Real-Time Motion Compensation for Dynamic Dental Implant Surgery

摘要

Background: Accurate and stable instrument positioning is critical in dental implant procedures, particularly in anatomically constrained regions. Conventional navigation systems assume a static patient head, limiting adaptability in dynamic surgical conditions. This study proposes and validates a real-time motion compensation framework that integrates optical motion tracking with a collaborative robot to maintain tool alignment despite patient head movement. Methods: A six-camera OptiTrack Prime 13 system tracked rigid markers affixed to a 3D-printed human head model. Real-time head pose data were streamed to a Kuka LBR iiwa robot, which guided the implant handpiece to maintain alignment with a predefined target. Motion compensation was achieved through inverse trajectory computation and second-order Butterworth filtering to approximate realistic robotic response. Controlled experiments were performed using the MAiRA Pro M robot to impose precise motion patterns, including pure rotations (±30° at 10–40°/s), pure translations (±50 mm at 5–30 mm/s), and combined sinusoidal motions. Each motion profile was repeated ten times to evaluate intra-trial repeatability and dynamic response. Results: The system achieved consistent pose tracking errors below 0.2 mm, tool center point (TCP) deviations under 1.5 mm across all motion domains, and an average latency of ~25 ms. Overshoot remained minimal, with effective damping during motion reversal phases. The robot demonstrated stable and repeatable compensation behavior across all experimental conditions. Conclusions: The proposed framework provides reliable real-time motion compensation for dental implant procedures, maintaining high positional accuracy and stability in the presence of head movement. These results support its potential for enhancing surgical safety and precision in dynamic clinical environments.