CN113400325A - Navigation and positioning method for dental implant robot - Google Patents

Navigation and positioning method for dental implant robot Download PDF

Info

Publication number
CN113400325A
CN113400325A CN202110698441.3A CN202110698441A CN113400325A CN 113400325 A CN113400325 A CN 113400325A CN 202110698441 A CN202110698441 A CN 202110698441A CN 113400325 A CN113400325 A CN 113400325A
Authority
CN
China
Prior art keywords
coordinate system
mechanical arm
tip
tool
tracer
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN202110698441.3A
Other languages
Chinese (zh)
Other versions
CN113400325B (en
Inventor
汪阳
房鹤
孙孝男
崔小飞
田忠正
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Sichuan Fengzhun Robot Technology Co ltd
Original Assignee
Sichuan Fengzhun Robot Technology Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Sichuan Fengzhun Robot Technology Co ltd filed Critical Sichuan Fengzhun Robot Technology Co ltd
Priority to CN202110698441.3A priority Critical patent/CN113400325B/en
Publication of CN113400325A publication Critical patent/CN113400325A/en
Application granted granted Critical
Publication of CN113400325B publication Critical patent/CN113400325B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
    • A61C8/00—Means to be fixed to the jaw-bone for consolidating natural teeth or for fixing dental prostheses thereon; Dental implants; Implanting tools
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed

Landscapes

  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • Animal Behavior & Ethology (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Epidemiology (AREA)
  • Dentistry (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Manipulator (AREA)
  • Dental Tools And Instruments Or Auxiliary Dental Instruments (AREA)

Abstract

The invention provides a navigation and positioning method of a dental implant robot, which comprises the following steps: establishing a conversion matrix from a tool target pose coordinate system to a mechanical arm base coordinate system; establishing a conversion matrix from a surgical tool coordinate system to a TCP coordinate system at the tail end of the mechanical arm; and when the tool reaches the target pose, calculating a conversion matrix from a TCP (transmission control protocol) coordinate system at the tail end of the mechanical arm to a mechanical arm base coordinate system, thereby generating a control instruction for each joint of the mechanical arm of the dental implant robot and enabling each joint of the mechanical arm to move. The invention utilizes the measurement of the CT scanner and the optical locator to establish the coordinate system conversion relation between the dental implant path of the patient and the surgical knife, thereby guiding the mechanical arm to move, driving the surgical knife to reach the entry point position and the direction of the target path, and adopting the mechanical arm to drive the surgical knife to move.

