An Optics-guided Robotic System for Dental Implant Surgery

An Optics-guided Robotic System for Dental Implant Surgery | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Original Article An Optics-guided Robotic System for Dental Implant Surgery Biao Yan, Wenlong Zhang, Lijing Cai, Lingxiang Zheng, Kaiyang Bao, and 7 more This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-562295/v1 This work is licensed under a CC BY 4.0 License Status: Under Review Version 1 posted 10 You are reading this latest preprint version Abstract At present, dental implant surgery mainly relies on the clinical experience of the doctor and the assistance of preoperative medical imaging. However, there are some problems in dental implant surgery, such as narrow space, sight obstruction, inaccurate positioning, and high requirements of doctors' proficiency. Therefore, a dental implant robot system (DIRS) guided by optical navigation is developed in this study, with an x-shaped tool and an irregular pentagonal tracer are designed for spatial registration and needle tip positioning strategy respectively. The coordinate system of each unit in DIRS is unified through system calibration, spatial registration, and needle tip positioning strategy. Then the surgical path is planned on the Computed Tomography (CT) images in the navigation software before operation. The automatic positioning method and the auxiliary positioning method can be used in the operation to achieve accurate positioning and assist doctors to complete the operation. The errors of spatial registration, needle tip positioning strategy, and the overall accuracy of the system were evaluated respectively, and the results showed that they all met the needs of clinical surgery. This study preliminarily verified the feasibility of the precise positioning method for dental surgery robots and provided certain ideas for subsequent related research. Mechanical Engineering Dental implant surgery Robot system Calibration Registration Figures Figure 1 Figure 2 Figure 3 Figure 4 Figure 5 Figure 6 Figure 7 Figure 8 Figure 9 Figure 10 Figure 11 Figure 12 Full-Text Due to technical limitations, full-text HTML conversion of this manuscript could not be completed. However, the manuscript can be downloaded and accessed as a PDF. Cite Share Download PDF Status: Under Review Version 1 posted Review # 2 received at journal 17 Jul, 2021 Reviewer # 2 agreed at journal 13 Jun, 2021 Review # 1 received at journal 13 Jun, 2021 Reviews received at journal 08 Jun, 2021 Reviewers invited by journal 08 Jun, 2021 Reviewer # 1 agreed at journal 07 Jun, 2021 Editor assigned by journal 25 May, 2021 Submission checks completed at journal 24 May, 2021 Editor invited by journal 24 May, 2021 First submitted to journal 24 May, 2021 You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. As a division of Research Square Company, we’re committed to making research communication faster, fairer, and more useful. We do this by developing innovative software and high quality services for the global research community. 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Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {"props":{"pageProps":{"initialData":{"identity":"rs-562295","acceptedTermsAndConditions":true,"allowDirectSubmit":false,"archivedVersions":[],"articleType":"Original Article","associatedPublications":[],"authors":[{"id":30281408,"identity":"9db0f400-9acf-4f20-97d5-ca65cdb7cff0","order_by":0,"name":"Biao Yan","email":"","orcid":"https://orcid.org/0000-0003-2427-6127","institution":"South China University of Technology","correspondingAuthor":false,"submittingAuthor":false,"prefix":"","firstName":"Biao","middleName":"","lastName":"Yan","suffix":""},{"id":30281409,"identity":"54a54316-9440-49d5-87d0-547803454c34","order_by":1,"name":"Wenlong Zhang","email":"","orcid":"","institution":"South 