Design And Control Of The Execution System Of Dental Implant Surgery Robot

Surgical robot is an important type of medical robot.Surgical robot has the advantages of high precision and minimal invasiveness.It has achieved important technological breakthroughs and commercialization in the fields of abdominal surgery,orthopedics,neurosurgery and cardiovascular surgery.In recent years,the application of robot technology in dental clinics has attracted more attention,but the related technology in assisted dental implants still needs to be further improved.In this paper,the analysis and research on the design and control of the execution system of dental implant surgery robot are carried out.The main contents are as follows:In terms of the design and construction of the execution system,this paper has carried out the selection of robot carrier for execution system,the selection of the end feeding mechanism and its key components,the design of the tool clamping structure and connection structure of the end-effector,and the feasibility analysis,processing and installation of end-effector.In view of the sensitivity and precision requirements of dental implant surgery robot,this paper proposes a design method of redundant mechanism that adds a feeding mechanism at the end of the robot carrier;for the difficulty of fixing the implant tool,three-dimensional scanning and reverse engineering technology are used to generate the implant tool model,and the design of the clamping structure of planting tool is realized by Boolean operation.In the aspect of posture control and force control of the execution system,this paper has carried out the kinematic analysis of the robot,the research of posture control method and motion planning algorithm based on the visual guidance,the construction of control circuit and the research on control method for feeding mechanism,and the research on force feedback and force control method.According to the characteristics of the dental implant robot's execution system,such as many degrees of freedom and difficult control,this paper calculates the kinematics equations of the robot,and selects and analyzes the motion planning algorithm that can quickly plan in a high-dimensional space;in response to the force feedback and control requirements of dental implant surgery robot,a six-axis force/torque sensor with high accuracy is used in this paper to increase the "tactile" for the robot.In terms of collision detection and algorithm verification based on ROS(Robot Operation System),this paper has carried out the establishment of the URDF(Unified Robot Description Format)model of the end-effector and the overall model fusion of execution system successively,and the collision detection experiment and algorithm verification based on integrated software platform Move It! and physical simulation platform Gazebo.The effectiveness of the collision detection of the execution system,the feasibility of the pose control method and the reliability of the motion planningalgorithm were verified,which laid a solid foundation for the comprehensive experiment.In terms of cavity implantation experiment based on the CBCT(Cone Beam Computer Tomography)model,this paper has carried out the construction of comprehensive experimental platform,the TCP(Tool Center Point)position calibration and TCF(Tool Control Frame)attitude calibration for execution system,the hand-eye calibration for robot system,and the experiment of cavity implantation.The accurate relationship of each coordinate system in the robot system was established through the "four-point method","Z/X direction method" and "eye-to-hand calibration method" in this paper;and under the monitoring of the force/torque sensor,the cavity implant model experiment was carried out according to the position,angle and depth planned before surgery.