One of the major challenges in the science of maxillofacial radiology imaging is the various artifacts created in images taken by cone beam computed tomography (CBCT) imaging systems. Among these artifacts, motion artifact, which is created by the patient, has adverse effects on image quality. In this paper, according to the conditions and limitations of the CBCT imaging room, the goal is the design and development of a cable-driven parallel robot to create repeatable movements of a dry skull inside a CBCT scanner for studying motion artifacts and building up reference datasets with motion artifacts. The proposed robot allows a dry skull to execute motions, which were selected on the basis of clinical evidence, with 3-degrees of freedom during imaging in synchronous manner with the radiation beam. The kinematic model of the robot is presented to investigate and describe the correlation between the amount of motion and the pulse width applied to DC motors. This robot can be controlled by the user through a smartphone or laptop wirelessly via a Wi-Fi connection. Using wireless communication protects the user from harmful radiation during robot driving and functioning. The results show that the designed robot has a reproducibility above 95% in performing various movements.

翻译：颌面放射成像科学面临的主要挑战之一是锥束计算机断层扫描（CBCT）成像系统所获图像中产生的各类伪影。其中，由患者产生的运动伪影会对图像质量产生不利影响。本文根据CBCT成像室的条件与限制，旨在设计开发一种线驱动并联机器人，用于在CBCT扫描仪内驱动干燥颅骨进行可重复运动，以研究运动伪影并构建带运动伪影的参考数据集。所提出的机器人可使干燥颅骨在成像过程中与辐射束同步执行具有三自由度的运动，这些运动模式基于临床证据选定。本文给出了机器人的运动学模型，以研究并描述运动幅度与施加于直流电机脉冲宽度之间的关联关系。用户可通过智能手机或笔记本电脑经Wi-Fi连接无线控制该机器人。无线通信方式使用户在机器人驱动运行期间免受有害辐射影响。实验结果表明，所设计机器人在执行各类运动时具有95%以上的可重复性。