Studies on the Development of Dental Patient Robot for Training the Cutting Techniques.

近年来，随着空气涡轮机具的不断改进，牙科专业学生在短时间内难以掌握切削技术。因此，为了提高其教育效果，我们开始开发用于培训切割技术的牙科患者机器人。首先，研究了空腔制备下空气管道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，采用涡流传感器测量转速。该负载传感器可以连续测量法向力和倾斜力矩，并固定在切削变形模型下。顺带一提，一般用途的口腔假人没有舌头，而且其内部结构的空间很大。因此，我们开发了一种新的病人机器人，它的嘴类似于一个活生生的身体。该牙科病人机器人可以在个人电脑上实时显示制备空腔时的切削力。牙科病人机器人根据标准的切割力波进行切割力波分析，以估计牙科学生的切割技术，在准备好腔后，对牙科学生的切割技术进行一些评论。其次，牙科学生可以根据这些评论具体地进行切割训练，从而在更短的时间内掌握切割技术。

Recently, as air-turbine handpieces are improved, the dental students have a great difficulty to acquire the cutting high-technique for a short time. Therefor, for elevating the effect of its education, we initiated the development of the dental patient robot for traninng the cutting techniques. Primarily, tye metods for measuring the cutting forces and the rotatinal speed of air-tubine under cavity preparation 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 sensor was used one applied the eddy current. This load sensor can continuously measur the normal force and the tilt-moment, and is fixed under the cutting deture model. Incidentally, the dental manequins in general uses have not a tongue in its mouth, and the space of its inner structure is wide. So, we deveroped new patient robot of which the mouth was similar to one of the living body. This dental patient robot can show the cutting forces under cavity preparation at real time in display of parsonal computer. And the dental patient robot does the analysis of the waves of cutting forces according to the standard waves of cutting forces for estimating the cutting techniques of dental student, after the cavity preparation, gives some comments on cutting techniques to dental student. Next, the dental student can concretely do the traning of cutting to be controlled by these comment, consequently can acquire the cutting techniques in shorter time.