A study on simulator of human-robot cooperative manipulator for dental implant surgery

Abstract

Implant surgery is generally accepted as the good technique to replace the teeth completely. Development of CT(Computerized Tomography) and 3D visualization technique help to make the treatment plan and the surgical navigation assists the dentist during the intra-operative procedure. Although the navigation technique facilitates the positioning, the image guided adjustment of the angle cannot be attained easily in the dental surgery. In the paper, design and simulation of assistmanipulator for implant surgery are studied. Angulation device performs a task by cooperative manipulation. The force/torque sensor is attached to the tool and specifically designed for surgeon's input. Data acquisition board, LabVIEW software and ATI force/torque sensor are used for smooth and accurate sensing. The double parallelogram mechanism can provide a fixed entry point during the surgery, enhance the safety and quality, and give facilities for surgeons. The 3D visualization program of manipulator is developed by LabVIEW.I.

Robotics in Dentistry: A Narrative Review

“…In addition to the assisted or automatic system, a team has constructed a human–machine collaborative dental implant system to fully utilize the advantages of both the surgeon’s experience and robot’s stability [ 27 ]. The design and simulation of a human–robot cooperative manipulator for implant surgery have also been studied [ 28 ]. To overcome the technical difficulties associated with oral implant treatment, a computer-aided oral implant system was introduced, including framing, modeling, preoperative 3D planning, registration, optical tracking, and real-time navigation systems [ 29 ].…”

Dental manpower and treated dental diseases in department of dentistry, Taipei Hospital (the predecessor of National Taiwan University Hospital) in 1923

“…Previous studies have demonstrated the successful application of force guidance in the dental implant procedure, effectively compensating for slight misalignments caused by kinematic errors or patient motion [13], [14], [18]. This concept aligns with the principle of peg-in-hole assembly using force-guided robotic manipulators [30], [31].…”

“…Consequently, in contrast to the utilization of parallel kinematics mechanisms [13], serial mechanisms have been widely adopted in dental robotics [10]- [12], [14], [17]. Only a small number of systems still rely on the use of the RCM mechanism [18], [19].…”

Cooperative Robot Manipulators Dynamical Modeling and Control: An Overview

“…Healthcare [33] They can be used in healthcare to assist with surgeries or other medical procedures, such as nursing.…”