Automation of end effector guidance of robotic arm for dental implantation using computer vision
Automation of end effector guidance of robotic arm for dental implantation using computer vision
复制标题
使用计算机视觉实现牙科种植机械臂末端执行器引导的自动化
DOI：
10.1109/discover.2016.7806263
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发表时间：
2016
期刊：
影响因子：
--
通讯作者：
Y. V. Daseswar Rao
中科院分区：
文献类型：
--
作者：
S. Yeotikar;A. M. Parimi;Y. V. Daseswar Rao
将牙科植入物植入人体是一项任务，需要大量的灵巧，努力和预防措施，代表牙医。该手术最重要的子任务之一是在患者的颌骨上钻孔。机器人技术领域的不断进步使人们有可能建造机器人手臂，这些机器人手臂可以达到与牙医相同的精度，从而使整个过程自动化，从而节省牙医的时间和精力。此外，视觉为机器人提供了大量的信息，如周围环境中的物体，它们的形状，颜色等，这些信息可以被机器人用来执行与周围环境交互的动作并完成特定的目标。本文探讨了计算机视觉技术在下颌骨种植术中的应用，利用机器人手臂实现了末端执行器引导的自动化，利用计算机视觉技术建立了机器人手臂的闭环反馈控制系统，使机器人手臂的末端执行器到达预定的位置，完成下颌骨的钻孔。模板匹配用于检测由安装在末端执行器（也包括钻孔机）处的摄像机捕获的后续帧中的期望点。本文提出的系统可靠地建立了完整的自动化过程，因此只需要从牙医鼠标点击的努力。
Placing dental implants in humans is a task that requires a large amount of dexterity, effort and precautionary measures on behalf of the dentist. One of the most important sub-task of this procedure is drilling a hole in the jaw of patient. Increasing advances in the field of robotics have made it possible to build robotic arms that can attain the same degree of precision as that of dentist for this sub-task, thus opening a possibility of automating the entire process which would save time and effort of dentists. In addition, vision equips a robot with a large amount of information like the objects in surroundings, their shape, color, etc. This information on being processed can be used to perform actions by a robot to interact with the surroundings and accomplish a certain goal. In this paper, one such application of computer vision has been discussed to accomplish the goal of automation of end effector guidance for dental implantation in human mandible by means of a robotic arm. Computer vision has been used to establish a closed loop feedback control system for the robotic arm, so as to make the end effector of robotic arm reach the desired location for drilling the hole in jaw. Template matching is used to detect the desired point in subsequent frames captured by a camera mounted at the end effector also consisting of a drilling machine. The system proposed in this paper reliably establishes complete automation of the process, thus demanding only a mouse click effort from the dentist.