Authors:
Richard Chaumont
;
Eric Vasselin
and
Dimitri Lefebvre
Affiliation:
GREAH of LE HAVRE University, France
Keyword(s):
Surgical robotics, geometric modelling, inverse geometric modelling, dynamic modelling, non linear system, identification.
Related
Ontology
Subjects/Areas/Topics:
Image Processing
;
Informatics in Control, Automation and Robotics
;
Modeling, Simulation and Architectures
;
Robot Design, Development and Control
;
Robotics and Automation
Abstract:
Recently, robotics has found a new field of research in surgery in which it is used as an assistant of the surgeon in order to promote less traumatic surgery and minimal incision of soft tissue. In accordance with the requirements of dental surgeons, we offer a robotic system dedicated to dental implants. A dental implant is a mechanical device fixed into the patient’s jaw. It is used to replace a single tooth or a set of missing teeth. Fitting the implant is a difficult operation that requires great accuracy. This work concerns the prototype of a medical robot. Forward and inverse kinematics as dynamics are considered in order to drive a control algorithm which is as accurate and safe as possible.