Event
Research on Haptic Bilateral Teleoperation Dental Surgery System
1 reports · 1 sources
Lorenzo Pagliara and other authors released a preprint proposing FH-HBTS, a haptic bilateral teleoperation system for freehand dental operations. The system includes a robotic end effector compatible with standard clinical tools and integrates an endoscopic camera; through the motion and force correspondence between the operator and the robot, it enhances the operator's perception and movement precision. Its interaction force limitation scales the motion reference of the input admittance controller solely based on the measured contact force, without requiring prior knowledge of the environment. The authors conducted a technical evaluation and an in vitro preclinical study on dental models, and state that the system improves the naturalness, safety, and precision of teleoperation. This validation was completed under conditions the authors describe as clinically representative but simplified.
Report timeline
- 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.
arXiv cs.RO ·