The novel system significantly enhances the accuracy, usability, and controllability in laser phonomicrosurgery. The design provides an opportunity to improve the ergonomics and safety of current surgical setups.
Abstract-Robot manipulator designs are increasingly focused on low cost approaches, especially those envisioned for use in unstructured environments such as households, office spaces and hazardous environments. The cost of angular sensors varies based on the precision offered. For tasks in these environments, millimeter order manipulation errors are unlikely to cause drastic reduction in performance. In this paper, estimates the joint angles of a manipulator using low cost triaxial accelerometers by taking the difference between consecutive acceleration vectors. The accelerometer-based angle is compensated with a uniaxial gyroscope using a complementary filter to give robust measurements. Three compensation strategies are compared: complementary filter, time varying complementary filter, and extended Kalman filter. This sensor setup can also accurately track the joint angle even when the joint axis is parallel to gravity and the accelerometer data does not provide useful information. In order to analyze this strategy, accelerometers and gyroscopes were mounted on one arm of a PR2 robot. The arm was manually moved smoothly through different trajectories in its workspace while the joint angle readings from the on-board optical encoders were compared against the joint angle estimates from the accelerometers and gyroscopes. The low cost angle estimation strategy has a mean error 1.3• over the three joints estimated, resulting in mean end effector position errors of 6.1 mm or less. This system provides an effective angular measurement as an alternative to high precision encoders in low cost manipulators and as redundant measurements for safety in other manipulators.
BackgroundPost-Extraction ridge preservation using bone graft substitutes is a conservative technique to maintain the width of the alveolar ridge. The objective of the present study was to evaluate an in situ hardening biphasic (HA/β-TCP) bone graft substitutes for ridge preservation without primary wound closure or a dental membrane.MethodsA total of 15 patients reported for tooth extraction were enrolled in this study. Implants were placed in average 5.2 ± 2 months after socket grafting. At this visit, Cone Beam CT (CBCT) images and core biopsies were taken. Implant stability (ISQ) was assessed at the insertion as well as at the day of final restoration.ResultsCBCT data revealed 0.79 ± 0.73 mm ridge width reduction from grafting to implant placement. Histomorphometric analysis of core biopsy samples revealed in average 21.34 ± 9.14% of new bone in the grafted sites. Primary implant stability was high (ISQ levels 70.3 ± 9.6) and further increased until final restoration.ConclusionsThe results of this study show that grafting of intact post-extraction sockets using a biphasic in situ hardening bone graft substitute results in an effective preservation of the ridge contour and sufficient new bone formation in the grafted sites, which is imperative for successful implant placement.
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