Toward robot-assisted dental surgery: Path generation and navigation system using optical tracking approach

The main aim of this paper is to develop dental implant surgical navigation system based on homogenous transformation algorithms. This work is a partial section of robot-assisted surgical development. The previous works are presented in numerous basic research. They are methodology design on tool tip calibration, optical marker recognition, and pose determination using neural networks. This paper concerns with tracking path generation system based on fundamental of optical tracking. The intraoperative system is the principal focus area of this study. The homogenous transformation has been calculated in term of kinematics equation among marker relationship. The stereo camera is utilized to retrieve 3D position of different pattern styles of markers. The beneath marker recognition algorithm using rotation-invariant neural network and physical method is performed to identify markers. The fundamental relationship among markers are computed to obtain the orientation and translation between the guided path and the instrument's tool tip. The experiment has been demonstrated and performed under prototype model. The method is to work on procedure step by step. They begin with patient information input and continuously perform on marker recognition, tool tip calibrations and marker digitization. The path tracking is executed to observe the accuracy of the system. The result shows that the system can be performed to track path based on beforehand planning.

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