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4","display":"","copyAsset":false,"role":"figure","size":27653,"visible":true,"origin":"","legend":"Illusion of the irregular pentagonal retro-reflective marker tracer.","description":"","filename":"4.jpg","url":"https://assets-eu.researchsquare.com/files/rs-562295/v1/d9185cd1de0f3ea370085ed0.jpg"},{"id":9998998,"identity":"585dd9aa-4f95-4091-a91f-4c647cbc0e9e","added_by":"auto","created_at":"2021-06-04 18:50:42","extension":"jpg","order_by":5,"title":"Figure 5","display":"","copyAsset":false,"role":"figure","size":32547,"visible":true,"origin":"","legend":"(a) Skull model in actual surgical space. (b)Skull model in image space.","description":"","filename":"5.jpg","url":"https://assets-eu.researchsquare.com/files/rs-562295/v1/980f744e9b43c0cdcddbe455.jpg"},{"id":9998992,"identity":"9bd13245-ea09-43a2-8cc1-1ef259df5230","added_by":"auto","created_at":"2021-06-04 18:50:40","extension":"jpg","order_by":6,"title":"Figure 6","display":"","copyAsset":false,"role":"figure","size":43954,"visible":true,"origin":"","legend":"The x-shaped tool. (a)Vertical view. (b)Establish the coordinate system of . (c)Use the x-shaped tool to determine the position of the needle tip and keep it vertical to determine the direction of the needle body. (d)Some drill needles of different sizes.","description":"","filename":"6.jpg","url":"https://assets-eu.researchsquare.com/files/rs-562295/v1/e9a57dc925586555dee59235.jpg"},{"id":9998991,"identity":"864bedbc-0d05-40e5-8020-4dd69ef97f71","added_by":"auto","created_at":"2021-06-04 18:50:40","extension":"jpg","order_by":7,"title":"Figure 7","display":"","copyAsset":false,"role":"figure","size":35291,"visible":true,"origin":"","legend":"3D image, axial, sagittal and coronal plane in ","description":"","filename":"7.jpg","url":"https://assets-eu.researchsquare.com/files/rs-562295/v1/87ae6c21ecc7e423d42e5e1c.jpg"},{"id":9998989,"identity":"3362bf83-b8e9-4839-a5fb-9d928cbdd778","added_by":"auto","created_at":"2021-06-04 18:50:40","extension":"jpg","order_by":8,"title":"Figure 8","display":"","copyAsset":false,"role":"figure","size":45836,"visible":true,"origin":"","legend":"Surgical path planning. (a) Automatic positioning method, set the target on the alveolar bone. (b)Auxiliary positioning method, set the target point outside the alveolar bone.","description":"","filename":"8.jpg","url":"https://assets-eu.researchsquare.com/files/rs-562295/v1/7c446e11bba8793ad8a695d5.jpg"},{"id":9998993,"identity":"adcfa978-b379-4794-9ce1-35e0bb76ccb5","added_by":"auto","created_at":"2021-06-04 18:50:40","extension":"jpg","order_by":9,"title":"Figure 9","display":"","copyAsset":false,"role":"figure","size":44666,"visible":true,"origin":"","legend":"25 initial pose points for system calibration in . The small blue, green and pink squares represent the projection of on the plane.","description":"","filename":"9.jpg","url":"https://assets-eu.researchsquare.com/files/rs-562295/v1/c34540b332e91196c7eb8490.jpg"},{"id":9998995,"identity":"dd44533d-b160-4903-ada3-02357c3d0648","added_by":"auto","created_at":"2021-06-04 18:50:41","extension":"jpg","order_by":10,"title":"Figure 10","display":"","copyAsset":false,"role":"figure","size":52531,"visible":true,"origin":"","legend":"The error of spatial registration and needle tip positioning strategy.","description":"","filename":"10.jpg","url":"https://assets-eu.researchsquare.com/files/rs-562295/v1/1ae75987fea59c0a4153a161.jpg"},{"id":9999237,"identity":"c6aac3fd-f57d-4929-89fe-2aa48ac07201","added_by":"auto","created_at":"2021-06-04 18:53:42","extension":"jpg","order_by":11,"title":"Figure 11","display":"","copyAsset":false,"role":"figure","size":40115,"visible":true,"origin":"","legend":"The results of automatic positioning method. (a) Tip positioning result display. (b) Most of the eight final positioning results are within 1mm, which can meet the actual needs of dental implant surgery.