Optimum Design of 6R Passive Haptic Robotic Arm for Implant Surgery

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 maximum workspace is to be achieved using optimized link lengths. The methodology used deals not only with link lengths of manipulator but also mass and inertia of the links along with the location of the tool path. Another feature of the methodology is to maximize haptic device transparency using an objective function that includes end-effector torques/forces with workspace limits taken as constraints. The objective function was obtained from dynamic equations and the constraints were defined using kinematic equations. The constrained nonlinear optimization problem was solved using Sequential Quadratic Programming (SQP) and Genetic Algorithms (GA). Main contribution of this paper is an optimization algorithm that considers spatial dynamics to reduce parasitic torques leading to an optimal 6R robot design. Details of the methodology, solutions, and performance of the optimization techniques are presented.


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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...
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Transparency of a haptic interface can be improved by minimizing the effects of inertia and friction through the use of model based compensators. However, the performance with these algorithms is limited due to the estimation errors in the system model and in the velocity and acceleration from quantized encoder data. This paper contributes a new torque compensator based on motor current to improve transparency. The proposed method was tested experimentally in time and frequency domains by means of an excita...
Fully Implantable Cochlear Implant Interface Electronics With 51.2-mu W Front-End Circuit
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This paper presents an ultralow power interface circuit for a fully implantable cochlear implant (FICI) system that stimulates the auditory nerves inside cochlea. The input sound is detected with a multifrequency piezoelectric (PZT) sensor array, is signal-processed through a front-end circuit module, and is delivered to the nerves through current stimulation in proportion to the sound level. The front-end unit reduces the power dissipation by combining amplification and compression of the sensor output thr...
Citation Formats
S. Yılmaz and E. İ. Konukseven, “Optimum Design of 6R Passive Haptic Robotic Arm for Implant Surgery,” 2010, vol. 6191, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/54482.