Article

FH-HBTS: A Haptic Bilateral Teleoperation System for Free-Hand Dental Procedures

The authors propose FH-HBTS, a haptic bilateral teleoperation system for free-hand dental procedures, featuring a mechanical end-effector compatible with standard clinical tools and equipped with an endoscopic camera. The system improves the operator's sensory awareness and motor accuracy through motion and force correspondence between the operator and the robot, and limits interaction forces by scaling the motion references provided to the admittance controller based solely on measured contact forces, thereby achieving force limitation without prior knowledge of the environment. Technical evaluations and in vitro preclinical studies on dental models showed that the system improves the naturalness, safety, and precision of teleoperation.

Part of the event: Research on Haptic Bilateral Teleoperation Dental Surgery System

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