CN110811880A - Automatic tooth planting robot and application method thereof - Google Patents

Abstract

The invention provides an automatic tooth planting robot and an application method thereof, wherein the automatic tooth planting robot comprises a main trolley and an auxiliary trolley which are electrically connected, a planting system, a control system and a display are installed on the main trolley, an optical tracking and positioning instrument is installed on the auxiliary trolley, the optical tracking and positioning instrument is registered through a positioning and tracking device which is rigidly connected to an intraoral positioning clamp, the optical tracking and positioning instrument tracks the positions of the planting system and the positioning and tracking device and sends tracking signals to the control system, and the control system controls the planting operation of the planting system in a planting area according to the tracking signals and displays the tracking signals in real time through the display; and an uninterruptible power supply UPS is also installed on the main trolley and is connected with the isolation transformer and supplies power to the control system. According to the invention, the optical tracking and positioning instrument is arranged on the auxiliary trolley and separated from the main trolley, so that the optical tracking and positioning instrument can accurately move according to the planting requirement to realize the tracking of the part with the identification characteristic.

Description

Automatic tooth planting robot and application method thereof

Technical Field

The invention belongs to the field of medical instruments, and particularly relates to an automatic tooth implanting robot and an application method thereof.

Background

The implant is comfortable, beautiful and durable, does not damage adjacent teeth, and is the preferred restoration scheme after the loss of the teeth at present. The implant is characterized in that root type pure titanium or titanium alloy materials are anchored in a jawbone to provide support and fixation for repairing a missing tooth. The theoretical technique of oral implantation is osseointegration, i.e. ordered or direct deposition of strands on the implant surface, anchoring the implant in the bone. The quality of osseointegration is directly related to success or failure and long-term stability of the implant. There are many factors that affect osseointegration, of which one important is the position and axial orientation of the implant, and if the bone mass around the implant is less than 1.5mm, bone resorption around the implant may occur; if the implant is not oriented towards the functional tip of the maxillary teeth, the implant may be subjected to excessive lateral force, which may also cause bone resorption around the implant. The bone absorption is often reflected in the reduction of the bone combination quality, and the service life of the implanted tooth is greatly shortened.

Preoperative preparation is developed around CT data, and firstly, preparation is made for registration of the CT data and entity information, and secondly, design of an operation scheme is completed in a CT image. CBCT (cone Beam Computed tomography) refers to a cone Beam projection computer reconstruction tomography means, which is a commonly used means for assessing bone mass and design scheme before implantation, but CBCT images and the designed implantation scheme cannot be directly linked with oral entities, and in order to integrate the two data together, registration and positioning are required.

The existing registration method mostly adopts a point registration method, namely, a plurality of datum points are attached in the mouth of a preoperative patient for CT shooting, and the coordinates of the datum points are stored in a virtual three-dimensional image; when in registration, the datum points are still attached in the mouth, and the registration is realized through the coordinates of the multiple datum points. When the points are aligned, the instrument with the positioning and tracking device can go out the center point of the reference points in the hole one by one according to the sequence of the reference points in the CT image. The registration method has the problems that the operation process is complicated, and the center of the manual point reference point has an error. Meanwhile, most of the existing registration positioning is to print a tooth model by a rapid molding material, and utilize the undercut retention between the necks of teeth or teeth, and because the undercut retention force of a single tooth is weak, the impression is needed to be carried out on a plurality of teeth or even a half of teeth at the same time. The method has large dependence on the tooth shape, and multiple (> 2) continuous teeth are often needed to obtain enough retention force, so that the application range is limited. Therefore, the method is not suitable for patients with more edentulous teeth and the patients have strong discomfort.

The invention patent application with the application number of 201710835480.7 and the publication date of 2018.01.09 discloses an automatic dental implant robot, and the invention discloses the dental implant robot which is composed of a trolley and control components, wherein the control components are integrally mounted on the trolley, when a medical worker operates the dental implant robot, the medical worker can move the dental implant robot by operating the whole trolley no matter which control component is needed, particularly when a tracker is used, the medical worker is inconvenient, in addition, the regulation range of the locking strength of an oral fixture recorded by the robot is narrow, the regulation precision is poor, and meanwhile, when a drill registration tool is used for replacing a drill, the direction of the drill needs to be calibrated again, and the registration time is prolonged. Therefore, there is an urgent need to develop a new dental implant robot to solve the above problems.

Disclosure of Invention

The invention aims to solve the problem of inconvenient operation of the tracker caused by the concentration of all control parts on one trolley; the second purpose is to provide a new intraoral positioning fixture to realize accurate positioning and retention; the problem that direction calibration needs to be frequently carried out when drill bits of different sizes are replaced by an existing dental implant drill bit registration tool is solved.

Therefore, the invention provides an automatic tooth planting robot which comprises a main trolley and an auxiliary trolley which are electrically connected, wherein a planting system, a control system and a display are installed on the main trolley, an optical tracking and positioning instrument is installed on the auxiliary trolley, the optical tracking and positioning instrument is registered through a positioning and tracking device which is rigidly connected to an intraoral positioning fixture, the optical tracking and positioning instrument tracks the positions of the planting system and the positioning and tracking device and sends tracking signals to the control system, and the control system controls the planting operation of the planting system in a planting area according to the tracking signals and displays the tracking signals in real time through the display;

and an uninterruptible power supply UPS is also installed on the main trolley and is connected with the isolation transformer and supplies power to the control system.

The intraoral positioning fixture is a device which is clamped at the edentulous part in the oral cavity of a patient and prints out a tooth model through a built-in plastic material, the intraoral positioning fixture is fixed on two continuous teeth, the intraoral positioning fixture comprises a fixing part and a moving part, the fixing part and the moving part are connected through a driving part, and the driving part is connected with the fixing part and the moving part to form a lock catch capable of clamping the teeth.

