Development of a Multi DOF Haptic Robot for Dentistry and Oral Surgery

摘要

There exist many dental surgery such as orthognathic surgery and an implant operation. Jaw deformity is one of the dental diseases such as an abnormality of occlusion and facial distortion in the shape. To treat jaw deformity, the osteotomy is carried out by human hands. However, drilling a jawbone accurately by oral surgeons is difficult. Recently, surgical robots are attracting attention in the medical field. The researches of surgery supporting systems have been carried out. They have possibilities to avoid unexpected accidents in the surgery, a hands shake and so on. The improvement of the minimally invasive surgery can be expected, thanks to robotic technology. The purpose of this research is the design and development of master-slave dentistry and oral surgery assisting robot. By implementing acceleration based bilateral control, haptic information can be communicated. Moreover, the proposed robot has the serial-parallel hybrid mechanism that can obtain the advantages of a serial mechanism and a parallel mechanism. In this paper, the mechanism of the proposed robot is explained and the performance of the proposed robot is validated by experiments.