\n\n","description":"","filename":"11.jpg","url":"https://assets-eu.researchsquare.com/files/rs-562295/v1/50797c0b4d18dabd02d59532.jpg"},{"id":9999236,"identity":"2d86e9ff-a09f-4bc3-ac13-c35b0215af84","added_by":"auto","created_at":"2021-06-04 18:53:42","extension":"jpg","order_by":12,"title":"Figure 12","display":"","copyAsset":false,"role":"figure","size":124217,"visible":true,"origin":"","legend":"The results of auxiliary positioning method. (a) After the needle tip reaches the target point, manually push the robotic arm to move along the fixed path in the UR5e force mode. (b) The trajectory of the needle tip. (c) Real-time angle of each joint of the robot. (d) Real-time angular velocity of each joint of the robot, the time period when the speed is zero represents the program interval stage.","description":"","filename":"12.jpg","url":"https://assets-eu.researchsquare.com/files/rs-562295/v1/98b8f6dd5d44beccdea4cd21.jpg"},{"id":13640229,"identity":"ae85658f-85a0-4d7c-9dd4-b1bb0d25da95","added_by":"auto","created_at":"2021-09-17 08:59:03","extension":"pdf","order_by":1,"title":"","display":"","copyAsset":false,"role":"manuscript-pdf","size":1174507,"visible":true,"origin":"","legend":"","description":"","filename":"DIRSmanuscript.pdf","url":"https://assets-eu.researchsquare.com/files/rs-562295/v1_covered.pdf"},{"id":9999242,"identity":"08c8d586-c1ce-429a-963d-6d7d3b5d88f8","added_by":"auto","created_at":"2021-06-04 18:53:49","extension":"pdf","order_by":1,"title":"","display":"","copyAsset":false,"role":"manuscript-pdf","size":1170908,"visible":true,"origin":"","legend":"","description":"","filename":"DIRSmanuscript.pdf","url":"https://assets-eu.researchsquare.com/files/rs-562295/v1_covered.pdf"}],"financialInterests":"","formattedTitle":"\u003cp\u003eAn Optics-guided Robotic System for Dental Implant Surgery\u003c/p\u003e","fulltext":[{"header":"Full-Text","content":"\u003cp\u003eDue to technical limitations, full-text HTML conversion of this manuscript could not be completed. However, the manuscript can be downloaded and accessed as a PDF.\u003c/p\u003e"}],"fulltextSource":"","fullText":"","funders":[],"hasAdminPriorityOnWorkflow":false,"hasManuscriptDocX":false,"hasOptedInToPreprint":true,"hasPassedJournalQc":"","hasAnyPriority":false,"hideJournal":false,"highlight":"","institution":"","isAcceptedByJournal":true,"isAuthorSuppliedPdf":true,"isDeskRejected":"","isHiddenFromSearch":false,"isInQc":false,"isInWorkflow":false,"isPdf":false,"isPdfUpToDate":true,"isWithdrawnOrRetracted":false,"journal":{"display":true,"email":"[email protected]","identity":"chinese-journal-of-mechanical-engineering","isNatureJournal":false,"hasQc":true,"allowDirectSubmit":false,"externalIdentity":"chme","sideBox":"Learn more about [Chinese Journal of Mechanical Engineering](https://cjme.springeropen.com)","snPcode":"","submissionUrl":"https://www.editorialmanager.com/chme/default.aspx","title":"Chinese Journal of Mechanical Engineering","twitterHandle":"@SpringerOpen","acdcEnabled":true,"dfaEnabled":true,"editorialSystem":"em","reportingPortfolio":"BMC/SO AJ","inReviewEnabled":true,"inReviewRevisionsEnabled":true},"keywords":"Dental implant surgery, Robot system, Calibration, Registration","lastPublishedDoi":"10.21203/rs.3.rs-562295/v1","lastPublishedDoiUrl":"https://doi.org/10.21203/rs.3.rs-562295/v1","license":{"name":"CC BY 4.0","url":"https://creativecommons.org/licenses/by/4.0/"},"manuscriptAbstract":"At present, dental implant surgery mainly relies on the clinical experience of the doctor and the assistance of preoperative medical imaging. However, there are some problems in dental implant surgery, such as narrow space, sight obstruction, inaccurate positioning, and high requirements of doctors' proficiency. Therefore, a dental implant robot system (DIRS) guided by optical navigation