Toward Robot-Assisted Dental Surgery: Path Generation and Navigation System Using Optical Tracking Approach Auranuch Lorsakul and Jackrit Suthakorn* Chanjira Sinthanayothin and Wichit Tharanon Department of Biomedical Engineering, and Center for National Science and Technology Biomedical and Robotics Technology (BART LAB), Faculty of Development Agency (NSTDA) Engineering, Mahidol University, Bangkok, Thailand Klong Luang, Pathumthani, Thailand auranuch@bartlab.org and *Corresponding author: egjst@mahidol.ac.th chanjira.sinthanayothin@nectec.or.th, and wichit.tharanon@adtec.or.th Abstract - 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. Index Terms - Surgical Navigation System, Dental Implant, Optical Tracking, Computer Integrated Surgery I. INTRODUCTION Dental Implant is a surgical treatment of tooth root replacement which is the most frequently used in prosthetic dentistry. It can be used to replace missing teeth by screwing a very simple metal of medical grade such as titanium or titanium alloy into the jaw bone. A present mechanical guided system or template drill guided system is an old-fashion technology for dental implant guidance. It is derived by waxing up patient’s teeth impression, and then it has to transfer the interactive planning of implants from 2D and 3D visualization to the template in reality [1]. The drawbacks of this method are on the lack of interactive control during implant is operated, as well as, the high cost of drilled guided template intervention [2, 3]. Fig. 1. Dental implant navigation system development architecture Currently, a new system of computer-assisted surgery (CAS) for oral implantology application has been developed and introduced clinically. Computerized navigation system is offered in order to implement intraoperative guidance of the surgical instruments based on a presurgical plan. Because of its successes for the past several years, dentists have come to rely on them for solving problems that were formerly insolvable. The methodology based on CAS interventions includes preoperative and intraoperative procedures. The preoperative surgery is to use 3D views as provided to enhance raw images obtained from the patient before operation. The technique is to render a target region and a pathway associated with relative organs from CT data. This helps dentists to get familiar with the anatomy of the patient in advance [4]. Turning to intraoperative stage, intraoperative support can be used during the real surgical procedure in both navigation and decision aid purposes. It provides three- dimensional (3D) orientation of surgical instrument position and trajectory displayed on a monitor in real-time within patient’s 3D imaging data [5]. A robust and high accuracy tracking system are main parameters in navigation system. Sets of infrared (IR) based surgical marker emitters are designed in different patterns for tracking movement of surgical instruments and patient’s position. Because the objects except the surgical markers in the operation room Proceedings of the 2008 IEEE International Conference on Robotics and Biomimetics Bangkok, Thailand, February 21 - 26, 2009 978-1-4244-2679-9/08/$25.00 ©2008 IEEE 1212