A kinematic concept for robotic assisted dental rehabilitation / Muhammad Azmi Ayub... [et al.]

Ayub, Muhammad Azmi and Azni, Mohd Shafiq and Al-Jaf, Nagham and Norman, Noraina Hafizan (2017) A kinematic concept for robotic assisted dental rehabilitation / Muhammad Azmi Ayub... [et al.]. ESTEEM Academic Journal, 13. pp. 53-62. ISSN 1675-7939

Official URL: http://uppp.uitm.edu.my


The current technique of dental rehabilitation relies largely on the qualitative perception of the dentist in the relocation and reorientation of the teeth. Furthermore, the patient does not have the final visual appearance of the teeth after the procedure. In this project, we plan to address this issue by ultimately developing a concept of robotic assistant dental rehabilitation. The key elements in the concept consist of cone-beam computed tomography machine (CBCT), image processing algorithm and a robot manipulator system, which will function as an integrated unit to aid and guide the dentist in the diagnosis and treatment procedures. The aim of this paper is to show the kinematics concept that relates the dental configuration system with the dental operatory. A homogeneous transformation matrix that relates the key elements of translation and rotation in the robotic work cell concept is developed. From this matrix, the positions and orientations of any tooth can be determined. The relationship between any arbitrary points relative to a tooth frame can also be defined. The formulation of kinematics model for the robotic work cell is discussed. This new model will aid the dentist in the exploration, manipulation and reconfiguration in the dental rehabilitation.


Item Type: Article
CreatorsID Num. / Email
Ayub, Muhammad Azmimuhdazmiayub@gmail.com
Azni, Mohd ShafiqUNSPECIFIED
Norman, Noraina HafizanUNSPECIFIED
Subjects: R Medicine > RK Dentistry
R Medicine > RK Dentistry > Oral and dental medicine. Pathology. Diseases
Divisions: Universiti Teknologi MARA, Pulau Pinang > Permatang Pauh Campus
Journal or Publication Title: ESTEEM Academic Journal
ISSN: 1675-7939
Volume: 13
Page Range: pp. 53-62
Official URL: http://uppp.uitm.edu.my
Item ID: 28821
Uncontrolled Keywords: dental occlusal, rehabilitation, kinematics equations, robotic, dental rehabilitation.
URI: http://ir.uitm.edu.my/id/eprint/28821


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