Work

Preliminary study of a new macro‐micro robot system for dental implant surgery: Design, development and control

Year: 2023

Type: article

Abstract: BACKGROUND: This study aims to develop a new dental implant robotic system (DIRS) to relieve the burden and enhance the quality of dental implant surgery. METHODS: The implanting actuator and system controller are two parts. The implanting actuator is designed on the basis of the RCM mechanism, with its kinematics modelled. Besides, a multi-DOF admittance control strategy and a hybrid position-admittance control strategy were designed, endowing the actuator with environmental compliance. RESULTS: In force sensing, about 97% of mixed force/torque are eliminated. Then, 30 groups of implantation are done, of which 15 groups are simple implantation, while another 15 groups are force-based implantation. The results show that the average contact force/torque can be reduced by 73.03% and 62.66%, and the peak contact force/torque can be reduced by 68.26% and 50.46%. CONCLUSIONS: The results of preliminary experiments validate the effectiveness of DIRS, which has great potential to assist dentists with higher efficiency, better quality, and lower burden.

Source: International Journal of Medical Robotics and Computer Assisted Surgery

DOI: 10.1002/rcs.2614

Authors: Yan Wang, Wei Wang, Yueri Cai, Qiming Zhao, Yuyang Wang

Institution: Beihang University

Language: English

Topic: Soft Robotics and Applications

Subfield: Biomedical Engineering

Field: Engineering

Domain: Physical Sciences

SDG: Good health and well-being

Open Access status: bronze

Funders: National Key Research and Development Program of China, Fundamental Research Funds for the Central Universities