Bone Density Classification Method for Robotic Drilling System

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  • Yu Koyo
    Department of System Design Engineering, Keio University
  • Saito Yuki
    Department of System Design Engineering, Keio University
  • Kasahara Yusuke
    Department of System Design Engineering, Keio University
  • Kawana Hiromasa
    Department of Dentistry and Oral Surgery, Keio University
  • Usuda Shin
    Department of Dentistry and Oral Surgery, Keio University
  • Ohnishi Kouhei
    Department of System Design Engineering, Keio University

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Other Title
  • ロボット切削システムのための骨密度分類法
  • ロボット セッサク システム ノ タメ ノ コツミツド ブンルイホウ

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Abstract

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 ±50µm and the error of bone density detection was 0.16mm.

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