Bone density classification method for robotic drilling system

Koyo Yu, Yuki Saito, Yusuke Kasahara, Hiromasa Kawana, Shin Usuda, Kouhei Ohnishi

研究成果: Article査読

1 被引用数 (Scopus)


It is important to classify the bone density for dental implants. In this paper, a method for estimating the bone density is proposed by modeling the relationship between the cutting force and the bone density. The bone density can be obtained in real time by comparing the force from a reaction force observer with the force from a thrust force formula with pre-estimated bone density parameters. The validity of the proposed method was confirmed through experiments using different types of wood mentioned in Misch's bone density classification. The experimental results indicated that the error of contact detection was +50 μm and the error of bone density detection was 0.16 mm.

ジャーナルieej transactions on industry applications
出版ステータスPublished - 2013

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering

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