Passive haptic robotic arm design

Download
2010
Yılmaz, Serter
The implant surgery replaces missing tooth to regain functionality and look of the normal tooth after dental operation. Improper placement of implant increases recuperation periods and reduces functionality. The aim of this thesis is to design a passive haptic robotic arm to guide dentist during the implant surgery. In this thesis, the optimum design of the 6R passive haptic robotic arm is achieved. The methodology used in optimization problem involves minimization of end-effector side parasitic forces/torques while maximizing transparency of the haptic device. The transparency of haptic device is defined as realism of forces generated by device in real world compared to forces in virtual world. The multivariable objective function including dynamic equations of 6R robotic arm is derived and the constraints are determined using kinematic equations. The optimization problem is solved using SQP and GA. The link lengths and other relevant parameters along with the location of tool path are optimized. The end-effector parasitic torques/forces are significantly minimized. The results of two optimization techniques have proven to be nearly the same, thus a global optimum solution has been found in the search space. Main contribution of this study is to take spatial nonlinear dynamics into consideration to reduce parasitic torques. Also, a mechanical brake is designed as a passive actuator. The mechanical brake includes a cone based braking system actuated by DC motor. Three different prototypes are manufactured to test performance of the mechanical brake. The final design indicates that the mechanical brake can be used as passive actuators.

Suggestions

Passive Haptic Interface with MR-Brakes for Dental Implant Surgery
Senkal, Doruk; Gurocak, Hakan; Konukseven, Erhan İlhan (MIT Press - Journals, 2011-06-01)
In this research a passive haptic interface is explored as a surgical aid for dental implant surgery. The placement of a dental implant is critical since positioning mistakes can lead to permanent damage in the nerves controlling the lips, long lasting numbness, and failure of the implant and the crown on it. Haptic feedback to the surgeon in real time can decrease dependence on the surgeon's skill and experience for accurate implant positioning and increase the overall safety of the procedure. The develope...
Design and mechanical analysis of a new dental implant that would mimic natural tooth with a periodontal ligament
Pektaş, Ömer; Tönük, Ergin; Department of Mechanical Engineering (2012)
Dental implant is an artificial dental root that is used to construct dental restorations, similar to the original teeth, in order to regain the function of missing teeth of patients experiencing tooth loss. At the interface between the jawbone and the roots of natural teeth, a thin, elastic, shock absorbing tissue, called the periodontal ligament (PDL), forms a cushion which provides certain mobility to the natural teeth. The restorations supported by dental implants, however, involve completely rigid stru...
A natural tooth's stress distribution in occlusion with a dental implant
Akpinar, I; Anil, N; Parnas, L (2000-06-01)
The loss of one or more teeth is normally treated with conventional fixed or removable partial dentures or with implant supported fixed or removable dentures. This study investigated stresses formed around the implant and the antagonist natural tooth under occlusal force in the substitution of a missing lower first molar with a rigid or resilient IMZ (Intra Mobil Zylinder) implant, using the finite element stress analysis method. The results indicate that a bite force of 143 N resulted in high compressive s...
Resorbable PCEC/gelatin-bismuth doped bioglass-graphene oxide bilayer membranes for guided bone regeneration
Pazarçeviren, Ahmet Engin; Evis, Zafer; Keskin, Dilek; Tezcaner, Ayşen (IOP Publishing, 2019-05-01)
Guided bone regeneration (GBR) is a therapeutic modality applied prior to dental implant placement to increase bone density at the defect site or during placement for directing bone growth around implant. In this study, an asymmetric, bilayer structure was prepared by covalently bonding a dense polycaprolactone-polyethylene glycol-polycaprolactone (PCEC) membrane layer with a hydrogel layer composed of bismuth doped bioactive glass (BG, 45S5) and graphene oxide (GO) particles incorporated in gelatin. Struct...
Additional studies on the distribution of stresses during vertical compaction of gutta-percha in the root canal
Telli, C; Gulkan, P; Raab, W (1999-07-10)
Objective This study was designed to investigate the effect of certain pathological alterations of the dental structures (diminishing bone support, internal resorption, root perforation, periapical lesion) on stress distribution during root canal filling procedures by the warm vertical compaction technique.
Citation Formats
S. Yılmaz, “Passive haptic robotic arm design,” M.S. - Master of Science, Middle East Technical University, 2010.