A study on simulator of human-robot cooperative manipulator for dental implant surgery

摘要

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 surgeon's 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.