FORWARD KINEMATICS AND GEOMETRIC CONTROL OF A MEDICAL ROBOT - Application to Dental Implantation

Richard Chaumont, Eric Vasselin, Dimitri Lefebvre

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.

References

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Paper Citation


in Harvard Style

Chaumont R., Vasselin E. and Lefebvre D. (2007). FORWARD KINEMATICS AND GEOMETRIC CONTROL OF A MEDICAL ROBOT - Application to Dental Implantation . In Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO, ISBN 978-972-8865-83-2, pages 110-115. DOI: 10.5220/0001652501100115


in Bibtex Style

@conference{icinco07,
author={Richard Chaumont and Eric Vasselin and Dimitri Lefebvre},
title={FORWARD KINEMATICS AND GEOMETRIC CONTROL OF A MEDICAL ROBOT - Application to Dental Implantation},
booktitle={Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,},
year={2007},
pages={110-115},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001652501100115},
isbn={978-972-8865-83-2},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,
TI - FORWARD KINEMATICS AND GEOMETRIC CONTROL OF A MEDICAL ROBOT - Application to Dental Implantation
SN - 978-972-8865-83-2
AU - Chaumont R.
AU - Vasselin E.
AU - Lefebvre D.
PY - 2007
SP - 110
EP - 115
DO - 10.5220/0001652501100115