title: A Novel System for Navigation-and Robot-Assisted Craniofacial Surgery: Establishment of the Principle Prototype.
abstract: OBJECTIVE
  The authors aimed to develop 1 novel navigation-guided robotic system for craniofacial surgery to improve accuracy during operation.
  
  
  METHODS
  A new 7-DOF (7-degree-of-freedom) robotic arm was designed and manufactured. Based on our self-developed navigation system TBNAVIS-CMFS, the key technique of integration was studied. A phantom skull model was manufactured based on computed tomography image data and used for the preexperimental study. Firstly, virtual planning was achieved through the TBNAVIS-CMFS, where the Le Fort I procedure was executed through simulation. Then, the actual Le Fort 1 osteotomy was expected to perform with the use of the robotic arm following the instructions from the navigation system.
  
  
  RESULTS
  The theoretical prototype of navigation-guided robotic system for craniofacial surgery was established successfully, which performed the planned Le Fort I procedure with the whole process visible on the screen.
  
  
  CONCLUSIONS
  The technical method of navigation-guided robotics system, allowing the operator to practice the virtual planning procedure through navigation system as well as perform the actual operation thru the robotic arm, could be regarded as a valuable option for benefiting craniofacial surgeons.
authors.affiliation: *Department of Oral and Craniomaxillofacial Science, Ninth People's Hospital, Shanghai Jiao Tong University School of Medicine †School of Mechanical Engineering ‡Manufacturing and Life Quality Engineering, School of Mechanical Engineering, Shanghai Jiao Tong University School, Shanghai, China §Department of Oral Surgery, College of Dentistry, University of the East; Department of Oral and Maxillofacial Surgery, Lung Center of the Philippines, Quezon City, Philippines.
authors.forename: Haijun
authors.initials: H
authors.lastname: Gui
authors.forename: Shilei
authors.initials: S
authors.lastname: Zhang
authors.forename: Nan
authors.initials: N
authors.lastname: Luan
authors.forename: Yanping
authors.initials: Y
authors.lastname: Lin
authors.forename: Steve G F
authors.initials: SG
authors.lastname: Shen
authors.forename: Joy S
authors.initials: JS
authors.lastname: Bautista
mesh_terms: D003198:Computer Simulation; D005147:Facial Bones / Q000601:surgery*; D006801:Humans; D008953:Models, Anatomic; D061646:Operative Time; D010027:Osteotomy / Q000379:methods*; D019340:Osteotomy, Le Fort / Q000379:methods; D010347:Patient Care Planning; D065287:Robotic Surgical Procedures / Q000379:methods*; D012886:Skull / Q000601:surgery*; D014057:Tomography, X-Ray Computed / Q000379:methods; D014584:User-Computer Interface