Apparatus for taking radiographs used in performing dental subtraction radiography with a sensorized dental mouthpiece and a robotic system

摘要

Apparatus for taking dental x-rays used in performing subtraction radiography, includes an appliance for holding a dental x-ray film at a fixed position with respect to the teeth of a person, the appliance including a dental mold for holding the appliance in a fixed position on the teeth of the person, and a connecting member for holding the x-ray film in a fixed position relative to the teeth of the person and being mounted to the mold such that the x-ray film is positioned in the mouth at a set position; a magnetic source mounted at a fixed position in a room for producing a time-varying low frequency magnetic field; a magnetic sensor for sensing the magnetic field and for producing an output signal in response thereto, the magnetic sensor being mounted to the connecting member so as to be fixed in position relative to the x-ray film; an x-ray source for exposing the x-ray film; a robot manipulator having at least five degrees of freedom for moving the x-ray source in relation to the x-ray film, and having a free end with the x-ray source being fixed thereto; and a computer control for controlling the robot manipulator in response to the output signal from the sensor and in accordance with inverse kinematics so that the x-ray source is fixed in position with respect to the x-ray film, regardless of movement of the x-ray film.