치과용 임플란트 시술 보조 로봇의 위치 및 각도 보정에 관한 연구

Abstract

Recently, Implant surgery is generally accepted as the good technique to replace the teeth completely. The professionalism of the medical team and experience and cooperation system of the medical process are important in order to raise the success rate of the implant operation. However, it is difficult to drill the plamed hole size in spite of the exact surgical operation plan due to the hardness of tooth or the shake of the operator. For the more stabilized operation, the application of the implant operation robot, CT(Computerized Tomography), and 3D visualization technique which can be applied in the surgical operation planning level, are required. Computer-guided navigation has proven a valuable tool in several surgical disciplines. Although the navigation technique facilitates the positioning, the image guided adjustment of the angle cannot be attained easily in the dental surgery. Furthermore, the influence of random factors such as trembling cannot be substantially eliminated by the computer assisted navigation. On the other hand, surgical guide can not modify implant guide during surgery. A completely alternative way could be a robot. After gross positioning of the dental drill, the end-effector should set the final angulation. The setting of the final orientation requires 2 degree of freedom and takes place very close to the patients. Therefore, high accelerations and complicated kinematics have to be avoided for safety reasons. In this paper, the tilt and position tracking of developed assistant robot for dental implant surgery are studied. The marker that is attached to the ARDIS(implant secondary robot) and binarized by the image conversion extracts optimal threshold value for the separated image. Position is tracked by the marker, and stereo camera that calibrated to the principle of binocular disparity builds the depth map. The method, that the calibrating tilt data are measured to Acceleration-gyro sensor attached to the ARDIS and the positioning accuracy is increased, are studied.