Description

Navigation and positioning method for dental implant robot
Technical Field
The invention belongs to the technical field of navigation and positioning of surgical robots, and particularly relates to a navigation and positioning method of a dental implant robot.
Background
In the traditional dental implant surgery, a doctor needs to hold a scalpel for operation, so that the better surgical effect is achieved, and the high requirements on the operation precision and stability of the doctor are met; in addition, the doctor is easy to fatigue after performing a plurality of operations, and the operation effect is also influenced.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a navigation and positioning method for a tooth implantation robot, which can effectively solve the problems.
The technical scheme adopted by the invention is as follows:
the invention provides a navigation and positioning method of a dental implant robot, which comprises the following steps:
step S1, the non-implant tooth of the implant patient wears the patient tracer, so that the relative pose between the patient tracer and the implant target position is kept unchanged;
step S2, carrying out CT scanning on a tooth area containing a patient tracer and a dental implant target position by adopting a CT scanner to obtain a CT scanning image;
step S3, planning dental implant path in CT scanning image, and determining entry point position A of target path under CT coordinate systemCAnd the entry point direction
Figure BDA0003128748390000011
Wherein the entry point position ACAnd the entry point direction
Figure BDA0003128748390000012
Forming an entrance point target pose under a CT coordinate system;
step S4, the dental implant robot comprises a mechanical arm base, a multi-joint mechanical arm, a surgical cutter and a tool tracer; the mechanical arm base is fixedly arranged, and the position of the mechanical arm base is kept unchanged; a multi-joint mechanical arm is arranged on the mechanical arm base; the tail end of the multi-joint mechanical arm is provided with a surgical cutter and a tool tracer; during the operation, the relative position and posture among the tool tracer, the surgical knife and the tail end of the multi-joint mechanical arm are kept unchanged, namely: the relative poses among the tool tracer coordinate system, the surgical knife coordinate system Tip and the mechanical arm tail end TCP coordinate system are kept unchanged, but in the movement process of the surgical knife, the tool tracer coordinate system, the surgical knife coordinate system Tip and the mechanical arm tail end TCP coordinate system can be changed in real time, and the mechanical arm base coordinate system is kept unchanged;
step S5, the entry point position A of the target path under the CT coordinate system determined in step S3CAnd the entry point direction
Figure BDA0003128748390000021
Converting the position into an entry point position A of a target path under a mechanical arm base coordinate systemBAnd the entry point direction
Figure BDA0003128748390000022
Figure BDA0003128748390000023
Figure BDA0003128748390000024
Wherein:
i is a unit vector of 3 rows and 3 columns;
CTSa transformation matrix from a CT coordinate system to a patient tracer coordinate system;
STOa transformation matrix from a tracer coordinate system of the patient to a coordinate system of an optical position finder;
OTTa transformation matrix from an optical position indicator coordinate system to a tool tracer coordinate system;
TTEa transformation matrix from a tool tracer coordinate system to a TCP coordinate system at the tail end of the mechanical arm;
ETBa conversion matrix from a TCP coordinate system at the tail end of the mechanical arm to a coordinate system of a base of the mechanical arm;
step S6, establishing a transformation matrix from a tool target pose coordinate system Tip' to a mechanical arm base coordinate systemTip′TB：
S6.1, establishing a surgical knife target pose coordinate system Tip', comprising the following steps: determining a coordinate origin o, and determining an x axis, a y axis and a z axis;
origin of coordinates o: the entry point position A of the target path in the robot base coordinate systemBIs the origin of coordinates;
the x axis is as follows: the entry point direction of the target path in the robot base coordinate system
Figure BDA0003128748390000031
Is the x-axis;
and a y axis: the direction vector of the z axis of the TCP coordinate system at the tail end of the mechanical arm under the coordinate system of the base of the mechanical arm
Figure BDA0003128748390000032
And
Figure BDA0003128748390000033
as a result of cross multiplication of (a) as a direction vector of the y-axis in the robot base coordinate system
Figure BDA0003128748390000034
And a z-axis: to be provided with
Figure BDA0003128748390000035
And
Figure BDA0003128748390000036
as a result of cross multiplication of z-axis as a directional vector of the robot base coordinate system
Figure BDA0003128748390000037
S6.2, constructing and obtaining a conversion matrix from a tool target pose coordinate system Tip' to a mechanical arm base coordinate systemTip′TB：
Figure BDA0003128748390000038
Step S7, establishing a conversion matrix from the surgical tool coordinate system Tip to the mechanical arm tail end TCP coordinate systemTipTE：
S7.1, establishing a surgical knife coordinate system Tip, comprising the following steps: determination of the origin of coordinates o1Determining x1Axis, y1Axis and z1A shaft;
origin of coordinates o1: using the coordinate P of the tool tip under the TCP coordinate system of the tail end of the mechanical armEIs the origin of coordinates;
x1shaft: direction vector of tool direction under TCP coordinate system at tail end of mechanical arm
Figure BDA0003128748390000039
As x1Direction vector of shaft under TCP coordinate system at tail end of mechanical arm
Figure BDA00031287483900000310
y1Shaft: using the z-axis of the TCP coordinate system at the end of the robot arm and
Figure BDA00031287483900000311
