robotic surgery. Compared to serial robot, parallel robot is more stiffness and has unique inverse kinematic. However, its workspace is small, which may not meet surgical requirements. Therefore, a novel hybrid robot dedicated to dental implant is proposed.

methodsThe hybrid robot is composed of three translation joints, two revolute joints, and Stewart parallel manipulator. Stewart is used for performing surgical operation, while the joints are used for enlarging the workspace of Stewart. In order to ensure the safety of robot motion, physical human-robot interaction based on a variable admittance controller is applied in the robotic system. In addition, considering the small workspace of Stewart, an optimal model is proposed to minimize the joint movement of Stewart in adjusting the orientation of drill bit.

resultsPhantom experiments were carried out based on the prototype robot. In the experiments, the optimal model could be solved after 20 iterations, finding an ideal joint configuration. The proposed variable admittance controller could enhance comfort level effectively. The accuracy of robot is evaluated by angle, entry and exit deviation, which are 0.74 ± 0.25°, 0.93 ± 0.28 mm, and 0.96 ± 0.23 mm, respectively.

conclusionThe phantom experiments validate the functionality of the proposed hybrid robot. The satisfactory performance makes it more widely used in the practical dental implant surgery in the future.

Indexed as

Dental ImplantsRoboticsRobotic Surgical ProceduresSurgery, Computer-AssistedBiomechanical PhenomenaHumansDental ImplantsDental implant surgeryHybrid robot systemPhysical human–robot interactionStewart manipulator

Identifiers

PMID34449036

What OpenQuestion holds

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Registered trials

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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.