Studies on the Development of Dental Patient Robot

近年来，由于空气涡轮机具的进一步改进，牙科学生在短时间内难以掌握切削技术。因此，为了提高教育效果，我们开始开发用于培训切割技术的牙科患者机器人。首先，研究了空气涡轮切削力和转速的测量方法，采用工程机器人的触摸传感器作为负载传感器测量切削力，转速采用涡流传感器测量。该负载传感器固定在切割义齿模型下。该病人机器人具有类似于一个活体的嘴，并能在个人电脑上实时显示法向力、对齿轴的倾斜力矩和速度的三种波形。并根据这些切割波形分析了切割技术，并给出了一些建议给牙科学生。此外，我们还开发了一种磁性倾角测量装置，用于特别训练冠的制备，这是最重要和最困难的切割技术。该装置可以在牙科学生做冠预备时，非接触定量测量机头的倾斜角，在<±bbb10范围内具有足够的精度。因此，牙科学生可以在机器人的评论控制下进行具体的切割训练，从而能够在较短的时间内掌握切割技术

Recently, dental students have a great difficulty to acquire the cutting high-technique for a short time, as air-turbine handpieces are further improved. Therefore, for elevating the education effect, we initiated the development of the dental patient robot for training the cutting techniques. Primarily, the methods for measuring the cutting forces and the rotational speed of air-turbine were investigated, consequently, the touch sensor used for the engineering robot was applied as load sensor for measuring the cutting forces, and the rotational speed was used one applied the eddy current. This load sensor is fixed under the cutting denture model. This patient robot has the mouth which was similar to one of the living body, and can show three waveforms of the normal force and the tilt-moment to toothaxis and the speed at real time in display of personal computer. And, this robot analyzes the cutting technique on the basis of these waveforms of cutting, and gives some comments to dental student. Further, we have developed an inclination angle measuring device using magnetism for especially training the preparation of crown to be the most important and difficult cutting technique. This device can be measured the inclination angle of handpiece in non-contacting and quantitative way while dental student does the preparation of crown, having enough accuracy in <plus-minus>10ﾟ range. Therefore, dental student can concretely do the cutting training to be controlled by comments'from ihis robot, concequently will be able to acquire the cutting techniques in shorter tim