치과용 임플란트 시술 메니퓰레이터 설계 및 해석에 관한 연구

Abstract

Implant surgery is generally accepted as the good technique to replace the teeth completely. The "freehand" drilling of implant is performed frequently in the numerous implant surgery. It is still one of the most demanding techniques to the dentist and patient. Development of CT(Computerized Tomography) and 3D visualization technique help to make the treatment plan and the surgical navigation assists the dentist during the intra-operative procedure. As medical engineering is advanced, there are many technical progresses in dental implantology. 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 do modification 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 be avoided for safety reasons. In this thesis, design and analysis of assist-manipulator are studied. Angulation device performs a task by cooperative manipulation. The force/torque sensor is attached to the tool and specifically designed for surgeon's input. Data acquisition board, LabVIEW software and ATI force/torque sensor are used for smooth and accurate sensing. The double parallelogram mechanism can provide a fixed entry point during the surgery, enhance the safety and quality, and give facilities for surgeons. RCM(Remote Center of Motion) for drill tip are tested by using ADAMS. The 3D visualization program of manipulator is developed by LabVIEW.