The fixed piece is ┐ shapes, the moving part is | shape, the end joint of fixed piece and moving part forms ∩ shape structure, two base curves the protruding relative fixed hook and driven hook of formation to the inboard relative each other respectively of ∩ shape structure, fixed hook and driven hook cooperation constitute the ∩ shape padlock of lockable tooth, the drive part is the locking bolt, the locking bolt passes the fixed piece and promotes the connecting face control ∩ shape padlock of fixed piece and moving part locking intensity.

The fixed piece is a U-shaped seat, the movable piece is an □ -shaped seat, the □ -shaped seat is sleeved on one vertical wall of the U-shaped seat in a penetrating mode, the other vertical wall and the side wall, located in the U-shaped opening of the □ -shaped seat, of the U-shaped seat form a flat plate buckle lock capable of locking teeth, the driving part is a locking bolt, and the locking bolt penetrates through the □ -shaped seat and the sleeved portion of the U-shaped seat to push the side wall, located in the U-shaped opening of the U-shaped seat, of the □ -shaped seat to control the locking strength of the flat plate.

The positioning device comprises an automatic registration device or a positioning and tracking device, the automatic registration device is a three-dimensional structure made of developable materials without obvious artifacts, and the positioning and tracking device is a component which has a tracking and positioning mark and can be identified by an optical tracking and positioning instrument to realize tracking and positioning.

The positioning device comprises an automatic registration device or a positioning and tracking device, the automatic registration device is a three-dimensional structure made of developable materials without obvious artifacts, and the positioning and tracking device is a sensing component capable of realizing tracking and positioning.

The planting system comprises a mechanical arm, the front end of the mechanical arm is provided with a planting mobile phone, the front end of the planting mobile phone is provided with a drill point, the mechanical arm is mounted on a main trolley through a mechanical arm supporting structure, the mechanical arm supporting structure can slide on the table top of the main trolley along a straight line through a linear module, and meanwhile the mechanical arm can ascend and descend through a lifting device on the main trolley.

The display passes through the display bearing structure to be installed on the main trolley, and display bearing structure accessible linear module slides along the straight line on main trolley mesa, and the elevating gear oscilaltion on the accessible main trolley simultaneously.

An application method of an automatic dental implant robot comprises the following steps:

the intraoral positioning fixture provided with the plastic material and simultaneously connected with the automatic registration device is worn at a position to be implanted with teeth in the oral cavity of a patient to shoot a CBCT, CBCT data is transmitted to a control system, the control system automatically generates a complete implantation scheme after analyzing the CBCT data, or a doctor designs the implantation scheme after analyzing the CBCT data;

the automatic registration device is taken down, the intraoral positioning fixture and the implantation system are respectively connected with the positioning and tracking device, the optical tracking and positioning instrument identifies the positioning and tracking device on the intraoral positioning fixture, the space coordinate with the optical tracking and positioning instrument as an original point is used as a real three-dimensional space coordinate, the real three-dimensional space coordinate is registered with the CBCT image coordinate, then the optical positioning and tracking instrument identifies the positioning and tracking device of the implantation system, and the coordinate of the implantation system is registered with the real three-dimensional space coordinate; or the optical tracking positioning instrument simultaneously identifies the intraoral positioning fixture and the positioning tracking device of the planting system, so as to realize automatic registration;

the planting system is moved, the positioning and tracking device and the optical tracking and positioning instrument are matched to record the displacement of the oral cavity and the planting system, the optical tracking and positioning instrument feeds back the tracked information to the control system, and the control system controls the planting system to move along with the oral cavity and drives the planting system to perform the planting operation.

The planting system needs to drill a hole on a planting tooth through the planting drill point when a planting operation is carried out, the planting drill point is registered and positioned through the planting drill point registration device when the hole is drilled, the planting mobile phone is provided with a first positioning tracking mark, the planting drill point registration device is provided with a second tracking positioning mark, the optical tracking positioning instrument tracks the first positioning tracking mark and the second tracking positioning mark and transmits the first positioning tracking mark and the second tracking positioning mark to the control system, and the control system determines the diameter of the planting drill point, the direction of the planting drill point relative to the planting mobile phone and the needle point position of the planting drill point and reflects the diameter, the direction and the needle point position of the planting drill point on a CBCT image in real.

The invention has the beneficial effects that: the automatic tooth planting robot and the application method thereof provided by the invention have the advantages that the automatic tooth planting robot consists of a main trolley and an auxiliary trolley, the auxiliary trolley is provided with an optical tracking and positioning instrument, and the optical tracking and positioning instrument can accurately move according to the planting requirement to realize the tracking of a part with an identification characteristic; meanwhile, the invention also provides an implant drill point registering device and an intraoral positioning fixture, wherein the intraoral positioning fixture can form good retention and positioning effects through the locked buckle and the solidified plastic material, enough retention force can be obtained only by two continuous teeth, the diameter of the drill point, the direction of the drill point relative to the implant handpiece and the position of the needle point can be conveniently determined by the implant drill point registering device, so that the position of the drill point can be reflected to the CBCT image in real time by tracking the first positioning track mark on the implant handpiece, the visualization of the dental implant operation is realized, and the direction of the drill point does not need to be calibrated again when the drill point is replaced again, thereby shortening the registering time, improving the operation efficiency and having high practical value.

The present invention will be described in further detail below with reference to the accompanying drawings.

Drawings

Fig. 1 is a schematic structural diagram of an automatic dental implant robot.

Fig. 2 is a schematic view showing the connection of the parts on the main and sub-dollies.

Fig. 3 is a schematic structural view of an intraoral positioning jig in embodiment 3.

FIG. 4 is a schematic structural view of an intraoral positioning jig according to embodiment 4.

FIG. 5 is a first schematic diagram of a developer sheet.

FIG. 6 is a second schematic diagram of a developer sheet construction.

FIG. 7 is a schematic view of the overall structure of the developer sheet, support bar and intraoral positioning fixture as a unit.

Fig. 8 is a schematic view showing the connection between the main carriage and the sub-carriage.

