DocumentCode :
3136731
Title :
A study on simulator of human-robot cooperative manipulator for dental implant surgery
Author :
Kim, Gwangho ; Seo, Hojin ; Im, Sungbeen ; Kang, Dongwan ; Jeong, Sanghwa
Author_Institution :
Dept. of Mech. Eng., Chosun Univ., Gwangju, South Korea
fYear :
2009
fDate :
5-8 July 2009
Firstpage :
2159
Lastpage :
2164
Abstract :
Implant surgery is generally accepted as the good technique to replace the teeth completely. Development of CT(computerized tomography) and 3D visualization technique help to make the treatment plan and the surgical navigation assists the dentist during the intra-operative procedure. Although the navigation technique facilitates the positioning, the image guided adjustment of the angle cannot be attained easily in the dental surgery. In the paper, design and simulation of assist-manipulator for implant surgery are studied. Angulation device performs a task by cooperative manipulation. The force-torque sensor is attached to the tool and specifically designed for surgeons input. Data acquisition board, LabVIEW software and ATI force-torque sensor are used for smooth and accurate sensing. The double parallelogram mechanism can provide a fixed entry point during the surgery, enhance the safety and quality, and give facilities for surgeons. The 3D visualization program of manipulator is developed by LabVIEW.
Keywords :
force sensors; manipulators; medical robotics; surgery; three-dimensional displays; visual programming; 3D visualization program; LabVIEW software; angulation device; dental implant surgery; double parallelogram mechanism; force-torque sensor; human-robot cooperative manipulator; Data visualization; Dentistry; Force sensors; Implants; Manipulators; Manufacturing processes; Mechanical engineering; Robots; Surgery; Torque;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Industrial Electronics, 2009. ISIE 2009. IEEE International Symposium on
Conference_Location :
Seoul
Print_ISBN :
978-1-4244-4347-5
Electronic_ISBN :
978-1-4244-4349-9
Type :
conf
DOI :
10.1109/ISIE.2009.5222561
Filename :
5222561
Link To Document :
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