Objectives: The aim of our work was to a create a simulator of the Tele-operated Dental Robot (TDR), which could show possibilities of fast treatment in some dental procedures. In a future simulator will be useful for teaching students operating of a robot. Methods: Java programming language was used for programming all parts of simulator, except of micro controllers programmed in C. A human interface is based on Xuntech hexapod joysticks (this interface will be used in final version of TDR). An operator (dentist) can see on the screen three pictures: the middle one with external camera view and 2 views from the left and right internal (inside oral cavity) cameras. A right hand is responsible for detailed drill movement, left had is responsible for framework movement. An oral cavity and robot parts was simulated in a graphic workstation, with cheap game 3D accelerator. Simulation works in a “real time” mode, but with a preprogrammed delay, which emulates a transfer delay of the real internet connection. Results: We have noticed problems of delay between a human reaction and a simulator response, which was reported by users as impossible to overcome. Performed tests show that accepted delay cannot be longer then 300ms, what indicates, that a fast internet transfer is necessary. The main problem is to synchronize position of the drill and tooth. Some people cannot control movements in upper and lower jaw. It was necessary to use switch for change of geometric up and down. Conclusions: The simulator of the Tele-operated Dental Robot was an useful framework for testing human interface of robot. It can be used for training of dentists.

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