Description of reference numerals:

1. a main trolley; 2. a sub-trolley; 3. a planting system; 4. a control system; 5. a display; 6. an optical tracking and positioning instrument; 7. positioning a clamp in the mouth; 8. an Uninterruptible Power Supply (UPS); 9. an isolation transformer; 10. a developing sheet; 11. a support bar; 12. a planting drill point registering device;

7.1. the locking device comprises a fixed piece, a 7.2 movable piece, a 7.3 fixing hook, a 7.4 driven hook, a 7.5- ∩ -shaped buckle lock, a 7.6 abutting surface, a 7.7 locking bolt, a 7.8 connecting port, a 7.9 first side wall, a 7.10 second side wall, a 7.11 first side surface, a 7.12 second side surface, a 7.13 abutting area and a 7.14 top wall, wherein the fixed piece is fixed on the fixed piece;

10.1. a first screw hole; 11.1. a second screw hole;

12.1. a positioning tracking mark section; 12.1a. a second localization tracking marker; 12.1b. locating pins; 12.2. a drill point detection unit; 12.21. an upper flat plate; 12.22. a lower flat plate; 12.21a. a through hole; 12.22a. a limit detection hole; 12.3. branching; 12.4. a main rod; 12.5. a recess.

Detailed Description

The following description of the embodiments of the present invention is provided for illustrative purposes, and other advantages and effects of the present invention will become apparent to those skilled in the art from the present disclosure.

In the present invention, the upper, lower, left, right, front, and rear in the drawings are regarded as the upper, lower, left, right, front, and rear of the automatic dental implant robot described in the present specification.

The exemplary embodiments of the present invention will now be described with reference to the accompanying drawings, however, the present invention may be embodied in many different forms and is not limited to the embodiments described herein, which are provided for complete and complete disclosure of the present invention and to fully convey the scope of the present invention to those skilled in the art. The terminology used in the exemplary embodiments illustrated in the accompanying drawings is not intended to be limiting of the invention. In the drawings, the same units/elements are denoted by the same reference numerals.

Example 1:

the embodiment provides an automatic dental implant robot, as shown in fig. 8, including electrically connected main platform truck 1 and vice platform truck 2, as shown in fig. 1, install planting system 3, control system 4 and display 5 on the main platform truck 1, install optical tracking positioning instrument 6 on the vice platform truck 2, optical tracking positioning instrument 6 registers through the localization tracking device of rigid connection on intraoral localization fixture 7. As shown in fig. 2, the optical tracking and positioning instrument 6 tracks the positions of the planting system 3 and the positioning and tracking device and sends a tracking signal to the control system 4, and the control system 4 controls the planting operation of the planting system 3 in the planting area according to the tracking signal and displays the tracking signal in real time through the display 5; an uninterruptible power supply UPS8 is also installed on the main trolley 1, and the uninterruptible power supply UPS8 is connected with the isolation transformer 9 and supplies power to the control system 4.

The working process and the working principle of the automatic dental implant robot are as follows:

an intraoral positioning clamp 7 which is provided with a plastic material and is simultaneously connected with an automatic registration device (such as a developing film 10) is worn at a position to be implanted in the oral cavity of a patient to shoot a CBCT, CBCT data is transmitted to a control system 4, the control system 4 automatically generates a complete implantation scheme after analyzing the CBCT data, or a doctor designs the implantation scheme after analyzing the CBCT data;

and taking down the automatic registration device, respectively connecting the intraoral positioning fixture 7 and the implantation system 3 with a positioning and tracking device, and identifying the positioning and tracking device on the intraoral positioning fixture 7 by the optical tracking and positioning instrument 6, so as to register the real three-dimensional space coordinate with the CBCT image coordinate. The optical localization tracking instrument 6 identifies the localization tracking means of the implantation system 3, registering the coordinates of said implantation system 3 with the real three-dimensional space coordinates. Or the optical tracking positioning instrument 6 simultaneously identifies the in-hole positioning clamp 7 and the positioning tracking device of the planting system 3, so as to realize automatic registration. The real three-dimensional space coordinate refers to a space coordinate with the optical tracking and positioning instrument 6 as an origin.

Remove planting system 3, the displacement of location tracking device and optical tracking positioning instrument 6 cooperation record oral cavity and planting system 3, optical tracking positioning instrument 6 feeds back the information of tracking to control system 4, and control system 4 control planting system 3 moves along with the oral cavity to drive planting system 3 and carry out the operation of planting.

The following are specifically mentioned: (1) the control system 4 belongs to the prior art and in particular it comprises a computer for implementing human-computer interaction, an operating panel and control means for driving the planting system 3, and a foot control device for determining the planting plan from Cone Beam Computed Tomography (CBCT) images. The control system 4 can realize the design of the preoperative planting scheme, the control system 4 can also perform intraoperative registration, information integration analysis, instruction sending, feedback receiving and other operations, and is the core part of the automatic tooth planting robot, meanwhile, the control system 4 can independently form a panoramic image and mark out a mandibular nerve canal through deep learning, can abstract out cortical bone and cancellous bone trabecular images of a planting operation area, and assists medical personnel to analyze bones according to a classical Lekholm and Zarb bone density classification method and guide the number of planting drills. (2) When a power failure accident occurs, the UPS8 immediately supplies 220V alternating current to the load by an inversion conversion method, so that the load can keep working normally, the software and hardware of the load are protected from being damaged, and the normal operation of the planting operation is ensured. (3) The isolation transformer 9 is a transformer with an input winding and an output winding electrically isolated, the isolation transformer 9 is used for avoiding touching an electrified body accidentally and simultaneously, the protection and lightning protection effects are mainly achieved, the isolation transformer 9 and the UPS8 are jointly used, even if a power failure accident happens in a planting operation, the planting operation can still be carried out, and the safety of a patient is ensured. (4) The positioning device includes an automatic registration device, which is a three-dimensional structure made of a material that can be developed without significant artifacts, such as a developing sheet 10, or a position tracking device, which is a component having a position tracking mark (e.g., a feature point of a black-and-white pattern) and capable of being recognized by the optical tracking and positioning instrument 6 to realize position tracking.

