Architecture and design of a robotic mastication simulator for interactive load testing of dental implants and the mandible

Abstract

Statement of problem: Determination of interactive loading between a dental prosthesis and the host mandible is essential for implant prosthodontics and to preserve bone.

Purpose: The purpose of this study was to develop and evaluate a robotic mastication simulator to replicate the human mastication force cycle to record the required interactive loading using specifically designed force sensors.

Material and methods: This robotic mastication simulator incorporated a Stewart parallel kinematic mechanism (PKM) controlled in the force-control loop. The hydraulically operated PKM executed the wrench operation, which consisted of the combined effect of forces and moments exhibited by the mastication process. Principal design features of this robotic simulator included PKM kinematic modeling, static force analysis to realize the masticatory wrench characteristics, and the architecture of its hydraulic system. Additionally, the design of a load-sensing element for the mandible and implant interaction was also incorporated. This element facilitated the quantification of the load distribution between implants and the host bone during the masticatory operation produced by the PKM. These loading tests were patient-specific and required separate artificial mandibular models for each patient.

Results: The simulation results demonstrated that the robotic PKM could replicate human mastication. These results validated the hydraulic system modeling for the required range of masticatory movements and effective forces of the PKM end-effector. The overall structural design of the robotic mastication simulator presented the integration of the PKM and its hydraulic system with the premeditated load-recording mechanism.

Conclusions: The developed system facilitated the teeth-replacement procedure. The PKM accomplished the execution of mastication cycle involving 6 degrees of freedom, enabling any translation and rotation in sagittal, horizontal, and vertical planes. The mechanism can simulate the human mastication cycle and has a force application range of up to 2000 N. The designed load-sensing element can record interactive forces within the range of 200 N to 2000 N with fast response and high sensitivity to produce a robotic mastication simulator with custom-made modules.