Evaluation of a custom-designed human-robot collaboration control system for dental implant robot.

Journal: The international journal of medical robotics + computer assisted surgery : MRCAS
Published Date: Nov 8, 2021

Abstract

BACKGROUND: The purpose of this study is to develop a methodology to better control a human-robot collaboration for robotic dental implant placement. We have designed a human-robot collaborative implant system (HRCDIS) which is based on a zero-force hand-guiding concept and a operational task management workflow that can achieve highly accurate and stable osteotomy drilling based on a surgeon's decision and robotic arm movements during implant surgery.

Authors

  • Tian-Shu Kan
    College of Mechanical Engineering, Zhejiang University of Technology, Hangzhou, 310023, China; Key Laboratory of Special Purpose Equipment and Advanced Processing Technology, Ministry of Education and Zhejiang Province, Zhejiang University of Technology, Hangzhou, 310023, China.
  • Kang-Jie Cheng
    College of Mechanical Engineering, Zhejiang University of Technology, Hangzhou, 310023, China; Key Laboratory of Special Purpose Equipment and Advanced Processing Technology, Ministry of Education and Zhejiang Province, Zhejiang University of Technology, Hangzhou, 310023, China.
  • Yun-Feng Liu
    College of Mechanical Engineering, Zhejiang University of Technology, Hangzhou, 310023, China; Key Laboratory of Special Purpose Equipment and Advanced Processing Technology, Ministry of Education and Zhejiang Province, Zhejiang University of Technology, Hangzhou, 310023, China. Electronic address: liuyf76@126.com.
  • Russell Wang
    Department of Comprehensive Care, Case Western Reserve University School of Dental Medicine, Cleveland, Ohio, USA.
  • Wei-Dong Zhu
    State Key Laboratory of Fluid Power and Mechatronic Systems, School of Mechanical Engineering, Zhejiang University, Hangzhou, 310027, China.
  • Fu-Dong Zhu
    The Affiliated Stomatology Hospital, Zhejiang University School of Medicine, Hangzhou, 310006, China.
  • Xian-Feng Jiang
    College of Mechanical Engineering, Zhejiang University of Technology, Hangzhou, 310023, China; Key Laboratory of Special Purpose Equipment and Advanced Processing Technology, Ministry of Education and Zhejiang Province, Zhejiang University of Technology, Hangzhou, 310023, China.
  • Xing-Tao Dong
    College of Mechanical Engineering, Zhejiang University of Technology, Hangzhou, 310023, China; Key Laboratory of Special Purpose Equipment and Advanced Processing Technology, Ministry of Education and Zhejiang Province, Zhejiang University of Technology, Hangzhou, 310023, China.

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