Research On Human-Robot Collaboration Technology Of Dental Implantation Robot

Teeth-Missing can affect the functions of chewing,pronunciation,appearance and digestion,and seriously reduces the patient's quality of life.Dental implants have become the most effective clinical restoration method after teeth-missing.However,the clinical operation of dental implant surgery is complicated.However,the operation of implant surgery is complicated,and the operation methods such as free hand,static guide plate and dynamic navigation all require doctors to have high-level surgical operation skills.Because the surgical operation in the narrow space of the oral cavity is very difficult.Robot-assisted surgery is an important means to ensure the quality of surgery because it has better stability and can reduce the labor intensity of doctors.As an important direction for the future development of robot technology,HRC(HumanRobot Collaboration)has received widespread attention because it can achieve good cooperation between robots and doctors in surgical operations.The research of implant robot mainly focuses on the automation and precision control of implant surgery.The problems which are easy to occur in robot operation and the HRC control in clinical surgery scenarios are still less involved.According to the clinical needs of implant surgery,a dental implantation robot system based on a collaborative robot is built.This robot focuses on improving the HRC in the operation of implant surgery,and lay the foundation for the good collaboration of doctors and robots.The main research contents and achievements of the paper are:(1)Analyzed the overall procedure of implant surgery,as well as the related surgical procedures,complications and intraoperative conditions of implant surgery,and summarized the requirements of implant surgery for HRC operation of robots.The requirements mainly include easy direct manipulation,temporary adjustment of the surgical plan,support for intraoperative interruption or recovery at any time.(2)Use ROS and discrete control instructions to build the basic execution mechanism and task scheduling of robot motion instructions.The state machine model of the robot system is established,the programming action is separated from the actual execution,and the robot system can realize the operation interruption and recovery.Through the characteristics of light weight of cooperative robots and support of reverse driving,the end of the manual traction robot is used to drive the robot's movement,which improves the flexibility and scope of application of the robot's surgical operation.(3)Analyzed the various links involved in target positioning in implant robotassisted surgery and their coordinate system relationships.Propose the positioning method of target posture through the combination of retention guide and visual signs.Define a separate drill coordinate system to get rid of the dependence of the robot motion code on the actual coordinate system.A visual pose estimation algorithm based on two-dimensional features is designed.(4)A Human-Robot collaboration positioning strategy is proposed to reduce the difficulty of intraoperative positioning.Coarse positioning by manual traction robot and precise positioning by autonomous are combined to improve efficiency.An experimental platform for dental implantation robot was constructed.The cavity preparation experiment through HRC implantation with digital planting scheme and visual locator was completed.The experimental results show that the accuracy of simulated implants can meet the clinical requirements of dental implants,and the HRC during implant surgery has good feasibility.