as a result of cross multiplication of (a) as y1Direction vector y of shaft under TCP coordinate system at tail end of mechanical armE；
z1Shaft: to be provided with
Figure BDA00031287483900000312
And yEAs a result of cross multiplication of (a) as z1Direction vector z of shaft under TCP coordinate system at tail end of mechanical armE；
S7.2, constructing and obtaining a coordinate system from a surgical tool coordinate system Tip to a mechanical arm tail end TCP coordinate systemTransformation matrixTipTE：
Figure BDA00031287483900000313
Step S8, calculating a transformation matrix from a TCP coordinate system at the tail end of the mechanical arm to a base coordinate system of the mechanical arm when the tool reaches a target poseE′TBThe method comprises the following steps:
when the tool reaches the target pose, the tool coordinate system Tip and the tool target pose coordinate system Tip' are coincided, so that the conversion matrix from the tool coordinate system Tip to the mechanical arm base coordinate systemTipTBEqual to the transformation matrix from the tool target pose coordinate system Tip' to the robot arm base coordinate systemTip′TBThus, the following relationship is present:
TipTB＝Tip′TB
and because the conversion matrix from the surgical knife coordinate system Tip to the mechanical arm base coordinate systemTipTBComprises the following steps:
TipTB＝TipTE·ETB
therefore, when the tool reaches the target pose, the transformation matrix from the TCP coordinate system at the tail end of the mechanical arm to the base coordinate system of the mechanical armE′TBComprises the following steps:
E′TB＝(TipTE)-1·TipTB＝(TipTE)-1·Tip′TB
step S9, according to the determined tool reaching the target pose in the step S8, converting the TCP coordinate system of the tail end of the mechanical arm to the coordinate system of the base of the mechanical armE′TBGenerating a control instruction for each joint of a mechanical arm of the dental implant robot so as to enable each joint of the mechanical arm of the dental implant robot to move;
step S10, when the movement of each joint of the mechanical arm of the dental implant robot is finished, the tool tip is calculated to be on machinePosition coordinate A under mechanical arm base coordinate system "BAnd the direction vector of the tool in the coordinate system of the base of the arm
Figure BDA0003128748390000041
The position coordinate A of the tip of the cutter under the coordinate system of the base of the mechanical arm "BAnd the entry point position a of the target path in the robot arm base coordinate system obtained in step S5BComparing to obtain a position coordinate error;
the direction vector of the tool under the coordinate system of the base of the mechanical arm
Figure BDA0003128748390000042
And the entry point direction of the target path in the robot arm base coordinate system obtained in step S5
Figure BDA0003128748390000043
Comparing to obtain a direction vector error;
step S11, judging whether the position coordinate error and the direction vector error are both smaller than a set threshold value, if so, ending navigation, and indicating that the cutter of the dental implant robot moves to a target pose; otherwise, the steps S9-S11 are repeatedly executed.
Preferably, the patient tracer comprises 9 titanium beads, 4 positioning spheres and a rigid support that is not readily imaged in a CT scan image;
wherein the coordinates of each titanium bead and the positioning ball under the coordinate system of the patient tracer are known, and the patient tracer is always worn by the patient in the navigation and positioning process.
Preferably, the tool tracer includes a rigid support and 4 positioning balls fixedly mounted at the end of the robot arm, each positioning ball having known coordinates in the tool tracer coordinate system.
Preferably, in step S5, the parameters are obtained by:
CTS: measuring and calculating coordinates of titanium beads on a tracer of a patient by a CT scanner;
STO: the coordinate of a positioning ball on a tracer of a patient is measured and calculated by an optical positioning instrument;
OTT: the coordinate of a positioning ball on a tool tracer is measured and calculated by an optical positioning instrument;
TTE: is obtained by calibration of hands and eyes;
ETB: read directly by the robot arm controller.
The navigation and positioning method for the dental implant robot provided by the invention has the following advantages:
the invention utilizes the measurement of the CT scanner and the optical locator to establish the coordinate system conversion relation between the dental implant path of the patient and the surgical knife, thereby guiding the mechanical arm to move, driving the surgical knife to reach the entry point position and the direction of the target path, and adopting the mechanical arm to drive the surgical knife to move.
Drawings
Fig. 1 is a schematic view of a robot navigation and positioning device for dental implantation provided by the invention;
FIG. 2 is a schematic view of a patient tracer provided by the present invention;
fig. 3 is a schematic diagram of a tool tracer provided by the present invention.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Compared with the manual operation of doctors, the robot navigation positioning method has the advantages that the mechanical arm has accurate positioning, small vibration and stable work, the working strength of the doctors can be reduced, the surgical precision is ensured, and the robot navigation positioning can guide the mechanical arm to drive the surgical cutter to realize accurate surgery.
Referring to fig. 1, the method for navigating and positioning a dental implant robot according to the present invention is a method for navigating and positioning a dental implant robot for efficiently and accurately guiding a surgical tool to a target path, and performs navigation and positioning of the robot by measuring with an optical positioning instrument and converting a coordinate system, and guiding the surgical tool to the target path, and includes the following steps:
