스칼라 로봇을 이용한 구강 내 스캐너 자동 스캐닝 시스템 개발 = Development of Automatic Scanning System for Intra - oral Scanner using SCARA Robot

다국어 초록 (Multilingual Abstract)

Intra-oral scanner is a system which measures the 3D structure of teeth by inserting directly into a patient’s mouth. Generally in dentists insert semisolid material like alginate into the patient’s mouth for measuring structure of teeth. So it takes long time and low accuracy. On the other hand, Intra-oral scanner can measure teeth quickly and high accuracy. But Intra-oral scanner is sensitive to hand’s vibration when it captures images with a camera. Automatic scanning system can eliminate the vibration error because it’s installed on the end point of SCARA robot arm. And it can help to reconstruct 3D structure of all teeth because automatic scanning system provides scanner’s poses and positions using each motor’s degree values. It is possible to measure patient’s teeth shape fast and correctly. The automatic scanning system is proposed in this paper and forward kinematics and inverse kinematics, velocity planning are calculated.

목차 (Table of Contents)

• ABSTRACT
• 1. 서론
• 2. 하드웨어 설계
• 3. 측정 시스템 제어
• 4. 실험 및 결과
• 참고문헌