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Studies on the Development of Dental Patient Robot

牙科病人机器人的研制研究

基本信息

批准号：
01870081
负责人：
MIYAIRI Hiroo
金额：
$ 3.52万
依托单位：
Tokyo Medical and Dental University
依托单位国家：
日本
项目类别：
Grant-in-Aid for Developmental Scientific Research
财政年份：
1989
资助国家：
日本
起止时间：
1989 至 1991
项目状态：
已结题

来源：
https://kaken.nii.ac.jp/en/grant/KAKENHI-PROJECT-01870081/
关键词：
Dental Patient robot Preparation of tooth Cutting forces Normal force Tilt-moment Rotational speed Waveforms of cutting Estimation of cutting tecnique 支台歯形成補綴学実習教育効果切削技術評価多変量解析切削力の測定ハンドピ-ス傾斜角度の測定

项目摘要

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

近年来，随着气动涡轮手机的进一步改进，牙科学生在短时间内很难掌握切割高技术。因此，为了提高教育效果，我们开始开发牙科病人机器人来训练切割技术。首先，研究了切削力和涡轮转速的测量方法，采用工程机器人用的接触式传感器作为载荷传感器测量切削力，采用涡流传感器测量涡轮转速。该载荷传感器固定在切割义齿模型下。该病人机器人具有类似于人体的嘴部，并能在微机显示器上真实的实时显示出牙齿所受的法向力、牙轴所受的倾斜力矩和速度的三种波形。并且，该机器人在这些切割波形的基础上分析了切割技术，并给出了一些意见，牙科学生。此外，我们还开发了一种利用磁性的倾斜角测量装置，特别是训练牙冠准备是最重要和最困难的切割技术。该装置可在牙科学生进行牙冠预备时，对手机的倾斜角度进行非接触式定量测量，测量精度在<plus-minus>10 μ m以内。因此，牙科学生可以具体地进行切割训练，由Ihis机器人的评论控制，从而能够在更短的时间内掌握切割技术。