step S1, the non-implant tooth of the implant patient wears the patient tracer, so that the relative pose between the patient tracer and the implant target position is kept unchanged;
wherein, as shown in fig. 2, the patient tracer comprises 9 titanium beads, 4 positioning balls and a rigid support which is not easy to image in the CT scanning image;
wherein the coordinates of each titanium bead and the positioning ball under the coordinate system of the patient tracer are known, and the patient tracer is always worn by the patient in the navigation and positioning process.
Step S2, carrying out CT scanning on a tooth area containing a patient tracer and a dental implant target position by adopting a CT scanner to obtain a CT scanning image;
step S3, planning dental implant path in CT scanning image, and determining entry point position A of target path under CT coordinate systemCAnd the entry point direction
Figure BDA0003128748390000061
Wherein the entry point position ACAnd the entry point direction
Figure BDA0003128748390000062
Forming an entrance point target pose under a CT coordinate system;
step S4, the dental implant robot comprises a mechanical arm base, a multi-joint mechanical arm, a surgical cutter and a tool tracer; referring to fig. 1, wherein 1 denotes a robot base, 2 denotes a multi-joint robot, 3 denotes a surgical tool, and 4 denotes a tool tracer. 5 for the patient tracer and 6 for the optical locator. The mechanical arm base is fixedly arranged, and the position of the mechanical arm base is kept unchanged; a multi-joint mechanical arm is arranged on the mechanical arm base; the tail end of the multi-joint mechanical arm is provided with a surgical cutter and a tool tracer; during the operation, the relative position and posture among the tool tracer, the surgical knife and the tail end of the multi-joint mechanical arm are kept unchanged, namely: the relative poses among the tool tracer coordinate system, the surgical knife coordinate system Tip and the mechanical arm tail end TCP coordinate system are kept unchanged, but in the movement process of the surgical knife, the tool tracer coordinate system, the surgical knife coordinate system Tip and the mechanical arm tail end TCP coordinate system can be changed in real time, and the mechanical arm base coordinate system is kept unchanged;
additionally, referring to fig. 3, the tool tracer includes a rigid support and 4 positioning balls fixedly mounted at the end of the robot arm, each positioning ball having known coordinates in the tool tracer coordinate system.
Step S5, the entry point position A of the target path under the CT coordinate system determined in step S3CAnd the entry point direction
Figure BDA0003128748390000071
Converting the position into an entry point position A of a target path under a mechanical arm base coordinate systemBAnd the entry point direction
Figure BDA0003128748390000072
Figure BDA0003128748390000073
Figure BDA0003128748390000074
Wherein:
i is a unit vector of 3 rows and 3 columns;
CTSa transformation matrix from a CT coordinate system to a patient tracer coordinate system; measuring and calculating coordinates of titanium beads on a tracer of a patient by a CT scanner;
STOa transformation matrix from a tracer coordinate system of the patient to a coordinate system of an optical position finder; tracing a patient by an optical position finderThe coordinates of a positioning ball on the device are measured and calculated;
OTTa transformation matrix from an optical position indicator coordinate system to a tool tracer coordinate system; the coordinate of a positioning ball on a tool tracer is measured and calculated by an optical positioning instrument;
TTEa transformation matrix from a tool tracer coordinate system to a TCP coordinate system at the tail end of the mechanical arm; is obtained by calibration of hands and eyes; the hand-eye calibration method comprises the following steps: and establishing a conversion relation between a TCP coordinate system at the tail end of the mechanical arm and a coordinate system of a tool tracer fixedly arranged on the mechanical arm in an external measurement mode.
ETBA conversion matrix from a TCP coordinate system at the tail end of the mechanical arm to a coordinate system of a base of the mechanical arm; read directly by the robot arm controller.
Step S6, establishing a transformation matrix from a tool target pose coordinate system Tip' to a mechanical arm base coordinate systemTip′TB：
In this step, the motion control of the mechanical arm is based on the transformation relationship of the coordinate system, and the motion control of the mechanical arm cannot be performed only by giving the entry point position and the direction of the target path, so that a tool target pose coordinate system needs to be established according to the entry point position and the direction of the target path to further calculate the transformation relationship of the coordinate system, and the tool target pose coordinate system Tip' is transformed to the mechanical arm base coordinate system, so that the mechanical arm can be mechanically controlled.
S6.1, establishing a surgical knife target pose coordinate system Tip', comprising the following steps: determining a coordinate origin o, and determining an x axis, a y axis and a z axis;
origin of coordinates o: the entry point position A of the target path in the robot base coordinate systemBIs the origin of coordinates;
the x axis is as follows: the entry point direction of the target path in the robot base coordinate system
Figure BDA0003128748390000081
Is the x-axis;
and a y axis: coordinates of a Z axis of a TCP coordinate system at the tail end of the mechanical arm on a base of the mechanical armDirection vector of the system
Figure BDA0003128748390000082
And
Figure BDA0003128748390000083
as a result of cross multiplication of (a) as a direction vector of the y-axis in the robot base coordinate system
Figure BDA0003128748390000084
And a z-axis: to be provided with
Figure BDA0003128748390000085
And
Figure BDA0003128748390000086
as a result of cross multiplication of z-axis as a directional vector of the robot base coordinate system
Figure BDA0003128748390000087
