Figure 12From: Optics-guided Robotic System for Dental Implant SurgeryThe results of auxiliary positioning method: a After the needle tip reaches the target point, manually push the robotic arm to move along the fixed path in the UR5e force mode, b The trajectory of the needle tip, c Real-time angle of each joint of the robot, d Real-time angular velocity of each joint of the robot, the time period when the speed is zero represents the program interval stageBack to article page