title: A study of an assisting robot for mandible plastic surgery based on augmented reality.
abstract: BACKGROUND
  Mandible plastic surgery plays an important role in conventional plastic surgery. However, its success depends on the experience of the surgeons. In order to improve the effectiveness of the surgery and release the burden of surgeons, a mandible plastic surgery assisting robot, based on an augmented reality technique, was developed.
  
  
  METHODS
  Augmented reality assists surgeons to realize positioning. Fuzzy control theory was used for the control of the motor. During the process of bone drilling, both the drill bit position and the force were measured by a force sensor which was used to estimate the position of the drilling procedure.
  
  
  RESULTS
  An animal experiment was performed to verify the effectiveness of the robotic system. The position error was 1.07 ± 0.27 mm and the angle error was 5.59 ± 3.15°. The results show that the system provides a sufficient accuracy with which a precise drilling procedure can be performed. In addition, under the supervision's feedback of the sensor, an adequate safety level can be achieved for the robotic system.
  
  
  CONCLUSIONS
  The system realizes accurate positioning and automatic drilling to solve the problems encountered in the drilling procedure, providing a method for future plastic surgery.
authors: a School of Biomedical Engineering, Shanghai Jiao Tong University , Shanghai , China.
authors: Yunyong
authors: Y
authors: Shi
authors: b Department of Plastic and Reconstructive Surgery , Shanghai 9th Peoples Hospital, Shanghai Jiao Tong University School of Medicine , Shanghai , China.
authors: Li
authors: L
authors: Lin
authors: c National Digital Manufacturing Technology Center, Institute of Forming Technology and Equipment, Shanghai Jiao Tong University , Shanghai , China.
authors: Chaozheng
authors: C
authors: Zhou
authors: b Department of Plastic and Reconstructive Surgery , Shanghai 9th Peoples Hospital, Shanghai Jiao Tong University School of Medicine , Shanghai , China.
authors: Ming
authors: M
authors: Zhu
authors: a School of Biomedical Engineering, Shanghai Jiao Tong University , Shanghai , China.|c National Digital Manufacturing Technology Center, Institute of Forming Technology and Equipment, Shanghai Jiao Tong University , Shanghai , China.
authors: Le
authors: L
authors: Xie
authors: b Department of Plastic and Reconstructive Surgery , Shanghai 9th Peoples Hospital, Shanghai Jiao Tong University School of Medicine , Shanghai , China.
authors: Gang
authors: G
authors: Chai
mesh_terms: D000818:Animals; D004285:Dogs; D017143:Fuzzy Logic; D008334:Mandible / Q000601:surgery*; D019060:Minimally Invasive Surgical Procedures / Q000295:instrumentation*; D065287:Robotic Surgical Procedures / Q000295:instrumentation*; D013518:Surgery, Plastic / Q000295:instrumentation*; D013552:Swine
keywords: Mandible plastic surgery; augmented reality; bone drilling; fuzzy control