The automatic tooth planting robot mainly comprises a main trolley and an auxiliary trolley, wherein an optical tracking and positioning instrument is installed on the auxiliary trolley, the optical tracking and positioning instrument can accurately move according to planting requirements to track components with identification characteristics, and inconvenience of mutual restriction and pulling caused by the fact that all the components are installed on the same trolley when moving is avoided. In addition, in the invention, the optical tracking and positioning instrument abandons NDI Polaris (infrared rays) but selects Claronav MicronTracker (visible light), and the NDI is a light reflecting ball, the MicronTracker is a pattern between black and white phases, and the pattern between the black and white phases can be accurately tracked, thereby further realizing the accurate planting of teeth. Moreover, the MicronTracker is small and exquisite, the effective identification distance is small, and the operation space is saved; the MincronTracker use rule enables the surgical design to be more flexible and is suitable for more clinical scenes; and the cost is greatly reduced.

Example 2:

on the basis of the embodiment 1, the intraoral positioning fixture 7 is a device which is clamped at the edentulous part in the oral cavity of a patient and is used for printing out a tooth model through a built-in plastic material, the intraoral positioning fixture is fixed on two continuous teeth, the intraoral positioning fixture comprises a fixed part and a movable part, the fixed part is connected with the movable part through a driving part, and the driving part is connected with the fixed part and the movable part to form a lock catch capable of clamping the teeth.

When shooting the CBCT, the intraoral positioning fixture 7 provided with the shapeable material needs to be worn at the position of the tooth to be implanted in the oral cavity of the patient to shoot the CBCT, and the intraoral positioning fixture 7 is connected with an automatic registration device. It should be noted that the automatic registration device is a three-dimensional structure made of a material that can be developed without noticeable artifacts, such as a developing sheet 10, and the developing sheet 10 is connected to the intraoral positioning jig 7 by a support rod 11.

The surface of the developer sheet 10 includes a plurality of feature areas defining feature point locations and a plurality of geometric features associated with the feature point locations; geometric features, angular features of the fingertip, i.e. features that facilitate image segmentation.

As shown in FIG. 7, the developer sheet 10 has a curved profile such that the projection of the curved profile onto a reference plane is generally curved, the curved profile being shaped to follow the curvature of a tooth when the device is attached to the tooth. The first screw hole 10.1 of the developing sheet 10 and the second screw hole 11.1 of the supporting rod 11 can be connected by screw threads in this embodiment. The developer sheet 10 is developed in CBCT and can be well separated. The segmented data can be registered with the designed model file. The developer sheet 10 is mounted to the intraoral positioning fixture 7, with the developer sheet 10 generally curved to approximate the surgical area. The surface of the developer sheet 10 includes a plurality of feature areas and defines a datum plane.

The development sheet 10 of the present embodiment, designed as above, has the following advantages: firstly, the trend of the teeth is met; second, the distance from the teeth is not too far; third, the development sheet has a curved profile that increases the number of feature points that can be easily registered, and the number of feature points need only satisfy the algorithm.

In a preferred embodiment, the feature areas of the developer sheet 10 of the above-described embodiments include one or more folds in the shape of a "W". The design of the developer sheet 10 in a folded configuration increases the number of features that need only satisfy the algorithm for ease of registration.

In a preferred embodiment, at least one feature area of the developer sheet 10 is provided with a registration aperture.

Example 3:

on the basis of embodiment 2, as shown in fig. 3, the fixing member 7.1 is ┐ -shaped, the moving member 7.2 is | shaped, the end portions of the fixing member 7.1 and the moving member 7.2 are clamped to form a ∩ -shaped structure, two bottom edges of the ∩ -shaped structure are respectively bent and protruded towards the inner sides opposite to each other to form a fixing hook 7.3 and a driven hook 7.4, the fixing hook 7.3 and the driven hook 7.4 are matched to form a ∩ -shaped latch capable of locking teeth, the driving member is a locking bolt 7.7, and the locking bolt 7.7 penetrates through the fixing member 7.1 to push the connecting surface of the fixing member 7.1 and the moving member 7.2 to control the locking strength of the ∩ -shaped latch 7.5.

Specifically, the fixed piece 7.1 and the movable piece 7.2 are rotationally connected through a fixed bolt, a butt surface 7.6 is arranged at the joint of the inner side of the upper end of the movable piece 7.2 and the fixed piece 7.1, a locking bolt 7.7 capable of pushing the butt surface 7.6 is arranged on the fixed piece 7.1, and the locking strength of the ∩ -shaped padlock 7.5 is controlled by controlling the locking bolt 7.7 to push the butt surface 7.6.

In actual use, plastic materials are placed in the ∩ -shaped fasteners, the ∩ -shaped fasteners are fastened on teeth, and the ∩ -shaped fasteners are provided with the plastic materials which can be printed to form the shapes of the teeth, in the embodiment, the ∩ -shaped fasteners can be made of any materials which can be quickly formed and can be used for the oral cavity of a patient, and the materials comprise materials which are cured by temperature change and materials which are cured by illumination, and the like, and the ∩ -shaped fastener built-in materials are printed out of tooth models and cured to form personalized fixtures, so that positioning can be realized, and retention is enhanced.

It should be noted that the movable member 7.2 can rotate around the fixing bolt to sleeve the oral implant registration positioning device on the tooth, the fixed member 7.1 is provided with a screw hole, the locking bolt 7.7 can penetrate through the fixed member 7.1 from the screw hole to abut against the abutting surface 7.6, when the abutting surface 7.6 is pushed by the locking bolt 7.7, the movable member 7.2 rotates around the fixing bolt to control the locking strength of the ∩ -shaped buckle 7.5, the fixed member 7.1 is provided with a connecting port 7.8, the connecting port 7.8 is used for fixing and connecting the support rod 11, the connecting port 7.8 is a square notch or a trapezoid clamping groove, and the support rod 11 can be fixed in the square notch through a screw, or fastened in the trapezoid clamping groove through interference fit with the trapezoid clamping groove, or integrally formed with the fixed member 7.1.

