A kinematic concept for robotic assisted dental rehabilitation / Muhammad Azmi Ayub... [et al.]

The current technique of dental rehabilitation relies largely on the qualitative perception of the dentist in the relocation and reorientation of the teeth. Furthermore, the patient does not have the final visual appearance of the teeth after the procedure. In this project, we plan to address this i...

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Main Authors:	Ayub, Muhammad Azmi, Azni, Mohd Shafiq, Al-Jaf, Nagham, Norman, Noraina Hafizan
Format:	Article
Language:	English
Published:	Universiiti Teknologi Mara Cawangan Pulau Pinang 2017
Subjects:	RK Dentistry Oral and dental medicine. Pathology. Diseases
Online Access:	http://ir.uitm.edu.my/id/eprint/28821/ http://ir.uitm.edu.my/id/eprint/28821/ http://ir.uitm.edu.my/id/eprint/28821/1/AJ_%20MUHAMMAD%20AZMI%20AYUB%20EAJ%2017.pdf

id	uitm-28821
recordtype	eprints
spelling	uitm-288212020-03-20T06:21:27Z http://ir.uitm.edu.my/id/eprint/28821/ A kinematic concept for robotic assisted dental rehabilitation / Muhammad Azmi Ayub... [et al.] Ayub, Muhammad Azmi Azni, Mohd Shafiq Al-Jaf, Nagham Norman, Noraina Hafizan RK Dentistry Oral and dental medicine. Pathology. Diseases The current technique of dental rehabilitation relies largely on the qualitative perception of the dentist in the relocation and reorientation of the teeth. Furthermore, the patient does not have the final visual appearance of the teeth after the procedure. In this project, we plan to address this issue by ultimately developing a concept of robotic assistant dental rehabilitation. The key elements in the concept consist of cone-beam computed tomography machine (CBCT), image processing algorithm and a robot manipulator system, which will function as an integrated unit to aid and guide the dentist in the diagnosis and treatment procedures. The aim of this paper is to show the kinematics concept that relates the dental configuration system with the dental operatory. A homogeneous transformation matrix that relates the key elements of translation and rotation in the robotic work cell concept is developed. From this matrix, the positions and orientations of any tooth can be determined. The relationship between any arbitrary points relative to a tooth frame can also be defined. The formulation of kinematics model for the robotic work cell is discussed. This new model will aid the dentist in the exploration, manipulation and reconfiguration in the dental rehabilitation. Universiiti Teknologi Mara Cawangan Pulau Pinang 2017-12 Article PeerReviewed text en http://ir.uitm.edu.my/id/eprint/28821/1/AJ_%20MUHAMMAD%20AZMI%20AYUB%20EAJ%2017.pdf Ayub, Muhammad Azmi and Azni, Mohd Shafiq and Al-Jaf, Nagham and Norman, Noraina Hafizan (2017) A kinematic concept for robotic assisted dental rehabilitation / Muhammad Azmi Ayub... [et al.]. ESTEEM Academic Journal, 13. pp. 53-62. ISSN 1675-7939 http://uppp.uitm.edu.my
repository_type	Digital Repository
institution_category	Local University
institution	Universiti Teknologi MARA
building	UiTM Institutional Repository
collection	Online Access
language	English
topic	RK Dentistry Oral and dental medicine. Pathology. Diseases
spellingShingle	RK Dentistry Oral and dental medicine. Pathology. Diseases Ayub, Muhammad Azmi Azni, Mohd Shafiq Al-Jaf, Nagham Norman, Noraina Hafizan A kinematic concept for robotic assisted dental rehabilitation / Muhammad Azmi Ayub... [et al.]
description	The current technique of dental rehabilitation relies largely on the qualitative perception of the dentist in the relocation and reorientation of the teeth. Furthermore, the patient does not have the final visual appearance of the teeth after the procedure. In this project, we plan to address this issue by ultimately developing a concept of robotic assistant dental rehabilitation. The key elements in the concept consist of cone-beam computed tomography machine (CBCT), image processing algorithm and a robot manipulator system, which will function as an integrated unit to aid and guide the dentist in the diagnosis and treatment procedures. The aim of this paper is to show the kinematics concept that relates the dental configuration system with the dental operatory. A homogeneous transformation matrix that relates the key elements of translation and rotation in the robotic work cell concept is developed. From this matrix, the positions and orientations of any tooth can be determined. The relationship between any arbitrary points relative to a tooth frame can also be defined. The formulation of kinematics model for the robotic work cell is discussed. This new model will aid the dentist in the exploration, manipulation and reconfiguration in the dental rehabilitation.
format	Article
author	Ayub, Muhammad Azmi Azni, Mohd Shafiq Al-Jaf, Nagham Norman, Noraina Hafizan
author_facet	Ayub, Muhammad Azmi Azni, Mohd Shafiq Al-Jaf, Nagham Norman, Noraina Hafizan
author_sort	Ayub, Muhammad Azmi
title	A kinematic concept for robotic assisted dental rehabilitation / Muhammad Azmi Ayub... [et al.]
title_short	A kinematic concept for robotic assisted dental rehabilitation / Muhammad Azmi Ayub... [et al.]
title_full	A kinematic concept for robotic assisted dental rehabilitation / Muhammad Azmi Ayub... [et al.]
title_fullStr	A kinematic concept for robotic assisted dental rehabilitation / Muhammad Azmi Ayub... [et al.]
title_full_unstemmed	A kinematic concept for robotic assisted dental rehabilitation / Muhammad Azmi Ayub... [et al.]
title_sort	kinematic concept for robotic assisted dental rehabilitation / muhammad azmi ayub... [et al.]
publisher	Universiiti Teknologi Mara Cawangan Pulau Pinang
publishDate	2017
url	http://ir.uitm.edu.my/id/eprint/28821/ http://ir.uitm.edu.my/id/eprint/28821/ http://ir.uitm.edu.my/id/eprint/28821/1/AJ_%20MUHAMMAD%20AZMI%20AYUB%20EAJ%2017.pdf
first_indexed	2023-09-18T23:20:44Z
last_indexed	2023-09-18T23:20:44Z
_version_	1777419414120955904

A kinematic concept for robotic assisted dental rehabilitation / Muhammad Azmi Ayub... [et al.]

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