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

近年来，随着气动涡轮手机的不断改进，牙科专业学生在短时间内掌握切削高技术有很大的困难。因此，为了提升其教育效果，我们开始研发牙科病患机器人，以训练切割技术。首先研究了型腔制备过程中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，采用转速传感器施加电涡流测量转速。该测力传感器可连续测量法向力和倾斜力矩，并安装在切削模型下。顺便说一句，一般使用的牙齿manequins在其口中没有舌头，其内部结构的空间很宽。因此，我们开发了一种新型的病人机器人，其嘴巴类似于活体。该牙科病人机器人能在局部计算机显示器上真实的显示牙洞制备过程中的切削力。并根据标准切削力波形对牙科患者机器人的切削力波形进行分析，以评价牙科学生的切削技术，在洞型制备后，对牙科学生的切削技术进行评价。其次，牙科学生可以通过这些评论具体地进行切割的训练，从而可以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.