이중평행사변형 기구를 이용한 치과용 메니퓰레이터 설계에 관한 연구

Abstract

ABSTRACT A Study on Design of Dental Manipulator using Double Parallelogram Linkage

Sung Been Im Advisor : Prof. Jeong, Sang-Hwa, Ph.D. Department of Mechanical Engineering, Graduate School of Chosun University

There are much technical progresses in dental implantology. Development of CT(Computerized Tomography) and 3D visualization technique help to make the treatment plan and the surgical navigation assists the dentist during the intraoperative phase. Regardless of the technical progress the "freehand" drilling of implant is performed frequently in the numerous implant surgery. In spite of the excellent preoperative plan, the hand tremble of a dentist caused by vibration of drill, the mobility of patient, and the fatigue and unskillfulness of surgeon turn down the success rate of the dental implant surgeries. 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 the trembling cannot be substantially eliminated by the computer assisted navigation. On the other hand, surgical guide can not be modified during the surgery. A completely alternative way could be a robot. After the 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 of manipulator for dental implant using double parallelogram linkage is studied. Angulation device performs a task by cooperative manipulation. 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 is simulated by using ADAMS. Double parallelogram manipulator is developed as RCM manipulator and motor controller is produced. Performance of RCM manipulator is evaluated.