Thesis
Haptic surgical aid system with magnetorheological brakes for dental implants
Washington State University
Master of Science (MS), Washington State University
2009
Handle:
https://hdl.handle.net/2376/101447
Abstract
This research explored a passive haptic interface as a surgical aid tool for dental implant surgery. The placement of a dental implant is critical since mistakes can lead to permanent damage in the nerves controlling the lips, long lasting numbness and failure of the implant and the crown on it. Haptic feedback to the surgeon in real time can decrease the dependence on the surgeon's skills and experience for accurate implant positioning and increase the overall safety of the procedure. The device developed in this research is a lightweight mechanism with weight compensation. Rotary magnetorheological (MR)-brakes were custom designed for this application using the serpentine flux path concept. The resulting MR Brakes were 33% smaller in diameter than the only commercially available brake yet produces 2.7 times more torque at 10.9 Nm. Another contribution of the research was a ferrofluidic sealing technique which decreased the off-state torque. A spherical brake as a multiDOF actuator was also developed as a possible candidate for actuation of the wrist joint of the haptic interface. To the best of our knowledge, our design is the first ever multi-DOF spherical brake using MR fluid. The control system implemented the passive force manipulability ellipsoid as an analytical tool for force rendering to follow rigid virtual walls with the passive device. Usability experiments were conducted to drill holes with haptic feedback. The maximum average positioning error was 2.88 mm along the x-axis. The errors along the y- and z-axes were 1.9 mm and 1.16 mm, respectively. The results are on the same order of magnitude as optical tracking systems and other dental robots, hence passive haptic devices can be considered a viable alternative to active (servo controlled) haptic devices.
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Details
- Title
- Haptic surgical aid system with magnetorheological brakes for dental implants
- Creators
- Doruk Senkal
- Contributors
- Hakan Gürocak (Degree Supervisor)
- Awarding Institution
- Washington State University
- Academic Unit
- Electrical Engineering and Computer Science, School of
- Theses and Dissertations
- Master of Science (MS), Washington State University
- Publisher
- Washington State University; Pullman, Wash. :
- Identifiers
- 99900525059401842
- Language
- English
- Resource Type
- Thesis