is developed in this study, with an x-shaped tool and an irregular pentagonal tracer are designed for spatial registration and needle tip positioning strategy respectively. The coordinate system of each unit in DIRS is unified through system calibration, spatial registration, and needle tip positioning strategy. Then the surgical path is planned on the Computed Tomography (CT) images in the navigation software before operation. The automatic positioning method and the auxiliary positioning method can be used in the operation to achieve accurate positioning and assist doctors to complete the operation. The errors of spatial registration, needle tip positioning strategy, and the overall accuracy of the system were evaluated respectively, and the results showed that they all met the needs of clinical surgery. This study preliminarily verified the feasibility of the precise positioning method for dental surgery robots and provided certain ideas for subsequent related research.","manuscriptTitle":"An Optics-guided Robotic System for Dental Implant Surgery","msid":"","msnumber":"","nonDraftVersions":[{"code":1,"date":"2021-06-04 18:50:38","doi":"10.21203/rs.3.rs-562295/v1","editorialEvents":[{"type":"communityComments","content":0},{"type":"editorInvitedReview","content":"","date":"2021-07-18T00:00:00+00:00","index":2,"fulltext":"Recommendation: Reviewer's comments unavailable due to the journal's policy.\n"},{"type":"reviewerAgreed","content":"","date":"2021-06-14T00:00:00+00:00","index":2,"fulltext":""},{"type":"editorInvitedReview","content":"","date":"2021-06-14T00:00:00+00:00","index":1,"fulltext":"Recommendation: Reviewer's comments unavailable due to the journal's policy.\n"},{"type":"editorInvitedReview","content":"","date":"2021-06-08T06:49:00+00:00","index":0,"fulltext":""},{"type":"reviewersInvited","content":"","date":"2021-06-08T05:31:00+00:00","index":"","fulltext":""},{"type":"reviewerAgreed","content":"","date":"2021-06-08T00:00:00+00:00","index":1,"fulltext":""},{"type":"editorAssigned","content":"","date":"2021-05-25T10:39:00+00:00","index":"","fulltext":""},{"type":"checksComplete","content":"","date":"2021-05-24T23:00:00+00:00","index":"","fulltext":""},{"type":"editorInvited","content":"","date":"2021-05-24T23:00:00+00:00","index":"","fulltext":""},{"type":"submitted","content":"Chinese Journal of Mechanical Engineering","date":"2021-05-24T11:40:12+00:00","index":"","fulltext":""}],"status":"published","journal":{"display":true,"email":"[email protected]","identity":"chinese-journal-of-mechanical-engineering","isNatureJournal":false,"hasQc":true,"allowDirectSubmit":false,"externalIdentity":"chme","sideBox":"Learn more about [Chinese Journal of Mechanical Engineering](https://cjme.springeropen.com)","snPcode":"","submissionUrl":"https://www.editorialmanager.com/chme/default.aspx","title":"Chinese Journal of Mechanical Engineering","twitterHandle":"@SpringerOpen","acdcEnabled":true,"dfaEnabled":true,"editorialSystem":"em","reportingPortfolio":"BMC/SO AJ","inReviewEnabled":true,"inReviewRevisionsEnabled":true}}],"origin":"","ownerIdentity":"ff67b6c8-0844-4ed7-81f8-24a7f28bda78","owner":[],"postedDate":"June 4th, 2021","published":true,"recentEditorialEvents":[],"rejectedJournal":[],"revision":"","amendment":"","status":"under-review","subjectAreas":[{"id":4809827,"name":"Mechanical Engineering"}],"tags":[],"updatedAt":"2022-04-18T03:43:27+00:00","versionOfRecord":[],"versionCreatedAt":"2021-06-04 18:50:38","video":"","vorDoi":"","vorDoiUrl":"","workflowStages":[]},"version":"v1","identity":"rs-562295","journalConfig":"researchsquare"},"__N_SSP":true},"page":"/article/[identity]/[[...version]]","query":{"redirect":"/article/rs-562295","identity":"rs-562295","version":["v1"]},"buildId":"WrCJVZZCHTDjtuVLN7oU0","isFallback":false,"isExperimentalCompile":false,"dynamicIds":[84888],"gssp":true,"scriptLoader":[]}