RCM 매니풀레이터의 치과 임플란트 시술을 위한 임상 모형실험에 관한 연구

Abstract

Correct position, angle, and the depth of implant holes according to pre-operative plan are essential to place implants. It can assure the durability of implants. In addition, it makes the patient feel more comfortable by shortening the length of procedures. ARDIS(Assistant Robot for Dental Implant Surgery) is a semi-automatic robot which assists the dentist for the purpose of controlling the angle and the depth. It is also a RCM(Remote Center of Motion) manipulator which guides the drill into the region for implant surgery. A newly developed method in this thesis, ARDIS drilling method, makes plans for surgical procedures using CT images of bone specimen. Drilling to the correct depth follows after that. To prove the safety of the method, accuracy such as the actual force affect on the bone and blurring is checked. Force sensor and acceleration are used to confirm it. The result from this thesis was compared to the one using previous surgical guide. Cow rib used as a bone specimen shows a similarity to the jawbone. This thesis experiment was done under the same circumstance of actual surgeries. This thesis mainly verifies three issues; whether there is any problem in use, whether it is easy to install and whether it disturbs the surgery.