Kinematics Analysis and Simulation of Automatically Tracking Dental Surgery Lamp

Authors

Zerui Jiang, Shaanxi University of Science & Technology, Xi'an 710043, China;
Lijun Yang, Shaanxi University of Science & Technology, Xi'an 710043, China;
Li Jun, Shaanxi University of Science & Technology, Xi'an 710043, China;
Xiaolong Jiao, Shaanxi University of Science & Technology, Xi'an 710043, China;
Zheng Hang, Shaanxi University of Science & Technology, Xi'an 710043, China;

Abstract

Abstract: In order to solve the problem that the oral surgical lamp cannot automatically adjust the irradiation posture of the surgical lamp according to the face direction and oral cavity position, a six-degree-of-freedom automatic tracking visual manipulator solution is proposed. Coordinate conversion is achieved through binocular vision to obtain three-dimensional information of oral cavity position and face normal vector. The geometric method is introduced into the kinematics calculation, and the closed solution of the inverse kinematics is obtained. The correctness is verified by the Maltab programming and the introduction of numerical values. Five-degree polynomial motion planning is performed on the manipulator, and the effect of trajectory control is analyzed. The distance error is within 28.73 mm, and the direction deviation is within 1.369 7°. After simulation, the solution can complete automatic positioning, tracking, and alignment as expected, providing a theoretical basis for automatically tracking oral surgical lights.

Recommended Citation

Jiang, Zerui; Yang, Lijun; Jun, Li; Jiao, Xiaolong; and Hang, Zheng (2022) "Kinematics Analysis and Simulation of Automatically Tracking Dental Surgery Lamp," Journal of System Simulation: Vol. 33: Iss. 12, Article 11.
DOI: 10.16182/j.issn1004731x.joss.20-0457
Available at: https://dc-china-simulation.researchcommons.org/journal/vol33/iss12/11

First Page

2864

Revised Date

2020-08-24

DOI Link

https://doi.org/10.16182/j.issn1004731x.joss.20-0457

Last Page

2879

CLC

TH39;TP391

Recommended Citation

Jiang Zerui, Yang Lijun, Li Jun, Jiao Xiaolong, Zheng Hang. Kinematics Analysis and Simulation of Automatically Tracking Dental Surgery Lamp[J]. Journal of System Simulation, 2021, 33(12): 2864-2879.

DOI

10.16182/j.issn1004731x.joss.20-0457