A Compact Asymmetrical Manipulator for Robotic Dentistry

Tao，Yufu1; Zhang，Tianyi1; Xu，Wenyutian1; Tsang，Ho Yin1; Li，Jing1; Wang，Zheng2

10.1109/CYBER46603.2019.9066571

2019-07-01

2379-7711

978-1-7281-0771-4

9th IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2019

164-168

29 July-2 Aug. 2019

Suzhou, China

345 E 47TH ST, NEW YORK, NY 10017 USA

IEEE

In contemporary society, there is an increasing gap between supply and demand for dental healthcare services. Meanwhile, robotics technology has the potential to greatly improving the working efficiency of dental surgeries hence filling the widening gap. However, newly-developed dental robots, which are based on existing large-sized industrial manipulators, have over-qualified workspace for dental applications. Thus, a miniaturized 6-Degree-of-Freedom robotic manipulator with tendon-driven mechanism was developed. With the manipulator being able of covering the whole human oral cavity, the overall size of the proposed manipulator has been successfully constrained in a 50×50×50cm cube which is hardly possible for existing surgical manipulators. Meanwhile, the inverse kinematics algorithm was established through D-H modeling and was then implemented onto an operator console to achieve remote control. Moreover, a dental handpiece was utilized as the surgical end effector. The overall performance of the robotic system was validated with a fabricated prototype, where joints' linearity and torque transmission performances were analyzed from experimental results.

Manipulators Dentistry Torque Service robots Kinematics Tendons

其他

英语

CPCI-S ; EI

Hong Kong RGC-ECS Grant[27210315]

Automation & Control Systems ; Computer Science

Automation & Control Systems ; Computer Science, Artificial Intelligence ; Computer Science, Cybernetics

WOS:000569550300028

20201908641827

Inverse problems ; Robotic surgery ; Industrial manipulators ; Remote control ; Economics

Medicine and Pharmacology:461.6 ; Control Systems:731.1 ; Robot Applications:731.6 ; Mechanics:931.1 ; Social Sciences:971

2-s2.0-85084299330

Scopus

1.University of Hong Kong,Department of Mechanical Engineering,Hong Kong,Hong Kong
2.Southern University of Science and Technology,Department of Mechanical and Energy Engineering,China

Tao，Yufu,Zhang，Tianyi,Xu，Wenyutian,et al. A Compact Asymmetrical Manipulator for Robotic Dentistry[C]. 345 E 47TH ST, NEW YORK, NY 10017 USA:IEEE,2019:164-168.