Page 82 - Demo

Chapter 580Materials and MethodsExperimentsTo capture forces and torques in a reliable manner and matching the clinical circumstances as closely as possible, an ex vivo measuring setup was designed and fresh-frozen cadavers were used. Material was obtained from the clinical anatomy and embryology section of the department of medical biology. This material was donated to science in accordance with Dutch legislation and the regulations of the medical ethical committee. In total, seven Caucasian cadavers were used for this study and extractions were performed by three senior oral and maxillofacial surgeons. Cadaver material was prepared with a band saw to reduce the material to the necessary proportions for the holding device and excess soft tissue was removed. Care was taken not to remove any of the attached gingiva. The ISO (International Standards Organization number 3950, Fédération Dentaire International) system was used as dental notation system.Measurement SetupThe design process as well as a more detailed description of the setup can be found in previous work [13]. An overview of the setup is presented in Figure 1. To add to the readability of this article, only its main components are summarized. The setup consisted of; - a compliant robot arm (KUKA LBR iiwa 7 R800) which passively follows the movements of the clinician for registration purposes (frequency 100Hz) and functions as a calibration tool to allow for determination of the position and orientation of each tooth. - a six-axis force/torque (FT) sensor (ATI industrial automation 16 bit Delta transducer) for registration of forces and torques at 20Hz.- a video-camera (Logitech C920 Pro HD) to record a video stream of the experiments.- an interchangeable custom-built upper and lower jaw holding device.- a custom-build frame (Item Industrietechnik, Solingen, Germany) adjustable both horizontally and vertically as well as a custom-built rotational plate to ensure a clinical representative situation in which an ergonomic pose can be maintained.- the open source framework Robot Operating System (ROS) for integration of all components. Tom van Riet.indd 80 26-10-2023 11:59