Real-time CT value estimation method for robotic drilling system based on thrust force and torque

Koyo Yu, Sho Iwata, Kouhei Ohnishi, Hiromasa Kawana, Shin Usuda

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

An estimation of bone density is important for dental implant. CT value has been used in clinical and diagnostic as a quantitative evaluation method of bone density. In this paper, a method for estimating the CT value is proposed by modeling the relation between the cutting force and the CT value. The cutting force is calculated by the thrust force of the linear motor and the torque of the rotary motor. The estimated CT value can be obtained in real time by comparing between the force from reaction force observer and the formula of CT value with the pre-estimated parameters. The validity of the proposal was confirmed through experiments using wood mentioned in Misch's bone density classification. The experimental results indicated that the error of CT value estimation was ±91 HU and the estimation accuracy was 84 %.

Original languageEnglish
Title of host publicationProceedings, IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society
Pages3717-3722
Number of pages6
DOIs
Publication statusPublished - 2013 Dec 1
Event39th Annual Conference of the IEEE Industrial Electronics Society, IECON 2013 - Vienna, Austria
Duration: 2013 Nov 102013 Nov 14

Publication series

NameIECON Proceedings (Industrial Electronics Conference)

Other

Other39th Annual Conference of the IEEE Industrial Electronics Society, IECON 2013
CountryAustria
CityVienna
Period13/11/1013/11/14

Keywords

  • Analytical models
  • Computer aided diagnosis
  • Dentistry
  • Haptic interfaces
  • Observers
  • Robot control
  • Robot sensing systems
  • System identification

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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