Background: This study aims to develop a new dental implant robotic system (DIRS) to relieve the burden and enhance the quality of dental implant surgery.
Methods: The implanting actuator and system controller are two parts. The implanting actuator is designed on the basis of the RCM mechanism, with its kinematics modelled. Besides, a multi-DOF admittance control strategy and a hybrid position-admittance control strategy were designed, endowing the actuator with environmental compliance.
Results: In force sensing, about 97% of mixed force/torque are eliminated. Then, 30 groups of implantation are done, of which 15 groups are simple implantation, while another 15 groups are force-based implantation. The results show that the average contact force/torque can be reduced by 73.03% and 62.66%, and the peak contact force/torque can be reduced by 68.26% and 50.46%.
Conclusions: The results of preliminary experiments validate the effectiveness of DIRS, which has great potential to assist dentists with higher efficiency, better quality, and lower burden.
Keywords: RCM mechanism; admittance control; dental implant; force sensing.
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