Light-weight robot stability for orthognathic surgery. Phantom and animal cadavar trials

Despite significant improvements orthognathic surgery in the past years, there is still room for improvement. Since the objective of this surgery is to position one jaw in relationship to another (and base skull), orthognathic surgery is a good candidate for a systematic robotic approach. Coupling and holding the maxilla by a robot has already been discussed in prior work; with this study we discuss the next stage of the surgical workflow which involves holding the target position while the surgeon drills and fastens the maxilla. The LBR3 was tested in laboratory for its stability and usability. The results indicate a shift in target position almost 1.5mm and overshoot upon release of force. Recovery of the original position was established with errors below 0.01mm, and orientation up to 0.06o. Also identified with the LBR3 is the axis stability difference. Finally this study concludes that the LBR3 is adequate to assist in orthognathic surgery.