The intraoral positioning fixture 7 provided by the present embodiment is used as follows:

the fixing piece 7.1 is connected with the developing sheet 10 through a connecting port 7.8, a shapeable material is placed in a ∩ -shaped buckle 7.5, the ∩ -shaped buckle 7.5 is buckled on a tooth, a locking bolt 7.7 is controlled to push an abutting surface 7.6, a moving piece 7.2 rotates around the fixing bolt, a driven hook 7.4 is enabled to bend inwards, the ∩ -shaped buckle 7.5 applies pressure to the shapeable material, after the shapeable material is printed out to be in the shape of the tooth under the action of the pressure and the tooth is fixed, the abutting surface 7.6 is stopped being pushed, the pressure applied by the ∩ -shaped buckle 7.5 is kept, a light curing lamp is placed on the outer side of the ∩ -shaped buckle 7.5, the shapeable material with the impression in the shape of the tooth is cured, the developing sheet 10 is connected with an oral implant registration positioning device, after a patient wears the oral implant registration positioning device to shoot a CBCT, the developing sheet 10 is taken from the connecting port 7.8, the positioning device (the positioning device is connected with a positioning mark and can be automatically tracked by an optical tracking device capable of being connected with an optical tracking and an optical tracker capable of realizing the automatic registration of being capable of being switched between the built-in-imaging and-imaging instrument 82, and the automatic registration-based on-tracking device, and.

Example 4:

on the basis of embodiment 2, as shown in fig. 4, the fixed member 7.1 is a U-shaped seat, the movable member 7.2 is an □ -shaped seat, the □ -shaped seat is sleeved on one of the vertical walls of the U-shaped seat, the other vertical wall and the side wall of the □ -shaped seat in the U-shaped opening form a flat plate buckle lock capable of locking teeth, the driving member is a locking bolt 7.7, and the locking bolt 7.7 penetrates through the □ -shaped seat and the sleeved portion of the U-shaped seat to push the side wall of the □ -shaped seat in the U-shaped opening of the U-shaped seat to control the locking strength of the flat plate buckle lock.

The two vertical walls of the U-shaped seat are a first side wall 7.9 and a second side wall 7.10, respectively, in this embodiment, the □ -shaped seat is sleeved on the first side wall 7.9 (or sleeved on the second side wall 7.10), the two parallel opposite sides of the □ -shaped seat are a first side 7.11 and a second side 7.12, respectively, the first side 7.9 is clamped between the two sides, the second side 7.12 is positioned between the first side 7.9 and the second side 7.10, the second side 7.12 is provided with an abutting area 7.13, when locked, the locking bolt 7.7 sequentially passes through the first side 7.11 and the first side 7.9 to reach the abutting area 7.13, and pressure is applied to the second side 7.10 to push the □ -shaped seat to move towards the inner side of the U-shaped seat, so that the □ -shaped seat and the U-shaped seat together form a flat plate lock for clamping teeth.

The U-shaped seat also comprises a top wall 7.14 connected with the two side walls, the top wall 7.14 is bonded with or connected with a supporting rod 11 through bolts, the supporting rod 11 can also be integrally formed with the U-shaped seat, the supporting rod 11 is connected with a developing sheet 10, and specifically, a second screw hole 11.1 of the supporting rod 11 is connected with the developing sheet 10.

The intraoral positioning fixture 7 provided by the present embodiment is used as follows:

placing a moldable material (also can be silicon rubber) for impression on the inner side of the flat plate lock catch formed by the □ -shaped seat and the U-shaped seat, and sleeving the flat plate lock catch on the teeth; controlling the locking bolt 7.7 to push the abutting area 7.13, so that the □ -shaped seat moves towards the inner side of the U-shaped seat, and the flat plate lock catch applies pressure to the plastic material/silicon rubber; after the plastic material prints out the tooth shape under the pressure and fixes the tooth, stopping pushing the abutting area 7.13 and keeping the pressure applied by the flat plate lock catch; placing a light curing lamp at the outer side of the flat plate lock catch to cure the plastic material with the impression in the shape of the teeth; taking down the flat plate lock catch from the tooth, connecting a support rod 11 on the flat plate lock catch, and connecting a developing sheet 10 on the support rod 11, so that the patient wears the oral dental implant registration fixing device in the mouth to shoot a CBCT; the developing sheet 10 is removed, and a positioning and tracking device (a component having a tracking and positioning mark and capable of being identified by the optical tracking and positioning instrument 6) is connected to the supporting rod 11, and the positioning and tracking device cooperates with the optical tracking and positioning instrument 6 to realize automatic registration through a built-in algorithm thereof.

Example 5:

on the basis of embodiment 1, plant system 3 and include the arm, the cell-phone is planted in the installation of arm front end, it is provided with the drill point to plant the cell-phone front end, the arm passes through arm bearing structure to be installed on main platform truck 1, arm bearing structure accessible linear module is in along the rectilinear sliding on the mesa of main platform truck 1, the accessible simultaneously the elevating gear oscilaltion on main platform truck 1. The display 5 is installed on the main trolley 1 through a display supporting structure, the display supporting structure can slide on the table top of the main trolley 1 along a straight line through a linear module, and meanwhile, the display supporting structure can ascend and descend through a lifting device on the main trolley 1.

The linear module and the lifting device are convenient to adjust to a certain proper position so as to carry out the planting operation.

The linear module is a linear transmission device and mainly has two modes: one is composed of ball screw and linear guide track, and the other is composed of synchronous belt and synchronous belt wheel. The linear motion mechanism is wide in application range, convenient to install and high in precision, is accepted by vast users, and saves a specific link of making a linear motion mechanism. The lifting device can be selected from mature structures such as hydraulic type, screw type and lead screw. It should be noted that the linear module and the lifting device are well known in the art, are commercially available, and the specific structure and points of protection of the present invention are not described in detail herein.

