Control and Motion Scaling of A Compact Cable-driven Dental Robotic Manipulator

Li, Jing; Lam, Walter Yu Hang; Hsung, Tai-Chiu; Pow, Ehn; Wu, Chuan; Wang, Zheng

doi:10.1109/aim.2019.8868677

Cited by 5 publications

(1 citation statement)

References 15 publications

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“…Kasahara et al [22] achieved better dental drilling through the hybrid force/position control strategy in the master-slave control for dental drilling robot, and Iijima et al [23] also adopted a similar control strategy in their work. Li et al [24] used motion mapping with position and pose separated and converted the pose increments by the rotation vector method. Kwon et al [25] developed a master-slave transoral robot system.…”

Section: Related Workmentioning

confidence: 99%

A Guiding and Positioning Motion Strategy Based on a New Conical Virtual Fixture for Robot-Assisted Oral Surgery

Wang

Wang²,

Cai³

et al. 2022

Machines

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In robot-assisted oral surgery, the surgical tool needs to be fed into the target position to perform surgery. However, unmodeled extraoral and complex intraoral environments bring difficulties to motion planning. Meanwhile, the motion is operated manually by the surgeon, causing relatively limited accuracy as well as the risk of misoperation. Moreover, the random movements of the patient’s head bring additional disturbance to the task. To achieve the task, a motion strategy based on a new conical virtual fixture (VF) was proposed. First, by preoperatively specifying a conical guiding cone as the VF, virtual repulsive forces were applied on the out-of-range end effector. Then, based on the two-point adjustment model and velocity conversion, the effect of VF was established to prevent the end-effector from exceeding the constraint region. Finally, a vision system corrects the guiding cone to compensate for the random movement of the patient’s head to feed to a dynamic target. As an auxiliary framework for surgical operation, the proposed strategy has the advantages of safety, accuracy, and dynamic adaptability. Both simulations and experiments are conducted, verifying the feasibility of the proposed strategy.

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