Development of a Real-Time 6-DOF Motion-Tracking System for Robotic Computer-Assisted Implant Surgery

Sin, Minki; Cho, Jang Ho; Lee, Hyukjin; Kim, Kiyoung; Woo, Hyun Soo; Park, Ji‐Man

doi:10.3390/s23052450

Cited by 8 publications

(4 citation statements)

References 24 publications

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“…Moreover, the calibration and registration processes involve automatic recognition of the robotic system. The high stability of the robotic arm and the high accuracy of the automatic recognition minimize any deviations of the robotic system 52 , 53 . Second, implant robots respond to deviations appropriately within milliseconds.…”

Section: Discussionmentioning

confidence: 99%

Accuracy of dental implant placement using different dynamic navigation and robotic systems: an in vitro study

Xu,

Zhou,

Han

et al. 2024

npj Digit. Med.

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Computer-aided implant surgery has undergone continuous development in recent years. In this study, active and passive systems of dynamic navigation were divided into active dynamic navigation system group and passive dynamic navigation system group (ADG and PDG), respectively. Active, passive and semi-active implant robots were divided into active robot group, passive robot group and semi-active robot group (ARG, PRG and SRG), respectively. Each group placed two implants (FDI tooth positions 31 and 36) in a model 12 times. The accuracy of 216 implants in 108 models were analysed. The coronal deviations of ADG, PDG, ARG, PRG and SRG were 0.85 ± 0.17 mm, 1.05 ± 0.42 mm, 0.29 ± 0.15 mm, 0.40 ± 0.16 mm and 0.33 ± 0.14 mm, respectively. The apical deviations of the five groups were 1.11 ± 0.23 mm, 1.07 ± 0.38 mm, 0.29 ± 0.15 mm, 0.50 ± 0.19 mm and 0.36 ± 0.16 mm, respectively. The axial deviations of the five groups were 1.78 ± 0.73°, 1.99 ± 1.20°, 0.61 ± 0.25°, 1.04 ± 0.37° and 0.42 ± 0.18°, respectively. The coronal, apical and axial deviations of ADG were higher than those of ARG, PRG and SRG (all P < 0.001). Similarly, the coronal, apical and axial deviations of PDG were higher than those of ARG, PRG, and SRG (all P < 0.001). Dynamic and robotic computer-aided implant surgery may show good implant accuracy in vitro. However, the accuracy and stability of implant robots are higher than those of dynamic navigation systems.

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Section: Discussionmentioning

confidence: 99%

Accuracy of dental implant placement using different dynamic navigation and robotic systems: an in vitro study

Xu,

Zhou,

Han

et al. 2024

npj Digit. Med.

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show abstract

“…The SPM is a 3-DOF orientation device and was examined in several works [3], [8], [13], [20], [38], [39], [40], [42], [43], [44], [45], [46], [51], [82] and was used in many applications [2], [18], [21], [27], [31], [36], [42], [46], [48], [49], [50], [55], [57], [58], [71], [72], [73], [74], [79], [83], [85]. Torque applied by the actuators in each of the three parallel linkages of the mechanism results in spherical rotation of the end-effector (EE) around the common centre point.…”

Section: Mathematical Setup Of the Spmmentioning

confidence: 99%

Kinematics of a Novel Serial-Parallel, Compliant, Three-Legged Robot

Feller

2023

IEEE Access

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In this article, the solution to the inverse and forward kinematics of a novel three-legged, serialparallel, compliant robot are presented. The design of the robot aims to combine properties from serial and parallel architectures, thereby targeting an agile, yet precisely controllable robot that possibly allows both for dynamic locomotion and accurate manipulation tasks. The robot embodies the series connection of two parallel architectures, a planar and a spherical mechanism, realized in a highly dense mechanical assembly, allowing for lightweight, functionally redundant and compliant 4-DOF legs. A hybrid compliance behaviour is achieved, serving as a threshold between a stiff and compliant systemic state of the robot. Based on the mechanism design, the study involves the derivation of an alternative, yet complete solution for the inverse and forward kinematics of the spherical parallel manipulator (SPM). The approach utilizes spherical trigonometry and spatial vector geometry and yields a unique solution, while being both easy to implement and numerically efficient, thereby being applicable to real time implementations. Conceptually, a reduction of the mechanism assembly and working modes was directly integrated into the solution terms, drastically simplifying the expressions as they only represents the mechanically meaningful configuration relevant for actual physical systems. In addition to the active joint coordinates, the solution yields a unique set of all passively driven joints. The derived robot kinematics are furthermore verified through a 3D simulation model, showing the robot performing several motions. Thereby, the simulations portray the characteristics of the motor units by means of their corresponding phase profiles, revealing a balanced utilisation.INDEX TERMS Forward kinematics, inverse kinematics, legged robot, mechanical design, serial-parallel mechanism, spherical parallel manipulator.

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“…However, this achievement does not extend to augmented subtractive construction; it includes passing activities, such as cutting, sawing, and drilling. While tool tracking has been actively researched in other domains [4][5][6][7], contextual exploration within AR digital fabrication remains limited. The detection and continuous tracking of the employed tool heads throughout the fabrication process are fundamental for efficient and contemporary AR applications.…”

Section: Introduction 1contextmentioning

confidence: 99%

TTool: A Supervised Artificial Intelligence-Assisted Visual Pose Detector for Tool Heads in Augmented Reality Woodworking

Settimi,

Chutisilp,

Aymanns

et al. 2024

Applied Sciences

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We present TimberTool (TTool v2.1.1), a software designed for woodworking tasks assisted by augmented reality (AR), emphasizing its essential function of the real-time localization of a tool head’s poses within camera frames. The localization process, a fundamental aspect of AR-assisted tool operations, enables informed integration with contextual tracking, facilitating the computation of meaningful feedback for guiding users during tasks on the target object. In the context of timber construction, where object pose tracking has been predominantly explored in additive processes, TTool addresses a noticeable gap by focusing on subtractive tasks with manual tools. The proposed methodology utilizes a machine learning (ML) classifier to detect tool heads, offering users the capability to input a global pose and utilizing an automatic pose refiner for final pose detection and model alignment. Notably, TTool boasts adaptability through a customizable platform tailored to specific tool sets, and its open accessibility encourages widespread utilization. To assess the effectiveness of TTool in AR-assisted woodworking, we conducted a preliminary experimental campaign using a set of tools commonly employed in timber carpentry. The findings suggest that TTool can effectively contribute to AR-assisted woodworking tasks by detecting the six-degrees-of-freedom (6DoF) pose of tool heads to a satisfactory level, with a millimetric positional error of 3.9 ± 1 mm with possible large room for improvement and 1.19 ± 0.6° for what concerns the angular accuracy.

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Development of a Real-Time 6-DOF Motion-Tracking System for Robotic Computer-Assisted Implant Surgery

Cited by 8 publications

References 24 publications

Accuracy of dental implant placement using different dynamic navigation and robotic systems: an in vitro study

Accuracy of dental implant placement using different dynamic navigation and robotic systems: an in vitro study

Kinematics of a Novel Serial-Parallel, Compliant, Three-Legged Robot

TTool: A Supervised Artificial Intelligence-Assisted Visual Pose Detector for Tool Heads in Augmented Reality Woodworking

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