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

IF 2.3 3区医学 Q2 SURGERY

International Journal of Medical Robotics and Computer Assisted Surgery Pub Date : 2023-12-21 DOI:10.1002/rcs.2614

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

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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.

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用于牙科植入手术的新型宏微型机器人系统的初步研究：设计、开发和控制

本研究旨在开发一种新型牙科植入机器人系统（DIRS），以减轻牙科植入手术的负担并提高其质量。

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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来源期刊

International Journal of Medical Robotics and Computer Assisted Surgery 医学-外科

CiteScore

4.50

自引率

12.00%

发文量

131

审稿时长

6-12 weeks

期刊介绍： The International Journal of Medical Robotics and Computer Assisted Surgery provides a cross-disciplinary platform for presenting the latest developments in robotics and computer assisted technologies for medical applications. The journal publishes cutting-edge papers and expert reviews, complemented by commentaries, correspondence and conference highlights that stimulate discussion and exchange of ideas. Areas of interest include robotic surgery aids and systems, operative planning tools, medical imaging and visualisation, simulation and navigation, virtual reality, intuitive command and control systems, haptics and sensor technologies. In addition to research and surgical planning studies, the journal welcomes papers detailing clinical trials and applications of computer-assisted workflows and robotic systems in neurosurgery, urology, paediatric, orthopaedic, craniofacial, cardiovascular, thoraco-abdominal, musculoskeletal and visceral surgery. Articles providing critical analysis of clinical trials, assessment of the benefits and risks of the application of these technologies, commenting on ease of use, or addressing surgical education and training issues are also encouraged. The journal aims to foster a community that encompasses medical practitioners, researchers, and engineers and computer scientists developing robotic systems and computational tools in academic and commercial environments, with the intention of promoting and developing these exciting areas of medical technology.