Blood-Water-Saliva Mixed Liquid Removal Robot During Oral Treatment

Oral blood-water-salivary mixed liquid removal is a common operation in all oral treatments,and it is also a source of fatigue that consumes a lot of energy of stomatologists.Therefore,the study of oral blood-water-salivary mixed liquid removal robot has important clinical significance.In this paper,a robot system for cleaning blood-watersalivary mixed liquid for oral treatment is proposed.The main work is as follows:1.Solve the gesture recognition problem by using deep learning algorithm.Firstly,a doctor gesture dataset is established,and then the performance of Resnet network and artificial convolutional neural network is compared.The performance of Resnet network is better,with MPA value of 0.92 and Loss value of approximately 0.Finally,Resnet deep learning network is used to solve the robot gesture recognition problem.2.A method was found to identify the contours of blood-watersalivary mixed liquid.By comparing and analyzing the detection results of flood filling,color threshold segmentation and convex hull detection,the color threshold segmentation has the best recognition result,and the recognized contour area of the mixed liquid is 96%of the actual contour area of the mixed liquid.Therefore,the color threshold segmentation was selected as the method to identify the contour of blood-water-salivary mixed liquid.3.The control method of oral treatment blood-water-salivary mixed liquid cleaning robot is proposed.Firstly,the control method of mixed liquid removal,the control method of robot basic function and the safety control method based on six-dimensional force sensor are described.Then,the gravity compensation calculation of the six-dimensional force sensor is carried out.The perceived error of force and moment is 1.72%and 1.94%respectively.The experimental results show that the oral treatment blood-watersalivary mixed liquid removal robot system proposed in this paper can realize the removal of oral mixed liquid in the human-computer interaction mode.The robot can improve the precision of mixed liquid removal,reduce the manual workload in the process of oral treatment,ensure the consistency of mixed liquid removal effect,and has important clinical application value,and promote the development of medical robots.