Example 6:

the embodiment provides an application method of an automatic dental implant robot, which comprises the following steps:

the intraoral positioning fixture 7 provided with the plastic material and simultaneously connected with the automatic registration device is worn at the position of a tooth to be implanted in the oral cavity of a patient to shoot a CBCT, CBCT data is transmitted to the control system 4, the control system 4 automatically generates a complete implantation scheme after analyzing the CBCT data, or the control system 4 designs an implantation scheme by a doctor after analyzing the CBCT data;

the automatic registration device is taken down, the intraoral positioning fixture 7 and the implanting system 3 are respectively connected with a positioning and tracking device, the optical tracking and positioning instrument 6 identifies the positioning and tracking device on the intraoral positioning fixture 7, a space coordinate with the optical tracking and positioning instrument 6 as an original point is used as a real three-dimensional space coordinate, the real three-dimensional space coordinate is registered with a CBCT image coordinate, then the optical positioning and tracking instrument 6 identifies the positioning and tracking device of the implanting system 3, and the coordinate of the implanting system 3 is registered with the real three-dimensional space coordinate; or the optical tracking positioning instrument 6 simultaneously identifies the intraoral positioning fixture 7 and the positioning tracking device of the planting system 3, so as to realize automatic registration;

the planting system 3 is moved, the positioning and tracking device and the optical tracking and positioning instrument 6 are matched to record the displacement of the oral cavity and the planting system 3, the optical tracking and positioning instrument 6 feeds back the tracked information to the control system 4, and the control system 4 controls the planting system 3 to move along with the oral cavity and drives the planting system 3 to perform the planting operation.

Specifically, the control system 4 stores therein a preset image containing the following information: the positional relationship of the developer sheet 10 to the intraoral localization fixture 7, the positional relationship of the localization tracking device to the intraoral localization fixture 7, and the position of the localization tracking mark of the localization tracking device. The CBCT image taken is a planning image including the surgical site of the patient, and the planning image includes the pixel points of the developing sheet 10. After the shot CBCT data is transmitted to the control system 4, the control system 4 determines the position of the positioning tracking mark of the positioning tracking device in the planning image according to the pixel points of the developing film 10 in the planning image and the position relationship between the developing film 10 and the positioning tracking mark of the positioning tracking device; determining a first corresponding relation between the position in the planning image and the position information identified by the optical tracking and positioning instrument 6 according to the position of the positioning and tracking mark of the positioning and tracking device in the planning image and the position information of the positioning and tracking mark of the positioning and tracking device identified by the optical tracking and positioning instrument 6; determining a third corresponding relation between the pixel point and the space position in the planning image according to the first corresponding relation and a second corresponding relation between the position information identified by the optical tracking and positioning instrument 6 and the space position (the second corresponding relation between the position information identified by the optical tracking and positioning instrument 6 and the space position is stored in the control system 4 in advance, or the control system 4 acquires the second corresponding relation between the position information identified by the optical tracking and positioning instrument 6 and the space position by executing a related instruction); acquiring the position of a planned access point of the surgical tool in a planning image and the insertion direction of the planned surgical tool; determining the spatial position of the access point according to the third corresponding relation and the position of the access point in the planning image; and controlling the planting system 3 to move, so that the spatial position of the tip point of the surgical tool on the planting system 3 corresponds to the spatial position of the access point, and the axial direction of the surgical tool is consistent with the axial direction of the planned path.

In particular, the auto-registration device is a three-dimensional structure made of a material that can be developed without significant artifacts, such as a developing sheet. The localization tracking device is a component having an identification feature and which can be identified by the optical tracking and localization instrument 6.

Example 7:

on the basis of the embodiment 6, as shown in fig. 5 and 6, the implantation system 3 needs to drill a hole on the implant through the implantation drill point during the implantation surgery, the implantation drill point is registered and positioned through the implantation drill point registration device 12 during the drilling, the implantation handpiece is provided with a first positioning tracking mark, the implantation drill point registration device 12 is provided with a second tracking and positioning mark 12.1a, the optical tracking and positioning instrument 6 tracks the first positioning tracking mark and the second tracking and positioning mark 12.1a and transmits the first positioning tracking and positioning mark and the second tracking and positioning mark to the control system 4, the control system 4 determines the diameter of the implantation drill point, the direction of the implantation drill point relative to the implantation handpiece and the position of the needle point of the implantation drill point, and reflects the diameter, the direction and the position of the needle point of the implantation drill point on the CBCT image in real time to complete.

Specifically, preferably, the planting drill point registering device 12 in this embodiment is a Y-shaped plate-shaped component (not limited to this shape, but may also be in other shapes, such as a cross shape), the surfaces of the same plane where the two branch portions of the Y-shaped plate-shaped component are located are respectively provided with a second tracking positioning mark, one of the branch portions is further provided with a positioning pin 12.1b perpendicular to the plane, the positioning pin 12.1b is provided with a concave portion 12.5 matching the planting handset, the center of the concave portion 12.5 is provided with a protruding elongated column, and the main rod portion of the Y-shaped plate-shaped component is provided with one or more through holes with different diameters.

As shown in fig. 5, the planting drill registration device 12 of the present embodiment includes a positioning and tracking mark portion 12.1 and a drill detection portion 12.2 located on the same substrate plane, wherein a second positioning and tracking mark 12.1a is disposed on the substrate surface of the positioning and tracking mark portion 12.1, and a positioning pin 12.1b perpendicular to the substrate plane is disposed on the positioning and tracking mark portion 12.1; one or more through holes with different diameters are formed in the surface of the drill point detection part 12.2, and drill point positioning points are arranged on the surface of the drill point detection part. The base body of the drill point detection part 12.2 comprises an upper flat plate and a lower flat plate which are clamped in parallel, wherein the upper flat plate 12.21 is provided with one or more through holes 12.21a with different diameters, and the lower flat plate 12.22 is provided with one or more limiting detection holes 12.22a corresponding to the positions of the through holes 12.21a.

