Human-Robot Collaboration System Using Virtual FixtureMethod for Dental Implant Surgery

The main purpose of this work is to develop a novel manual Guidance type Human-Robot Collaboration
methodology for robotic dental implant placement.
A hand-guiding implant system is designed to improve not only the efficiency & accuracy in registration
phase, but also during dental implant placement phase.
During registration phase, our method can guide surgeon’s hand’s moving directions to collect points
on tooth’s surface easily and efficiently. For dental implant placement phase, the method is able to
modify surgeon’s hand’s movement according to the desired placement position.
KUKA MED robot is used to verify the performance of the introduced method.
Fan Shao, [e-mail], University of Naples Federico II
Mohammad Hossein Hamedani, [e-mail], University of Naples Federico II
Fanny Ficuciello, [e-mail], University of Naples Federico II