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The implant surgery replaces missing tooth to regain functionality and look of the normal tooth after dental operation. Improper placement of implant increases recuperation periods and reduces functionality. The aim of this thesis is to design a passive haptic robotic arm to guide dentist during the implant surgery. In this thesis, the optimum design of the 6R passive haptic robotic arm is achieved. The methodology used in optimization problem involves minimization of end-effector side parasitic forces/torques while maximizing transparency of the haptic device. The transparency of haptic device is defined as realism of forces generated by device in real world compared to forces in virtual world. The multivariable objective function including dynamic equations of 6R robotic arm is derived and the constraints are determined using kinematic equations. The optimization problem is solved using SQP and GA. The link lengths and other relevant parameters along with the location of tool path are optimized. The end-effector parasitic torques/forces are significantly minimized. The results of two optimization techniques have proven to be nearly the same, thus a global optimum solution has been found in the search space. Main contribution of this study is to take spatial nonlinear dynamics into consideration to reduce parasitic torques. Also, a mechanical brake is designed as a passive actuator. The mechanical brake includes a cone based braking system actuated by DC motor. Three different prototypes are manufactured to test performance of the mechanical brake. The final design indicates that the mechanical brake can be used as passive actuators.

Les objectifs de cette thèse étaient de1/ carctériser la douleur post-opératoire chez des patients ayant reçu un implant dentaire mandibulaire. 2/examiner la relation entre facteurs individuels, facteurs chirurgicaux et douleurs post-operatoire chez patients ayant reçuun implant dentaire mandibulaire. 3/déterminer les incidences de la douleur neuropathique chez des patients ayant reçu un implant dentaire mandibulaire.Cette thèse a montré que la douleur post-opératoire aigüe après un implant dentaire allait d'une intensité douce à modérée((inférieur à 3 sur l'échelle visuelle analogique) et de courte durée. Une anlyse univariée a montré que l' intensité de la douleur post-operatoire était en lien avec l'âge, le souvenir de la douleur ayant fait suite à une précédente chirurgie orale, le nombre d'implants et la distance entre la fraise et le canal neurologique alvéolaire inférieur(IAN). En revanche aucun lien n'a été démontré avec le sexe, des facteurs psychologiques ou le procédé chirurgical. Une analyse multivariée a montré une association significative entre une douleur post-opératoie aigüe et la distance entre l'implant et le canal neurologique alvéolaire inférieur mémoire de la douleur après une précédente chirurgie orale. / This prospective study investigates the clinical characteristics and time course of postoperative pain after placement of dental implants in the mandible over a 6-month period. We also examined the influence of preoperative physical and psychological factors, as well as surgical factors, on acute postoperative pain. Postal questionnaires built to assess the existence neuropathic features of pain at the site of surgery (with the Douleur Neuropathique 4 Questions [DN4]) were sent two weeks, and one, three and six months after surgery.Acute postoperative pain was of mild-to-moderate intensity and had a short duration. Univariate analyses showed that the intensity of postoperative pain was related to age, remembrance of pain after a previous oral surgery, the number of implants, and the distance between the drill and the inferior alveolar nerve (IAN) canal. But, there was no relationship with gender, psychological factors, or surgical procedure (buccal flap). Besides the number of implants (P=0.013), and the distance between the end of the drill and the IAN canal (P=0.004), multivariate analyses showed a significant interaction between the acute postoperative pain and: i) the distance between the implant and the IAN canal (P=0.0005), ii) remembrance of pain after a previous oral surgery (P=0.003), iii) previous oral surgical pain (P=0.005). Among the patients who completed follow-up, only 0.7% (n = 1) scored positive on neuropathic symptoms (DN4 ≥ 3).This prospective observational study provides the characteristics of acute postoperative pain after placement of dental implants in the mandible and the risk factors for developing severe oral postoperative pain. It also provides the incidence rate of neuropathic pain occurring within the 6 months after dental implant surgery.