Page 100 - Demo

Chapter 698Measurement setupAn overview of the setup is presented in Fig 3. Summarizing, the main components, consisted of:- a compliant robot arm (KUKA LBR iiwa 7 R800). It passively, compensated for gravity, followed the movements of the clinician at a frequency of 100 times per second (hertz, Hz). The robot arm also functioned as a calibration tool to allow for determination of the position and orientation of a tooth. Based on clinical experience and due to anatomical restrictions such as the shape of the alveolar process, the relative position of the roots to the cortical lining and the periodontal ligament rotational movements are considered significantly more important compared to translational movements (or displacement) [2, 13]. This study, therefore, focused on rotational movements only. - a 6-axis force/torque (FT) sensor (ATI industrial automation 16 bit Delta transducer) for registration of forces and torques in 3 dimensions at 20Hz.- a video camera (Logitech C920 Pro HD) to record a video stream of the experiments.- a custom-build and interchangeable upper and lower jaw-holding device (Fig 1 and 2).The open-source framework Robot Operating System (ROS) was used for integration of all components. Metadata was added in a custom-build graphical user interface (GUI) to enable construction of a complete database for future analysis and to help to explain certain findings such as outliers. Metadata included, but was not limited to, the restorative and periodontal state of each tooth as these might influence the procedures in severe cases. Prior to each experiment, the surgeon was asked to determine the periodontal health by using a standard dental probe. States were divided into healthy (<3mm pocket depth), mild (3-5mm pocket depth) and severe periodontitis (>5mm pocket depth). Restorative states were classified into sound (no restorations), direct restorations (small <2 and large >2) and indirect restorations. The GUI also allowed for a direct post-experimental manual trim of the recorded data and the recording of any complications. The final few seconds of the procedures were excluded from the dataset. It is during this period where the tooth is taken out of its socket and extreme values are recorded, which should be considered as meaningless. The occurrence of any complications during the experiments were noted in the GUI. Experiments were classified as successful if the tooth was removed Tom van Riet.indd 98 26-10-2023 11:59