Endodontic Robotic System Force Sensing Automation
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Solution Overview
Problem
Endodontic debridement procedures in dental surgery pose risks of occupational injuries to dentists and incur high costs due to the need for intricate algorithms and image or optical aids to manage patient movement during robotic-assisted procedures.
Innovation Solution
An endodontic robotic surgical system with a multiple-axis force sensing device and drawstring-positioning structure, integrated with a robot arm, allows for real-time control of endodontic surgical elements, automating debridement procedures and preventing injuries by sensing and adjusting forces and movements within the oral cavity.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If a robotic system is used to perform endodontic debridement procedures, then automation is achieved and dentist safety is improved, but patient movement causes undesirable movement of the lesion and surgical precision deteriorates
Solution Approach 1:
The system employs a multiple-axis force sensing device that provides real-time feedback on forces applied during surgery. When patient movement causes unexpected force changes, the system detects these changes and adjusts the robotic arm's movements accordingly, maintaining surgical precision despite patient motion. This closed-loop feedback mechanism resolves the contradiction between automation and precision.
Solution Approach 2:
The robotic system transitions from static pre-programmed movements to dynamic adaptive control. The system continuously monitors force feedback and adjusts its movement parameters in real-time, allowing it to adapt to patient movement while maintaining automated operation. This dynamic adjustment capability preserves surgical precision during automated debridement procedures.
2Manufacturing precision
If image aid or optical aid is used to track patient movement, then surgical precision is maintained, but device complexity and cost increase due to intricate algorithms
Solution Approach 1:
The system replaces complex optical tracking systems and intricate algorithms with a simpler mechanical force sensing approach. By measuring forces directly through the surgical instrument and using basic force feedback control, the system achieves surgical precision without requiring expensive image processing hardware or complex motion tracking algorithms.
Solution Approach 2:
The force sensing device acts as an intermediary between the robotic system and the patient's tissue. Instead of using complex external tracking systems, the system uses the surgical instrument itself as a sensor, measuring forces applied during surgery to infer patient movement and adjust accordingly. This intermediary approach simplifies the overall system while maintaining precision.
3Reliability
If a robotic system is used to perform endodontic debridement procedures, then dentist safety is improved by reducing repeated manual operations, but device complexity and cost increase
Solution Approach 1:
The system replaces complex optical tracking systems and intricate algorithms with a simpler mechanical force sensing approach. By measuring forces directly through the surgical instrument and using basic force feedback control, the system achieves surgical precision without requiring expensive image processing hardware or complex motion tracking algorithms.
Solution Approach 2:
The robotic system performs self-adjustment based on force feedback without requiring complex external control systems. The force sensing device provides automatic information about tissue interaction, allowing the system to self-correct its movements and maintain precision autonomously, reducing the need for complex control algorithms and external monitoring equipment.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The system effectively automates endodontic debridement, reducing occupational hazards for dentists and eliminating the need for costly image or optical aids by using a drawstring-based displacement estimation technique and real-time force sensing, ensuring precise and safe surgical operations.
Implementation Method 1
The multiple-axis force sensing device is adapted to sense the endodontic surgical element's acting force in the human oral cavity through the drawstring-positioning structure, the drawstrings and the assistive device
Data Source
AI summary
An endodontic robotic surgical system is provided. The endodontic robotic surgical system includes a robot arm and an endodontic robotic surgical assembly electrically connected to the robot arm. The endodontic robotic surgical assembly includes a multiple-axis force sensing device, a treatment assembly and an assistive device. The treatment assembly includes a housing, a drawstring-positioning structure disposed on the housing, a plurality of drawstrings connected to the drawstring-positioning structure, and an endodontic surgical element fitted to the housing. The drawstring-positioning structure is electrically connected to the multiple-axis force sensing device. The assistive device is adapted to be put on a tooth structure in a human oral cavity. The drawstrings are connected to different points on the assistive device. An endodontic robotic surgical assembly is further provided.