Accuracy and Safe Strategies for Robotic-Assisted Mandible Reconstruction with Fibula Free Flap

Mandible reconstruction with fibula free flap requires precise and safe bone resection during the osteotomy of the flap using a surgical robotic system. In this study, a force-position hybrid control strategy is proposed to enable collaborative osteotomy between humans and robots. Additionally, a method is presented to restrict the motion degrees of freedom of the surgical tool, along with a planar boundary collision algorithm based on the enclosing box tree. The proposed methodology is successfully integrated into a previously developed surgical planning system, and an overall design framework for the surgical robot system is established. The hardware and software integration of the system is also completed. Furthermore, a model experimental platform is constructed to verify the accuracy of the osteotomy and the stability and reliability of the surgical robot’s operation.