Development of Endodontic Microrobot: File Fixture Mechanism Design and Motor Control

• Main Authors: Lin, Yu-Ju, 林郁茹
• Other Authors: Liu, Tzong-Shi
• Format: Others
• Language: en_US
• Published: 2013
• Online Access: http://ndltd.ncl.edu.tw/handle/30542042483423115460

碩士 === 國立交通大學 === 機械工程系所 === 101 === Endodontic is a branch of dentistry, commonly known as root canal treatment. The process of endodontic includes removing damaged soft tissue and repairing teeth. However, the success of the surgery depends on doctors’ experience and training. The traditional treatment might cause surgical mistake. In order to assist doctors with the problems encountered during surgery, the trend of using mechanical engineering to solve problems related to biotechnology and medicine is more popular. This study aims to overcome problems encountered in the traditional treatment and enhance the clinical predictability and the cure rates of endodontic therapy by developing a computer-aided system and an endodontic microrobot. The developed hardware/software system is used to assist dentists in dental treatment and satisfy the trend of miniaturized biomedical instruments. This study is focused on the development of an endodontic microrobot: displacement control of moving platform, file fixture design and electric motor controller. The apparatus of the study contains mechanical systems, control circuits and a human-machine interface with three sensors of angular displacement, force, and torque. The above equipment can be sterilized under high-temperature environment. Real-time multi-axis control is carried out by applying a LabVIEW software and NI sbRIO-9631 circuit card embedded with FPGA circuits. And the LabVIEW system has positioning, force, and torque feedback controls for real-time monitoring. The human-machine interface is constructed by using the LabVIEW software to facilitate operation done by clinical people. The research uses a fuzzy-PID controller to achieve ultrasonic motor moving platform control. Positioning accuracy can be improved to 0.032 mm. High accuracy can effectively reduce the rate of root canal perforation. Moreover, a stepper motor drives Ni-Ti files for cleaning root canal.