title: Automated dental implantation using image-guided robotics: registration results.
abstract: OBJECTIVE
  One of the most important factors affecting the outcome of dental implantation is the accurate insertion of the implant into the patient's jaw bone, which requires a high degree of anatomical accuracy. With the accuracy and stability of robots, image-guided robotics is expected to provide more reliable and successful outcomes for dental implantation. Here, we proposed the use of a robot for drilling the implant site in preparation for the insertion of the implant.
  
  
  METHODS
  An image-guided robotic system for automated dental implantation is described in this paper. Patient-specific 3D models are reconstructed from preoperative Cone-beam CT images, and implantation planning is performed with these virtual models. A two-step registration procedure is applied to transform the preoperative plan of the implant insertion into intra-operative operations of the robot with the help of a Coordinate Measurement Machine (CMM). Experiments are carried out with a phantom that is generated from the patient-specific 3D model. Fiducial Registration Error (FRE) and Target Registration Error (TRE) values are calculated to evaluate the accuracy of the registration procedure.
  
  
  RESULTS
  FRE values are less than 0.30 mm. Final TRE values after the two-step registration are 1.42 ± 0.70 mm (N = 5).
  
  
  CONCLUSIONS
  The registration results of an automated dental implantation system using image-guided robotics are reported in this paper. Phantom experiments show that the practice of robot in the dental implantation is feasible and the system accuracy is comparable to other similar systems for dental implantation.
authors.affiliation: Department of Electrical and Computer Engineering, Old Dominion University, Norfolk, VA 23529, USA. xsunx003@odu.edu
authors.forename: Xiaoyan
authors.initials: X
authors.lastname: Sun
authors.forename: Frederic D
authors.initials: FD
authors.lastname: McKenzie
authors.forename: Sebastian
authors.initials: S
authors.lastname: Bawab
authors.forename: Jiang
authors.initials: J
authors.lastname: Li
authors.forename: Yongki
authors.initials: Y
authors.lastname: Yoon
authors.forename: Jen-K
authors.initials: JK
authors.lastname: Huang
mesh_terms: D001331:Automation; D003198:Computer Simulation; D054893:Cone-Beam Computed Tomography / Q000379:methods*; D003758:Dental Implantation, Endosseous / Q000379:methods*; D015921:Dental Implants; D006801:Humans; D007091:Image Processing, Computer-Assisted; D007568:Jaw / Q000000981:diagnostic imaging; D008954:Models, Biological; D056948:Orthognathic Surgical Procedures; D019047:Phantoms, Imaging; D015203:Reproducibility of Results; D012371:Robotics; D012680:Sensitivity and Specificity; D025321:Surgery, Computer-Assisted / Q000295:instrumentation* / Q000379:methods
chemical_list: D015921:Dental Implants