The Journal of Korean Academy of Prosthodontics (대한치과보철학회지)

The Korean Academy of Prosthodonitics (대한치과보철학회)
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Development of a prototype simulator for dental education

치의학 교육을 위한 프로토타입 시뮬레이터의 개발

  • Mi-El Kim (Department of Oral Anatomy, School of Dentistry, Seoul National University) ;
  • Jaehoon Sim (Department of Prosthodontics, School of Dentistry, Seoul National University) ;
  • Aein Mon (Department of Transdisciplinary Studies, Graduate School of Convergence Science and Technology, Seoul National University) ;
  • Myung-Joo Kim (Department of Transdisciplinary Studies, Graduate School of Convergence Science and Technology, Seoul National University) ;
  • Young-Seok Park (Department of Oral Anatomy, School of Dentistry, Seoul National University) ;
  • Ho-Beom Kwon (Department of Transdisciplinary Studies, Graduate School of Convergence Science and Technology, Seoul National University) ;
  • Jaeheung Park (Department of Prosthodontics, School of Dentistry, Seoul National University)
  • 김미엘 (서울대학교 치의학대학원 구강해부학교실) ;
  • 심재훈 (서울대학교 융합과학기술대학원 동적로봇시스템 연구실) ;
  • 에인 몬 (서울대학교 치의학대학원 치과보철학교실) ;
  • 김명주 (서울대학교 치의학대학원 치과보철학교실) ;
  • 박영석 (서울대학교 치의학대학원 구강해부학교실) ;
  • 권호범 (서울대학교 치의학대학원 치과보철학교실) ;
  • 박재흥 (서울대학교 융합과학기술대학원 동적로봇시스템 연구실)
  • Received : 2023.07.10
  • Accepted : 2023.07.24
  • Published : 2023.10.31
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Abstract

Purpose. The purpose of the study was to fabricate a prototype robotic simulator for dental education, to test whether it could simulate mandibular movements, and to assess the possibility of the stimulator responding to stimuli during dental practice. Materials and methods. A virtual simulator model was developed based on segmentation of the hard tissues using cone-beam computed tomography (CBCT) data. The simulator frame was 3D printed using polylactic acid (PLA) material, and dentiforms and silicone face skin were also inserted. Servo actuators were used to control the movements of the simulator, and the simulator's response to dental stimuli was created by pressure and water level sensors. A water level test was performed to determine the specific threshold of the water level sensor. The mandibular movements and mandibular range of motion of the simulator were tested through computer simulation and the actual model. Results. The prototype robotic simulator consisted of an operational unit, an upper body with an electric device, a head with a temporomandibular joint (TMJ) and dentiforms. The TMJ of the simulator was capable of driving two degrees of freedom, implementing rotational and translational movements. In the water level test, the specific threshold of the water level sensor was 10.35 ml. The mandibular range of motion of the simulator was 50 mm in both computer simulation and the actual model. Conclusion. Although further advancements are still required to improve its efficiency and stability, the upper-body prototype simulator has the potential to be useful in dental practice education.

목적. 이 연구의 목적은 치의학 교육을 위한 프로토타입 로봇 시뮬레이터를 제작하고, 하악운동을 시뮬레이션 할 수 있는지 여부를 테스트하며, 치과실습 중 자극에 대한 시뮬레이터의 반응 가능성을 평가하는 것이었다. 재료 및 방법. 가상 시뮬레이터 모델은 cone-beam computed tomography (CBCT) 데이터를 사용하여 경조직을 구획화한 후 제작되었다. 시뮬레이터의 프레임은 polylactic acid (PLA) 소재를 사용하여 3D 프린팅 되었으며, 덴티폼과 실리콘 얼굴 스킨을 장착하여 모델을 형성하였다. 서보 액추에이터는 시뮬레이터의 움직임을 제어하는데 사용되었고, 다양한 센서들로 시뮬레이터의 반응을 생성하였다. 수위 센서가 반응하는 물의 양을 측정하기 위해 수위테스트가 수행되었다. 또한, 컴퓨터 시뮬레이션과 실제 모델을 통해 시뮬레이터의 하악운동과 하악운동 범위를 테스트하였다. 결과. 프로토타입 로봇 시뮬레이터는 작동 장치, 전기 장치가 있는 상반신, 턱관절을 포함하는 머리 및 덴티폼으로 구성되었다. 시뮬레이터의 턱관절은 회전 및 병진 운동을 구현하면서 2자유도를 구동할 수 있었다. 수위 테스트에서 수위 센서의 특정 임계값은 10.35 ml였다. 컴퓨터 시뮬레이션과 실제 모델 모두에서 인간의 움직임을 모방하였고, 시뮬레이터의 하악운동 시 개구범위는 50 mm였다. 결론. 효율성과 안정성을 개선하기 위해서는 더 많은 발전이 필요하지만, 본 상반신 프로토타입의 시뮬레이터는 향후 치과실습 교육에 잠재적으로 유용할 것으로 기대된다.

Keywords

Acknowledgement

This work was supported by Seoul National University Research Grant in 2019.

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