Human-Robot Collaboration Using Fuzzy Adaptive Virtual Fixture Method for Dental Implant Surgery

EasyChair Preprint no. 9227

Abstract

The purpose of this work is to develop a methodology to improve human-robot collaboration for robot-aided dental implant placement. In this study, a human-robotic implant system (HRIS) is designed according to a hand-guiding control to increase the accuracy and stability of osteotomy drilling based on the surgeon's decision, and robot motion during the implant placement. The proposed method is able to guide the surgeon's hand according to the pose of the desired placement. To guide and modify the pose of the surgeon's hand, the virtual fixture method is used as the main control approach. To verify the performance of the introduced method, the KUKA MED robot is used to perform the dental implant placement using the presented approach on a phantom head with a 3D jaw bone model. Additionally, the results between free-hand drilling and HRIS controlled drilling according to the apical center and head center of the implant placement are compared to evaluate the performance of the introduced method.

Keyphrases: Dental Implant Surgery, Fuzzy Adaptive Virtual Fixture, Human-Robot Collaboration

@Booklet{EasyChair:9227,
  author = {Mohammad Hossein Hamedani and Fan Shao and Emanuele Vaia and Alessandro Cuozzo and Luca Ramaglia and Bruno Siciliano and Fanny Ficuciello},
  title = {Human-Robot Collaboration Using Fuzzy Adaptive Virtual Fixture Method for Dental Implant Surgery},
  howpublished = {EasyChair Preprint no. 9227},

  year = {EasyChair, 2022}}