치과 임플란트 시술 보조용 소형 로봇의 기구부 설계에 관한 연구

Abstract

The professionalism of the medical team and the experience as well as cooperation system are important factor in the implant operation. However, in spite of operation planning, the precise implant operation can not be performed because the factor such as hand shaking of operator and the variation of teeth hardness deteriorate drilling accuracy. In this reason, the demand of implant robot which can be applied from the operation planning level is increased. The assistant robot for dental implant surgery(ARDIS) is semi- automatic robot with RCM(Remote Center of Motion) manipulator. After preplanning, which can produce the accurate 3D coordinate of implant location based on the 3D CT(Computerized Tomography) image, is performed, this robot can position the drill precisely to the planed implant location and control the angle and depth of drilling. ARDIS can reduce the fabrication process for surgical guide and save the overall operation time. In this research, the mechanism design to minimize the implant assistant robot with the analysis results of formerly developed RCM manipulator is proposed. The structure was changed and the interference part among moving links was minimized in order to increase the angular motion of the handpiece. The size and angle of each link was determined numerically using Solidworks software to fit the 15mm drilling depth because the fixture should be inserted more than 10mm depth. The vibration and structural analysis were performed to evaluate the virtual performance of RCM manipulator using ANSYS Software. The result shows that deformation was less than 0.26mm, and the strain was 2.2402e-004mm/mm under the similar condition of actual operation. The mechanism design was also verified by two experiments. One experiment was that measured handpiece angle according to input signal with the developed operation software and the gyro-sensor of smart phone. The tracking error was 0.25°, which was within tolerance limit. The other experiment was drilling the hole in the gum model.