Development of a Multi DOF Haptic Robot for Dentistry and Oral Surgery
Development of a Multi DOF Haptic Robot for Dentistry and Oral Surgery
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开发用于牙科和口腔外科的多自由度触觉机器人
DOI：
10.1109/sii46433.2020.9026216
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发表时间：
2020
期刊：
影响因子：
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通讯作者：
Kawana Hiromasa
中科院分区：
文献类型：
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作者：
Iijima Taiga;Matsunaga Takuya;Shimono Tomoyuki;Ohnishi Kouhei;Usuda Shin;Kawana Hiromasa
存在许多牙科手术，例如正颌手术和种植手术。颌骨畸形是咬合异常、面部形状扭曲等牙齿疾病之一。为了治疗颌骨畸形，截骨术是由人手进行的。然而，口腔外科医生很难准确地在颌骨上钻孔。近年来，手术机器人在医疗领域引起了人们的关注。开展了手术支持系统的研究。他们有可能避免手术中出现意外事故，比如手抖等。得益于机器人技术，微创手术的改进是可期的。本研究的目的是设计和开发主从式牙科和口腔手术辅助机器人。通过实施基于加速度的双边控制，可以传达触觉信息。此外，所提出的机器人具有串并联混合机构，可以获得串联机构和并联机构的优点。在本文中，解释了所提出的机器人的机制，并通过实验验证了所提出的机器人的性能。
There exist many dental surgery such as orthognathic surgery and an implant operation. Jaw deformity is one of the dental diseases such as an abnormality of occlusion and facial distortion in the shape. To treat jaw deformity, the osteotomy is carried out by human hands. However, drilling a jawbone accurately by oral surgeons is difficult. Recently, surgical robots are attracting attention in the medical field. The researches of surgery supporting systems have been carried out. They have possibilities to avoid unexpected accidents in the surgery, a hands shake and so on. The improvement of the minimally invasive surgery can be expected, thanks to robotic technology. The purpose of this research is the design and development of master-slave dentistry and oral surgery assisting robot. By implementing acceleration based bilateral control, haptic information can be communicated. Moreover, the proposed robot has the serial-parallel hybrid mechanism that can obtain the advantages of a serial mechanism and a parallel mechanism. In this paper, the mechanism of the proposed robot is explained and the performance of the proposed robot is validated by experiments.
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
发表时间：
2016
期刊：
2016 IEEE Distributed Computing, VLSI, Electrical Circuits and Robotics (DISCOVER)
影响因子：
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作者：
S. Yeotikar;A. M. Parimi;Y. V. Daseswar Rao
通讯作者：
Y. V. Daseswar Rao