Passive Haptic Interface with MR-Brakes for Dental Implant Surgery

Senkal, Doruk
Gurocak, Hakan
Konukseven, Erhan İlhan
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 developed device is a lightweight mechanism with weight compensation. Rotary magnetorheological ( MR) brakes were custom designed for this application using the serpentine flux path concept. The resulting MR-brakes are 33% smaller in diameter than the only commercially available such brakes, yet produce 2.7 times more torque at 10.9 Nm. Another contribution of this research was a ferro-fluidic sealing technique which decreased the of-fstate torque. The control system implemented the passive force manipulability ellipsoid algorithm for force rendering of rigid wall-following tasks. Usability experiments were conducted to drill holes with haptic feedback. The maximum average positioning error was 2.88 mm along the x axis. The errors along the y and z axes were 1.9 mm and 1.16 mm, respectively. The results are on the same order of magnitude as other dental robotic systems. The innovative new MR-brake actuators, inherent safety of the system, and simplicity of control make this passive haptic interface a viable option for further exploration.


Optimum Design of 6R Passive Haptic Robotic Arm for Implant Surgery
Yılmaz, Serkan; Konukseven, Erhan İlhan (2010-07-10)
The aim of this research was to design an optimum 6R passive haptic robotic arm (PHRA) to work in a limited workspace during dental implant surgery. Misplacement of an implant during dental surgery causes longer recuperation periods and functional disorders. In this study, a passive guidance robot arm was designed as a surgical aid tool for a dentist during the operation to reduce the surgical complications. Optimum design of a 6R robot is a complex issue since minimum energy has to be consumed while maximu...
Nonlinear elastic material property estimation of lower extremity residual limb tissues
Tönük, Ergin (Institute of Electrical and Electronics Engineers (IEEE), 2003-03-01)
The interface stresses between the residual limb and prosthetic socket have been studied to investigate prosthetic fit. Finite-element models of the residual limb-prosthetic socket interface facilitate investigation of the mechanical interface and may serve as a potential tool for future prosthetic socket design. However, the success of such residual limb models to date has been limited, in large part due to inadequate material formulations used to approximate the mechanical behavior of residual limb soft t...
Intelligent healthcare monitoring system based on semantically enriched clinical guidelines
Laleci, Gökçe Banu; Doğaç, Asuman; Department of Computer Engineering (2008)
Clinical guidelines are developed to assist healthcare practitioners to make decisions on a patient's medical problems and as such they communicate with external applications to retrieve patient data, to initiate medical actions through clinical workflows and to transmit information to alert/reminder systems. The interoperability problems in the healthcare IT domain for interacting with heterogeneous clinical workflow systems and Electronic Healthcare Record (EHR) Systems prevent wider deployment of clinica...
Passive haptic robotic arm design
Yılmaz, Serter; Konukseven, Erhan İlhan; Gürocak, Hakan; Department of Mechanical Engineering (2010)
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/torq...
Numerical simulation of the effect of time-to-loading on peri-implant bone
AKÇA, KIVANÇ; Eer, Atilim; Canay, Senay (Elsevier BV, 2010-01-01)
Purpose: To evaluate the effect of time-to-loading on trabecular bone around single-tooth dental implants using numerical solutions based on computer models.
Citation Formats
D. Senkal, H. Gurocak, and E. İ. Konukseven, “Passive Haptic Interface with MR-Brakes for Dental Implant Surgery,” PRESENCE-TELEOPERATORS AND VIRTUAL ENVIRONMENTS, pp. 207–222, 2011, Accessed: 00, 2020. [Online]. Available: