Research On Robot System For Dental Implant Surgery Based On Force Control

Tooth loss can affect people’s physical and mental health,and dental implants are one of the effective means of treating tooth loss.Traditional artificial dental implant surgery has problems such as difficult positioning,limited operating space and field of view,insufficient precision,and long recovery time.The introduction of robots for dental implant surgery can not only improve the accuracy and efficiency of surgery,but also reduce the operation time and labor intensity of doctors,which has broad application prospects.Currently,there are very limited robots available in the market for dental implant surgery.In order to quickly fill the vacancy in the market,this paper studies a robot system for dental implant surgery based on force control.The main research contents are as follows:Requirements analysis and overall system design.The function of the existing robot system for dental implant surgery is analyzed,the requirements of the robot system for dental implant surgery are determined,and based on this demand,the software and hardware solutions for the robot system for dental implant surgery are designed.The software solution is based on the structure of upper and lower computers,and the hardware purchase is suitable for the robotic arm of dental implant surgery.Kinematic and dynamic modeling and simulation.The kinematics and dynamics models of the implant robot were constructed and verified by simulation.To facilitate the follow-up development and task planning of the robot,the simulation of the working space was carried out.Parameter identification and force control scheme.Test and analyze the friction of robot joints,introduce Stribeck friction or Coulomb-viscous friction model to reduce the influence of friction on joint motion,and design experiments to identify the parameters of the friction model.The coupling of motion between the connecting rods is analyzed,a method for calibrating the mass and the center of mass is proposed,and the parameters of the gravity term are identified through experiments.By substituting the identified parameters into the control algorithm,the force-free control under the torque mode is realized.Software development of the control system with hand-guided experiments.The software control system is divided into the development of control program based on TwinCAT and the development of human-computer interaction interface based on Qt.The EtherCAT communication between TwinCAT and robot joint driver is realized,and the control program is written in TwinCAT.Realized the ADS communication between Qt and TwinCAT,and developed the human-computer interaction interface.A hand-guided experiment was carried out to verify that the actual effect of force-free control meets the basic requirements.