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Su B, Li H, Xiu W, Gao Y, Gong Y, Wang Z, Hu YD, Yao W, Tang J, Liu W, Wang J, Gao L. Autonomous aspirating robot for removing saliva blood mixed liquid in oral surgery. Comput Methods Biomech Biomed Engin 2023; 26:1523-1531. [PMID: 36382359 DOI: 10.1080/10255842.2022.2125806] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/10/2022] [Revised: 07/23/2022] [Accepted: 08/24/2022] [Indexed: 11/17/2022]
Abstract
Saliva blood mixed liquid (SBML) appears in oral surgery, such as scaling and root planning, and it affects surgical vision and causes discomfort to the patient. However, removing SBML, i.e. frequent aspiration of the mixed liquid, is a routine task involving heavy workload and interruption of oral surgery. Therefore, it is valuable to alternate the manual mode by autonomous robotic technique. The robotic system is designed consisting of an RGB-D camera, a manipulator, a disposable oral aspirator. An algorithm is developed for detection of SBML. Path planning method is also addressed for the distal end of the aspirator. A workflow for removing SBML is presented. 95% of the area of the SBML in the oral cavity was removed after liquid aspiration among a group of ten SBML aspiration experiments. This study provides the first result of the autonomous aspirating robot (AAR) for removing SBML in oral surgery, demonstrating that SBML can be removed by the autonomous robot, freeing stomatology surgeon from tedious work.
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Affiliation(s)
- Baiquan Su
- Medical Robotics Laboratory, School of Automation, Beijing University of Posts and Telecommunications, Beijing, China
| | - Han Li
- Medical Robotics Laboratory, School of Automation, Beijing University of Posts and Telecommunications, Beijing, China
| | - Wei Xiu
- Chinese Institute of Electronics, Beijing, China
| | - Yang Gao
- Chinese Institute of Electronics, Beijing, China
| | - Yi Gong
- Medical Robotics Laboratory, School of Automation, Beijing University of Posts and Telecommunications, Beijing, China
| | - Zehao Wang
- Medical Robotics Laboratory, School of Automation, Beijing University of Posts and Telecommunications, Beijing, China
| | | | - Wei Yao
- Gastroenterology Department, Peking University Third Hospital, Beijing, China
| | - Jie Tang
- Department of Neurosurgery, Xuanwu Hospital, Capital Medical University, Beijing, China
| | - Wenyong Liu
- School of Biological Science and Medical Engineering, Beihang University, Beijing, China
| | - Junchen Wang
- School of Mechanical Engineering and Automation, Beihang University, Beijing
| | - Li Gao
- Department of Periodontology, National Stomatological Center, Peking University School and Hospital of Stomatology & National Clinical Research Center for Oral Diseases, Beijing, China
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Prognostic Factors in Endodontic Surgery Using an Endoscope: A 1 Year Retrospective Cohort Study. MATERIALS 2022; 15:ma15093353. [PMID: 35591687 PMCID: PMC9103390 DOI: 10.3390/ma15093353] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 03/02/2022] [Revised: 04/22/2022] [Accepted: 05/05/2022] [Indexed: 12/12/2022]
Abstract
This retrospective study clarified the success rate of endoscopic endodontic surgeries and identified predictors accounting for successful surgeries. In this retrospective study, 242 patients (90 males, 152 females) who underwent endoscopic endodontic surgery at a single general hospital and were diagnosed through follow-up one year later were included. Risk factors were categorized into attributes, general health, anatomy, and surgery. Then, the correlation coefficient was calculated for the success or failure of endodontic surgery for each variable, the odds ratio was calculated for the upper variable, and factors related to the surgical prognosis factor were identified. The success rate of endodontic surgery was 95.3%, showing that it was a highly predictable treatment. The top three correlation coefficients were post, age, and perilesional sclerotic signs. Among them, the presence of posts was the highest, compared with the odds ratio, which was 9.592. This retrospective study revealed the success rate and risk factors accounting for endoscopic endodontic surgeries. Among the selected clinical variables, the presence of posts was the most decisive risk factor determining the success of endodontic surgeries.
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