Tele-dentistry Robotics System

Healthcare Robotics

A telepresence dentistry robot helps dentist examine and guide procedures remotely with lifelike precision—offering real time, expert care even from afar
Vector (2)-da6325

Institute:
IIT Jodhpur

Vector (3)-42d8ac

PI Name:
Dr. Amit Bhardwaj

Technology Readiness Level (TRL)
4

Problem
Addressed

Stable teleoperation of 6 DoF robot with the help of a haptic device for the development of a tele-dentistry system
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About the
Technology

  • The UR3e cobot, integrated with a Schunk Gamma F/T sensor, is teleoperated using a Touch Magic haptic device with the help of positon force bilateral controller.
  • Successfully tested a stable experimental testbed for controlling a remote robot using a haptic interface over different network conditions
  • Implemented Husernet communication protocol for teleoperation
  • Time Delay Passivity Approach for stability of the setup
  • Perceptual deaband approach for haptic data compression

Application Areas & Use Cases

  • Tele-dentistry system facilitates early diagnosis of dental diseases of remote patients.
    • To assess the hardness of teeth and severity of pain by tapping with the help of an attachment mounted on the robot.
    • To assess the softness of tissues/gum by pressing them with the help of an attachment mounted on the robot.
  • The developed setup may be utilized for any teleoperation task where human presence is restricted.
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Robot UR3e
Haptic Device Geo-Magic Touch from 3D systems
FIT Sensor Schunk Gamma F/T Sensor
Controller Master-Slave Bilateral Controller, TDPA for stability
Communication Protocol Husernet