Measurement and control of cranial-positioning system using PSD cameras and a 5-degree-of-freedom robotized chair

1 Citations
  • Nakamura Yasuo
    Department of Information Engineering,Faculty of Engineering, Niigata University
  • Hayashi Toyohiko
    Department of Information Engineering,Faculty of Engineering, Niigata University
  • Takeda Takashi
    Department of Information Engineering,Faculty of Engineering, Niigata University
  • Katoh Kazumasa
    First Department of Prosthetic Dentistry,School of Dentistry, Niigata University
  • Miyakawa Michio
    Department of Information Engineering,Faculty of Engineering, Niigata University

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  • PSDカメラと5自由度可動椅子を用いた頭位規格化システムの計測と制御

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In measurements of mandibular movements employing a X-ray television,the cranial position must be normalized,relative to the measuring device,using a positioning jig.This normalization, however,is somewhat time-consuming and likely to restrict mandibular movements.To improve these,we have been developing a system automatically normalizing the cranial position.This system monitors the position and orientation of the cranium,using a PSD- camera photostereometry.If they are incorrect,the cranium is moved into the required position,using a 5-degree-of-freedom robotized chair.To accomplish this,the required position and orientation of the head-rest of the chair must be computed from data of the current cranial position.This computation requires the tripartite positional relations of the cranium,the stereometric system and the robotized chair.This paper theoretically demonstrates that these relations can be obtained through a relatively simple calibration,and also provides a solution to an inverse problem determining robot-control parameters from the head rest position required.

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