In this embodiment, the positioning pin 12.1b is located on one branch 12.3 of the two branch parts, namely, is arranged on one side of the upper part of the Y-shaped plate-shaped part, so that the design is convenient for an operator to hold the other branch 12.3 for direction calibration, and the convenience of operation is fully satisfied. Naturally, the positioning pin 12.1b can also be located on the other branch 12.3 of the two branches 12.3, and the base body is not limited to the shape of the Y-shaped plate-shaped part exemplified in the present embodiment. The drill point detection part 12.2 is positioned on the lower main rod 12.4 of the Y-shaped plate-shaped component, the drill point detection part 12.2 is formed by clamping two parallel flat plates, one or more through holes 12.21a with different diameters are formed in the upper flat plate 12.21, and when a plurality of through holes 12.21a are formed, the diameters of the through holes 12.21a are different, so that the diameters of different drill points can be detected; each through hole 12.21a can be distributed in a row-column or star-disk shape, and the diameters of the adjacent through holes 12.21a are sequentially increased or decreased, so that a large number of through holes 12.21a can be arranged in a limited space to the maximum extent. When the drill point is inserted into the through hole 12.21a and abuts against the lower flat plate 12.22, the position of the needle point is limited by the limit detection hole 12.22a (as shown in fig. 6) so as to avoid the position deviation of the drill point, and the operation is very convenient.

The positioning and tracking mark part 12.1 of the embodiment is provided with at least three second positioning and tracking marks 12.1a, each of the second positioning and tracking marks 12.1a comprises a characteristic point which can be tracked, and the at least three characteristic points are convenient for determining the plane of the device relative to the substrate of the mobile phone. The first positioning tracking mark on the implant handpiece and the second positioning tracking mark 12.1a on the implant drill point registration device 12 of the present embodiment are one or more black-and-white patterns with characteristic points, and specifically, the second positioning tracking mark 12.1a is respectively provided with one black-and-white pattern with characteristic points at the two branch heads and the joint of the Y-shaped plate-shaped component, so that the registration and positioning are more accurate.

In this embodiment, when planting the cell-phone head for the cylinder, concave part 12.5 is circular, and when planting the cell-phone head for square column body or other irregular shapes, this concave part 12.5 is corresponding square or irregular shape, so that agree with each other with planting cell-phone head, thereby play spacing effect, prevent to plant the cell-phone and take place to slide or squint for this locating pin 12.1b, simultaneously, equipment such as the spray pipe of outstanding installation face can be inlayed at the pointed end of planting the cell-phone usually, the interference that outstanding equipment caused can be avoided in the design of this concave part 12.5, make the cell-phone of planting can insert locating pin 12.1b better. Further, a drill pin insertion hole of the stem cell phone is inserted into the recess 12.5 as a positioning pin 12.1b. During operation, the positioning pin 12.1b is firstly inserted into the drill point insertion hole of the planting mobile phone, so that the central axis of the drill point insertion hole is perpendicular to the plane of the base body, direction calibration is carried out, the planting drill point is ensured to be perpendicular to the plane of the base body after being installed on the planting mobile phone, and the direction and the position of the drill point relative to the planting mobile phone are conveniently identified.

The application method of the planting drill point registration device 12 of the embodiment is as follows:

determining the direction of an insertion hole, inserting a positioning pin into a drill point insertion hole on the implant handpiece to enable the central axis of the drill point insertion hole to be perpendicular to the plane of the substrate, tracking a first positioning tracking mark of the implant handpiece and a second positioning tracking mark on the dental implant drill point registration device, and obtaining the direction of the drill point relative to the implant handpiece according to the position relation between the space coordinate systems determined by the two positioning tracking marks; installing a planting drill point, and installing the tail of the drill point in the drill point inserting hole; determining the position of a needle point, aligning the needle point of the drill point to a drill point positioning point, tracking a first positioning tracking mark and a drill point positioning point of the planting mobile phone, and obtaining the position of the needle point of the drill point relative to the planting mobile phone according to the position relation between the space coordinate systems determined by the drill point positioning point and the first positioning tracking mark; calculating the length of the drill point, and calculating the length of the drill point according to the direction of the drill point relative to the planting mobile phone and the position of the tip of the drill point relative to the planting mobile phone; and determining the diameter of the drill point, inserting the tip of the drill point into the through hole, and determining the diameter of the drill point according to the diameter of the through hole.

In summary, according to the automatic dental implant robot and the application method thereof provided by the invention, the automatic dental implant robot is composed of a main trolley and an auxiliary trolley, wherein an optical tracking and positioning instrument is installed on the auxiliary trolley, and the optical tracking and positioning instrument can accurately move according to the planting requirement to track a component with an identification characteristic; meanwhile, the invention also provides an implant drill point registering device and an intraoral positioning fixture, wherein the intraoral positioning fixture can form good retention and positioning effects through the locked buckle and the solidified plastic material, and enough retention force can be obtained only by two continuous teeth; the planting drill point registering device can conveniently determine the diameter of a drill point, the direction of the drill point relative to a planting mobile phone and the position of a needle point, so that the position of the drill point is reflected to a CBCT image in real time by tracking a first positioning track on the planting mobile phone for marking, the visualization of a dental planting operation is realized, and meanwhile, when the drill point is replaced again, the direction of the drill point does not need to be calibrated again, so that the registering time can be shortened, the operation efficiency is improved, and the device has high practical value.

The above examples are merely illustrative of the present invention and should not be construed as limiting the scope of the invention, which is intended to be covered by the claims and any design similar or equivalent to the scope of the invention. The components and structures of the present embodiments that are not described in detail are well known in the art and do not constitute essential structural elements or elements.

