@inproceedings{9eb6d47d4c334a528d1aba0ae016b21f,
title = "Real-time CT value estimation method for robotic drilling system based on thrust force and torque",
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 %.",
keywords = "Analytical models, Computer aided diagnosis, Dentistry, Haptic interfaces, Observers, Robot control, Robot sensing systems, System identification",
author = "Koyo Yu and Sho Iwata and Kouhei Ohnishi and Hiromasa Kawana and Shin Usuda",
year = "2013",
doi = "10.1109/IECON.2013.6699727",
language = "English",
isbn = "9781479902248",
series = "IECON Proceedings (Industrial Electronics Conference)",
pages = "3717--3722",
booktitle = "Proceedings, IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society",
note = "39th Annual Conference of the IEEE Industrial Electronics Society, IECON 2013 ; Conference date: 10-11-2013 Through 14-11-2013",
}