Modulated potential field for position adjusting with human interaction for implant surgery

K. Yu, T. Nakano, K. Ohnishi, S. Usuda, T. Nakagawa, H. Kawana
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引用次数: 1

Abstract

Image processing and robotics are leading technologies to improve dental surgery. The important information for physicians to perform implant surgery is “where to start cutting” and “when to stop cutting”. The aim of this research is to achieve automatic guide system for teaching the information of “where to start cutting”. To achieve this aim, L-J potential field, which can realize required performance of position adjustment with human interaction are proposed in this paper. Proposed potential field has three features. First, physician can free moving the manipulator when far from the distinction. Second, the manipulator will apply adjusting force for correctly converges to the destination when approaching to the distinction. Third, the manipulator will apply adjusting force for collision avoidance when passing the distinction. The validity of proposed L-J potential are confirmed through experiment using 2DOF parallel link manipulator.
用于植入手术中人机交互位置调节的调制势场
图像处理和机器人技术是改善牙科手术的领先技术。医生进行种植手术的重要信息是“从哪里开始切割”和“何时停止切割”。本课题的研究目的是实现“从哪里开始切割”信息教学的自动引导系统。为了实现这一目标,本文提出了L-J势场,该势场可以实现人机交互的位置调整性能。提出的势场具有三个特征。首先,医师可以在远离时自由移动机械手。其次,在接近分界点时,机械手将施加调整力使其正确收敛到目的地。第三,机械手在通过分界时施加避碰调节力。通过二自由度并联机械臂的实验,验证了所提出的L-J势的有效性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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