3D Path Planning of a Laser Manipulation Robotic System for Tooth Preparing

被引:0
|
作者
Ma, Lei [1 ]
Wang, Dangxiao [1 ]
Zhang, Yuru [1 ]
Wang, Lei [1 ]
Lv, Peijun [2 ]
Sun, Yuchun [2 ]
机构
[1] Beihang Univ, State Key Lab Virtual Real Technol & Syst, Beijing 100191, Peoples R China
[2] Peking Univ, Sch & Hosp Stomatol, Beijing 100871, Peoples R China
来源
2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) | 2014年
关键词
ABLATION; PULSES;
D O I
暂无
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
In this paper, we proposed a 3D path planning method for a miniature robotic system, which can manipulate a beam of ultra-short pulse laser to cut a decayed tooth to formulate an expected 3D shape. Using high resolution STereo Lithography (STL) models of the original decayed tooth and the target preparing shape as the input, our method consists of a fast slicing algorithm and an optimized path generating algorithm, which realized a high efficient layer-by-layer cutting for laser ablation. Theoretical analysis on the geometric distortion and surface roughness was carried out to model the influence of the path planning algorithms on the accuracy of the prepared tooth. Experimental results on a real tooth indicate that the path planning method can maintain the accuracy for the laser ablation process.
引用
收藏
页码:1922 / 1928
页数:7
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