• 로봇학회논문지
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• 제17권2호
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• pp.172-177
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• 2022

In general, detection robots using ultrasonic sensors are equipped with sensors to protrude outward or to contact objects. However, in the case of a screw-propelled robot that detects the inside of a reactor tendon duct, if the ultrasonic sensor protrudes to the outside, resistance due to grease is generated, and thus the propulsion efficiency is reduced. In order to increase the propulsion efficiency, the screw must be sharp, and the sharper the screw, the more difficult it is to apply a high-performance ultrasonic sensor, and the detection efficiency decreases. This paper proposes a screw shape-changing mechanism that can improve both propulsion efficiency and detection efficiency. This mechanism includes an overlapped helical ring (OHR) structure and a magnetic clutch system (MCS), and thus the shape of a screw may be changed to a compact size. As a result, the Screw-propelled robot with this mechanism can reduce the overall length by about 150 mm and change the shape of the screw faster and more accurately than a robot with a linear actuator.

• 대한치과교정학회지
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• 제52권6호
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• pp.412-419
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• 2022

Objective: This study evaluated the effect of cyclic pre-calcification treatment on the improvement of bioactivity and osseointegration of Ti-6Al-4V mini-screws. Methods: The experimental groups were: an untreated group (UT), an anodized and heat-treated group (AH), and an anodized treatment followed by cyclic pre-calcification treatment group (ASPH). A bioactive material with calcium phosphate was coated on the mini-screws, and its effects on bioactivity and osseointegration were evaluated in in vitro and in vivo tests of following implantation in the rat tibia. Results: As a result of immersing the ASPH group in simulated body fluid for 2 days, protrusions appearing in the initial stage of hydroxyapatite precipitation were observed. On the 3rd day, the protrusions became denser, other protrusions overlapped and grew on it, and the calcium and phosphorus concentrations increased. The removal torque values increased significantly in the following order: UT group (2.08 ± 0.67 N·cm), AH group (4.10 ± 0.72 N·cm), and ASPH group (6.58 ± 0.66 N·cm) with the ASPH group showing the highest value (p < 0.05). In the ASPH group, new bone was observed that was connected to the threads, and it was confirmed that a bony bridge connected to the adjacent bone was formed. Conclusions: In conclusion, it was found that the surface treatment method used in the ASPH group improved the bioactivity and osseointegration of Ti-6Al-4V orthodontic mini-screws.