Int J Med Robot - Coordinated control and experimentation of the dental arch generator of the tooth-arrangement robot.


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CKGROUND: The traditional way of acquiring the dental arch curve form is based on manual operation, which will randomly bring numerous errors caused by human factors. The purpose of this paper is to automatically acquire the dental arch curve and implement the coordinated control of the dental arch generator of the multi-manipulator tooth-arrangement robot, which can be used in full denture manufacturing.METHODS: Based on the arc length constant theory, kinematics on dental arch generator is analyzed. The control pulse realization methods of high-resolution timing and CPU time-stamp timing are studied, and testing and comparative analysis of the control precision and stability of the two methods is carried out. Control experimentation of the dental arch generator and preliminary tooth-arrangement experimentation are performed using the multi-manipulator tooth-arrangement robot system.RESULTS: The dental arch generator can automatically generate a dental arch curve that fits a patient according to the patient's jaw arch parameters. Repeated positioning accuracy is 0.12 mm for the slipways which drive the dental arch generator. The maximum value of single point error is 1.64 mm when the arc width direction (x-axis) is 37.25 mm. The experimental results indicate that the method of control pulse realized by high-resolution timing to achieve high precision coordinated motion control of dental arch generator of tooth-arrangement robot is feasible. The error analysis results indicate that the control strategy and technical route can fulfill the requirements for motion speed and location precision.CONCLUSION: A novel system to generate the tooth arch curve has been developed. The traditional method of manually determining the dental arch may soon become obsolete in favour of the use of a robot to assist in generating a more standard tooth arch curve. The system can be used to manufacture a full denture. It will lay an important theoretical foundation for quantitative research of oral restoration, and also provide a way to standardize the manufacturing process of full denture.

Resumo Limpo

ckground tradit way acquir dental arch curv form base manual oper will random bring numer error caus human factor purpos paper automat acquir dental arch curv implement coordin control dental arch generat multimanipul tootharrang robot can use full dentur manufacturingmethod base arc length constant theori kinemat dental arch generat analyz control puls realiz method highresolut time cpu timestamp time studi test compar analysi control precis stabil two method carri control experiment dental arch generat preliminari tootharrang experiment perform use multimanipul tootharrang robot systemresult dental arch generat can automat generat dental arch curv fit patient accord patient jaw arch paramet repeat posit accuraci mm slipway drive dental arch generat maximum valu singl point error mm arc width direct xaxi mm experiment result indic method control puls realiz highresolut time achiev high precis coordin motion control dental arch generat tootharrang robot feasibl error analysi result indic control strategi technic rout can fulfil requir motion speed locat precisionconclus novel system generat tooth arch curv develop tradit method manual determin dental arch may soon becom obsolet favour use robot assist generat standard tooth arch curv system can use manufactur full dentur will lay import theoret foundat quantit research oral restor also provid way standard manufactur process full dentur

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