The method for defining the pose coordinate system Tip' of the surgical knife target has the advantages that: 1) the mutual perpendicularity among the x axis, the y axis and the z axis of the tool target pose coordinate system can be ensured; 2) and the z axis of the tool target pose coordinate system is approximately parallel to the z axis of the TCP coordinate system at the tail end of the mechanical arm, so that subsequent calculation and control of the mechanical arm movement are facilitated.
S6.2, constructing and obtaining a conversion matrix from a tool target pose coordinate system Tip' to a mechanical arm base coordinate systemTip′TB：
Figure BDA0003128748390000091
Step S7, establishing a conversion matrix from the surgical tool coordinate system Tip to the mechanical arm tail end TCP coordinate systemTipTE：
S7.1, establishing a surgical knife coordinate system Tip, comprising the following steps: determination of the origin of coordinates o1Determining x1Axis, y1Axis and z1A shaft;
origin of coordinates o1: using the coordinate P of the tool tip under the TCP coordinate system of the tail end of the mechanical armEIs the origin of coordinates;
x1shaft: direction vector of tool direction under TCP coordinate system at tail end of mechanical arm
Figure BDA0003128748390000092
As x1Direction vector of shaft under TCP coordinate system at tail end of mechanical arm
Figure BDA0003128748390000093
y1Shaft: using the z-axis of the TCP coordinate system at the end of the robot arm and
Figure BDA0003128748390000094
as a result of cross multiplication of (a) as y1Direction vector y of shaft under TCP coordinate system at tail end of mechanical armE；
z1Shaft: to be provided with
Figure BDA0003128748390000095
And yEAs a result of cross multiplication of (a) as z1Direction vector z of shaft under TCP coordinate system at tail end of mechanical armE；
The advantages of the definition of the coordinate system Tip of the surgical knife are as follows: 1) x capable of ensuring surgical knife coordinate system Tip1Axis, y1Axis and z1The axes are mutually vertical; 2) z of the surgical tool coordinate system Tip1The axis is approximately parallel to the axis Z of the TCP coordinate system at the tail end of the mechanical arm and the tool target pose coordinate system, so that the tail end of the mechanical arm does not need to swing a large angle to adjust the direction of the axis Z of the tool in the process of reaching the target pose of the tool, and the motion control of the mechanical arm is facilitated.
S7.2, constructing and obtaining a conversion matrix from the surgical tool coordinate system Tip to the mechanical arm tail end TCP coordinate systemTipTE：
Figure BDA0003128748390000096
Step S8, calculating a transformation matrix from a TCP coordinate system at the tail end of the mechanical arm to a base coordinate system of the mechanical arm when the tool reaches a target poseE′TBThe method comprises the following steps:
when the tool reaches the target pose, the tool coordinate system Tip and the tool target pose coordinate system Tip' are coincided, so that the conversion matrix from the tool coordinate system Tip to the mechanical arm base coordinate systemTipTBEqual to the transformation matrix from the tool target pose coordinate system Tip' to the robot arm base coordinate systemTip′TBThus, the following relationship is present:
TipTB＝Tip′TB
and because the conversion matrix from the surgical knife coordinate system Tip to the mechanical arm base coordinate systemTipTBComprises the following steps:
TipTB＝TipTE·ETB
therefore, when the tool reaches the target pose, the transformation matrix from the TCP coordinate system at the tail end of the mechanical arm to the base coordinate system of the mechanical armE′TBComprises the following steps:
E′TB＝(TipTE)-1·TipTB＝(TipTE)-1·Tip′TB
step S9, according to the determined tool reaching the target pose in the step S8, converting the TCP coordinate system of the tail end of the mechanical arm to the coordinate system of the base of the mechanical armE′TBGenerating a control instruction for each joint of a mechanical arm of the dental implant robot so as to enable each joint of the mechanical arm of the dental implant robot to move;
step S10, when the motion of each joint of the mechanical arm of the dental implant robot is finished, the position coordinate A of the tip of the tool under the coordinate system of the base of the mechanical arm is calculated "BAnd the direction vector of the tool in the coordinate system of the base of the arm
Figure BDA0003128748390000101
The position coordinate A of the tip of the cutter under the coordinate system of the base of the mechanical arm "BAnd the entry point position a of the target path in the robot arm base coordinate system obtained in step S5BComparing to obtain a position coordinate error;
the direction vector of the tool under the coordinate system of the base of the mechanical arm
Figure BDA0003128748390000102
And the entry point direction of the target path in the robot arm base coordinate system obtained in step S5
Figure BDA0003128748390000103
Comparing to obtain a direction vector error;
step S11, judging whether the position coordinate error and the direction vector error are both smaller than a set threshold value, if so, ending navigation, and indicating that the cutter of the dental implant robot moves to a target pose; otherwise, the steps S9-S11 are repeatedly executed.
The invention utilizes the measurement of the CT scanner and the optical locator to establish the coordinate system conversion relation between the dental implant path of the patient and the surgical knife, thereby guiding the mechanical arm to move, driving the surgical knife to reach the entry point position and the direction of the target path, and adopting the mechanical arm to drive the surgical knife to move.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and improvements can be made without departing from the principle of the present invention, and such modifications and improvements should also be considered within the scope of the present invention.

