# Benefits of intraoral cobotic scanning in the dental CAD/CAM chain

Rebecca Allport, Lebon Nicolas, Swaminath Venkateswaran, Floriane Laverne

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Rebecca Allport, Lebon Nicolas, Swaminath Venkateswaran, Floriane Laverne. Benefits of intraoral cobotic scanning in the dental CAD/CAM chain. 2ème Journée de la Recherche en Odotonlogie, Jul 2024, Montrouge, France., 2024. [hal-04637456](https://hal.science/hal-04637456v1)

HAL Id: hal-04637456

https://hal.science/hal-04637456v1

Submitted on 6 Jul 2024

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Distributed under a Creative Commons Attribution 4.0 International License
# Benefits of intraoral robotic scanning in the dental CAD/CAM chain

Rebecca Allport<fnref n="1" />, Nicolas Lebon<fnref n="1" />, Swaminath Venkateswaran<fnref n="1" />, Floriane Laverne<fnref n="2" />

## Introduction

* In the last years, **the modernisation** of the **digital impression** has been made possible thanks to **digital intra-oral scanners (IOS)** and **additive manufacturing** machines, which are increasingly used in dentistry, and enable the **quality** of **dental care** to be improved.

* **STL files** obtained with IOS are the **first step** in digital manufacture of **dental prostheses**.

* Effective patient care are reflected in **precision**, **accuracy** and **fidelity** of CAD files [1-2].

* Many factors are involved, including the practitioner [3].

## Objectives

* Define a **repeatable** and **reproducible** experimental measurement protocol with the cobot.

* **Programming** the cobot to teach the practitioner the scanning gesture.

* Carrying out a **test campaign**.

* In vitro experiments :

**Experiment 1:** Scanning for an entire dental with spheres on the second molars and first premolars.

**Experiment 2:** Scanning for an entire dental arch.

## Materials & Methods

### Cobot UR5e HMI-MBS:

* Robotiq Wrist Camera

* Robotiq 2F-85 Adaptive Gripper

### Reference object for Experiment 1:

<figure><img src="image_2.png" /></figure>

### Reference object for Experiment 2:

Frasaco and articulator.

<figure><img src="image_3.png" /></figure>

<figure><img src="image_4.png" /></figure>

### Software:

* Creation of the trajectory on Solidworks.

* Simulation and adjustment on RoboDK.

### Care Stream CS3800 IOS:

Using only the wireless side with its standard tip.

### Tested trajectories:

<figure><img src="image_5.png" /></figure>

<figure><img src="image_6.png" /></figure>

## Results

* Trajectory reproducibility

* Cobotic scan

* STL files

* Complete simulation environment for scanning

* In vitro scanning

<figure><img src="image_7.png" /></figure>

<figure><img src="image_8.png" /></figure>

<figure><img src="image_9.png" /></figure>

## Perspectives

* **Comparison** of the **results** obtained (accuracy, precision and fidelity of CAD files) with those obtained by the practitioner.

* **Vision** of cobots in dentistry in the future, in **autonomous** or **collaborative** form.

<footnote n="1">¹ Léonard de Vinci Pôle Universitaire, Research Center, 92 916 Paris La Défense, France</footnote>

<footnote n="2">² URB2I, URP 4462, Université Sorbonne Paris Nord, F-93000, Bobigny, France</footnote>

<footnote>[1] Troizier Cheyne M, Lebon N, Laverne F. (2023). "Impact of Intra oral Scanner Sleeves on STL File Accuracy: A Metrological Approach". Computer Aided Design and Applications, 21(4), pp.567-580. 10.14733/cadaps.2024.567-580. hal-04284162.</footnote>

<footnote>[2] L. Dupagne, L. Tapie, N. Lebon, B. Mawussi, Comparison of the acquisition accuracy and digitizing noise of 9 intraoral and extraoral scanners: An objective method, The Journal of Prosthetic Dentistry, Volume 128, Issue 5, 2022, 1032-1040, https://doi.org/10.1016/j.prosdent.2021.02.005.</footnote>

<footnote>[3] Thomas AA, Jain RK. Influence of Operator Experience on Scanning Time and Accuracy with Two Different Intraoral Scanners - A Prospective Clinical Trial. Turk J Orthod. 2023; 36(1): 10-14.</footnote>

<footnote>[4] Crétot, M. (2003). L'arcade dentaire humaine: morphologie. Editions CdP-Groupe Liaisons.</footnote>