Claims (9)

1. The utility model provides an automatic plant tooth robot which characterized in that: the system comprises a main trolley (1) and an auxiliary trolley (2) which are electrically connected, wherein a planting system (3), a control system (4) and a display (5) are installed on the main trolley (1), an optical tracking and positioning instrument (6) is installed on the auxiliary trolley (2), the optical tracking and positioning instrument (6) is registered through a positioning and tracking device which is rigidly connected to an intraoral positioning clamp (7), the optical tracking and positioning instrument (6) tracks the positions of the planting system (3) and the positioning and tracking device and sends a tracking signal to the control system (4), and the control system (4) controls the planting operation of the planting system (3) in a planting area according to the tracking signal and displays the planting operation in real time through the display (5);

the main trolley (1) is further provided with an Uninterruptible Power Supply (UPS) (8), and the Uninterruptible Power Supply (UPS) (8) is connected with an isolation transformer (9) and supplies power to the control system (4).

2. The automatic dental implant robot of claim 1, wherein: the intraoral positioning fixture (7) is a device which is clamped at the edentulous part in the oral cavity of a patient and prints out a tooth model through a built-in plastic material, the intraoral positioning fixture (7) is fixed on two continuous teeth, the intraoral positioning fixture (7) comprises a fixing piece (7.1) and a moving piece (7.2), the fixing piece (7.1) and the moving piece (7.2) are connected through a driving part, and the driving part is connected with the fixing piece (7.1) and the moving piece (7.2) to form a lock catch capable of clamping teeth.

3. The automatic tooth implantation robot according to claim 2, wherein the fixed part (7.1) is ┐ -shaped, the movable part (7.2) is | shaped, the ends of the fixed part (7.1) and the movable part (7.2) are clamped to form a ∩ -shaped structure, two bottom edges of the ∩ -shaped structure are respectively bent and protruded towards the inner sides opposite to each other to form a fixed hook (7.3) and a driven hook (7.4), the fixed hook (7.3) and the driven hook (7.4) are matched to form a ∩ -shaped latch (7.5) capable of locking the teeth, the driving part is a locking bolt (7.7), and the locking bolt (7.7) pushes the connecting surface of the fixed part (7.1) and the movable part (7.2) to control the locking strength of the ∩ -shaped latch (7.5) through the fixed part (7.1).

4. The automatic dental implant robot of claim 2, wherein: the utility model discloses a tooth locking device, including mounting (7.1), moving part (7.2), □ shape seat, drive component, locking bolt (7.7), the cover is worn on one of them vertical wall of U-shaped seat to mounting (7.1), and moving part (7.2) are □ shape seat, □ shape seat, another vertical wall and □ shape seat lie in the intraoral lateral wall of U-shaped seat U-shaped and constitute the dull and stereotyped padlock of lockable tooth, drive component is locking bolt (7.7), locking bolt (7.7) pass □ shape seat and the cover part of wearing of U-shaped seat and promote □ shape seat and control the locking strength of dull and stereotyped padlock in the intraoral lateral wall of U-shaped.

5. The automatic dental implant robot of claim 1, wherein: the positioning device comprises an automatic registration device or a positioning and tracking device, the automatic registration device is a three-dimensional structure made of developable material without obvious artifacts, and the positioning and tracking device is a component which has a tracking and positioning mark and can be identified by an optical tracking and positioning instrument (6) to realize tracking and positioning.

6. The automatic dental implant robot of claim 1, wherein: planting system (3) includes the arm, the cell-phone is planted in the installation of arm front end, it is provided with the drill point to plant the cell-phone front end, the arm passes through arm bearing structure and installs on main platform truck (1), the linear module of arm bearing structure accessible is in slide along the straight line on the mesa of main platform truck (1), the accessible simultaneously elevating gear oscilaltion on main platform truck (1).

7. The automatic dental implant robot of claim 1, wherein: the display (5) is installed on the main trolley (1) through a display supporting structure, the display supporting structure can slide on the table top of the main trolley (1) along a straight line through the linear module, and meanwhile, the display supporting structure can ascend and descend through the lifting device on the main trolley (1).

8. A method for applying an automatic dental implant robot according to any one of claims 1 to 7, comprising the steps of:

the intraoral positioning clamp (7) provided with the plastic material and simultaneously connected with the automatic registration device is worn at a position to be implanted in the oral cavity of a patient to shoot a CBCT, CBCT data is transmitted to the control system (4), the control system (4) automatically generates a complete implantation scheme after analyzing the CBCT data, or the control system (4) designs the implantation scheme by a doctor after analyzing the CBCT data;

the automatic registration device is taken down, the intraoral positioning fixture (7) and the implanting system (3) are respectively connected with a positioning and tracking device, the optical tracking and positioning instrument (6) identifies the positioning and tracking device on the intraoral positioning fixture (7), a space coordinate with the optical tracking and positioning instrument (6) as an origin is taken as a real three-dimensional space coordinate, the real three-dimensional space coordinate is registered with a CBCT image coordinate, then the optical positioning and tracking instrument (6) identifies the positioning and tracking device of the implanting system (3), and the coordinate of the implanting system (3) is registered with the real three-dimensional space coordinate; or the optical tracking positioning instrument (6) simultaneously identifies the intraoral positioning fixture (7) and the positioning tracking device of the planting system (3) to realize automatic registration;

move planting system (3), the localization tracking device with optical tracking positioning instrument (6) cooperation record oral cavity with the displacement of planting system (3), optical tracking positioning instrument (6) will track the information feedback extremely control system (4), control system (4) control planting system (3) move along with the oral cavity to the drive planting system (3) carry out the operation of planting.

9. The method for applying the automatic tooth implantation robot according to claim 8, wherein the implantation system (3) drills a tooth through the implantation drill point during the implantation operation, the implantation drill point is registered and positioned through the implantation drill point registration device (12) during the drilling, the implant handpiece is provided with a first positioning tracking mark, the implantation drill point registration device (12) is provided with a second tracking and positioning mark (12.1a), the optical tracking and positioning instrument (6) tracks the first positioning tracking mark and the second tracking and positioning mark (12.1a) and transmits the first positioning tracking and positioning mark and the second tracking and positioning mark to the control system (4), and the control system (4) determines the diameter of the implantation drill point, the direction of the implantation drill point relative to the implant handpiece and the position of the needle point of the implantation drill point and reflects the position onto the CBCT image in real time to complete the registration and positioning of the implantation drill point.

Images