Development of a Novel 7-DOF Parallel-Serial Hybrid Robotic System for Precise Removal of Dental Caries

Abstract

This research proposes an innovative dental robot with a 7-DOFs parallel-serial hybrid structure to precisely and efficiently execute dental caries removal surgery. The versatile system is distinguished by its unique 7 DOFs, comprising three rotational and three translational movements, with an additional degree for resin injection. This novel hybrid design combines the advantages of serial and parallel mechanical structures enabling highly flexible operations and large rotational capacity within a compact size. According to its multifunctional integrated design, this dental robot can efficiently perform a series of complex surgical tasks, including caries removal, resin injection and light curing. This robot's two critical design metrics: the local kinematic isotropic index and the local transmission index are determined. In its application to caries removal, the system augmented with commercial haptic feedback devices for leader-follower control, demonstrates its potential in enhancing surgical efficiency and reducing cross-infection risks through its noncontact treatment method. In the experiment, the outcomes of the overall workload are assessed via the NASA task load index (NASA-TLX) and the evaluation of usability is also conducted using system usability scale (SUS). Finally, the robot's precision is tested to determine its reliability in executing tasks.