Design and Localization of an Oral Examination Robot
LI Sha
LIU Jiahu
LIANG Xiaoli
CHEN Lei
Abstract：The traditional diagnosis of oral diseases highly relies on the clinical experience and professional competence of doctors.Therefore,an innovative prototype of an oral examination robot was designed.This robot uses the standard D-H method for modeling,Monte Carlo method for workspace analysis,and a quintic polynomial interpolation function for trajectory planning of the robotic arm,thereby verifying the rationality of the structural design.A method for determining oral status was designed based on the Dlib model.By analyzing the coordinate system conversion relationship between the Astra S camera,robotic arm,and three-dimensional space,the center coordinates of the mouth were obtained.Repeated positioning experiments showed that errors were all within±2mm,verifying the feasibility of the mouth positioning method.
Keywords：robotsstandard D-H methodDlib modelvisual positioning
Publication Date：2024-07-20
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：7( 41-47 )