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Coordinated control and experimentation of the dental arch generator of the tooth-arrangement robot
Zhang, Yong-de1; Jiang, Jin-gang1; Lv, Pei-jun2; Wang, Yong2
关键词dental arch generator coordinated control high precision software timing tooth-arrangement robot
刊名INTERNATIONAL JOURNAL OF MEDICAL ROBOTICS AND COMPUTER ASSISTED SURGERY
2010-12-01
DOI10.1002/rcs.358
6期:4页:473-482
收录类别SCI
文章类型Article
WOS标题词Science & Technology
类目[WOS]Surgery
研究领域[WOS]Surgery
关键词[WOS]FORM
英文摘要

Background The traditional way of acquiring the dental arch curve form is based on manual operation, which will randomly bring numerous errors caused by human factors. The purpose of this paper is to automatically acquire the dental arch curve and implement the coordinated control of the dental arch generator of the multi-manipulator tooth-arrangement robot, which can be used in full denture manufacturing.

Methods Based on the arc length constant theory, kinematics on dental arch generator is analyzed. The control pulse realization methods of high-resolution timing and CPU time-stamp timing are studied, and testing and comparative analysis of the control precision and stability of the two methods is carried out. Control experimentation of the dental arch generator and preliminary tooth-arrangement experimentation are performed using the multi-manipulator tooth-arrangement robot system.

Results The dental arch generator can automatically generate a dental arch curve that fits a patient according to the patient′s jaw arch parameters. Repeated positioning accuracy is 0.12 mm for the slipways which drive the dental arch generator. The maximum value of single point error is 1.64 mm when the arc width direction (x-axis) is 37.25 mm. The experimental results indicate that the method of control pulse realized by high-resolution timing to achieve high precision coordinated motion control of dental arch generator of tooth-arrangement robot is feasible. The error analysis results indicate that the control strategy and technical route can fulfill the requirements for motion speed and location precision.

Conclusion A novel system to generate the tooth arch curve has been developed. The traditional method of manually determining the dental arch may soon become obsolete in favour of the use of a robot to assist in generating a more standard tooth arch curve. The system can be used to manufacture a full denture. It will lay an important theoretical foundation for quantitative research of oral restoration, and also provide a way to standardize the manufacturing process of full denture. Copyright (C) 2010 John Wiley & Sons, Ltd.

语种英语
WOS记录号WOS:000285223000014
项目编号50675054
资助机构National Natural Science Foundation of China
引用统计
被引频次:7[WOS]   [WOS记录]     [WOS相关记录]
文献类型期刊论文
条目标识符http://ir.bjmu.edu.cn/handle/400002259/60774
专题北京大学口腔医学院
作者单位1.Harbin Univ Sci & Technol, Intelligent Machine Inst, Harbin 150080, Peoples R China
2.Peking Univ, Sch Stomatol, Minist Hlth, Res Ctr Engn & Technol Computerised Dent, Beijing 100081, Peoples R China
推荐引用方式
GB/T 7714
Zhang, Yong-de,Jiang, Jin-gang,Lv, Pei-jun,et al. Coordinated control and experimentation of the dental arch generator of the tooth-arrangement robot[J]. INTERNATIONAL JOURNAL OF MEDICAL ROBOTICS AND COMPUTER ASSISTED SURGERY,2010,6(4):473-482.
APA Zhang, Yong-de,Jiang, Jin-gang,Lv, Pei-jun,&Wang, Yong.(2010).Coordinated control and experimentation of the dental arch generator of the tooth-arrangement robot.INTERNATIONAL JOURNAL OF MEDICAL ROBOTICS AND COMPUTER ASSISTED SURGERY,6(4),473-482.
MLA Zhang, Yong-de,et al."Coordinated control and experimentation of the dental arch generator of the tooth-arrangement robot".INTERNATIONAL JOURNAL OF MEDICAL ROBOTICS AND COMPUTER ASSISTED SURGERY 6.4(2010):473-482.
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