Claims (4)

1. A navigation and positioning method for a dental implant robot is characterized by comprising the following steps:
step S1, the non-implant tooth of the implant patient wears the patient tracer, so that the relative pose between the patient tracer and the implant target position is kept unchanged;
step S2, carrying out CT scanning on a tooth area containing a patient tracer and a dental implant target position by adopting a CT scanner to obtain a CT scanning image;
step S3, planning dental implant path in CT scanning image, and determining entry point position A of target path under CT coordinate systemCAnd the entry point direction
Figure FDA0003128748380000011
Wherein the entry point position ACAnd the entry point direction
Figure FDA0003128748380000012
Forming an entrance point target pose under a CT coordinate system;
step S4, the dental implant robot comprises a mechanical arm base, a multi-joint mechanical arm, a surgical cutter and a tool tracer; the mechanical arm base is fixedly arranged, and the position of the mechanical arm base is kept unchanged; a multi-joint mechanical arm is arranged on the mechanical arm base; the tail end of the multi-joint mechanical arm is provided with a surgical cutter and a tool tracer; during the operation, the relative position and posture among the tool tracer, the surgical knife and the tail end of the multi-joint mechanical arm are kept unchanged, namely: the relative poses among the tool tracer coordinate system, the surgical knife coordinate system Tip and the mechanical arm tail end TCP coordinate system are kept unchanged, but in the movement process of the surgical knife, the tool tracer coordinate system, the surgical knife coordinate system Tip and the mechanical arm tail end TCP coordinate system can be changed in real time, and the mechanical arm base coordinate system is kept unchanged;
step S5, the entry point position A of the target path under the CT coordinate system determined in step S3CAnd the entry point direction
Figure FDA0003128748380000013
Converting the position into an entry point position A of a target path under a mechanical arm base coordinate systemBAnd the entry point direction
Figure FDA0003128748380000014
Figure FDA0003128748380000015
Figure FDA0003128748380000016
Wherein:
i is a unit vector of 3 rows and 3 columns;
CTSa transformation matrix from a CT coordinate system to a patient tracer coordinate system;
STOa transformation matrix from a tracer coordinate system of the patient to a coordinate system of an optical position finder;
OTTa transformation matrix from an optical position indicator coordinate system to a tool tracer coordinate system;
TTEa transformation matrix from a tool tracer coordinate system to a TCP coordinate system at the tail end of the mechanical arm;
ETBa conversion matrix from a TCP coordinate system at the tail end of the mechanical arm to a coordinate system of a base of the mechanical arm;
step S6, establishing a transformation matrix from a tool target pose coordinate system Tip' to a mechanical arm base coordinate systemTip′TB：
S6.1, establishing a surgical knife target pose coordinate system Tip', comprising the following steps: determining a coordinate origin o, and determining an x axis, a y axis and a z axis;
origin of coordinates o: the entry point position A of the target path in the robot base coordinate systemBIs the origin of coordinates;
the x axis is as follows: the entry point direction of the target path in the robot base coordinate system
Figure FDA0003128748380000021
Is the x-axis;
and a y axis: uses the z-axis of the TCP coordinate system at the tail end of the mechanical arm to be arranged on the mechanical armDirection vector under base coordinate system
Figure FDA0003128748380000022
And
Figure FDA0003128748380000023
as a result of cross multiplication of (a) as a direction vector of the y-axis in the robot base coordinate system
Figure FDA0003128748380000024
And a z-axis: to be provided with
Figure FDA0003128748380000025
And
Figure FDA0003128748380000026
as a result of cross multiplication of z-axis as a directional vector of the robot base coordinate system
Figure FDA0003128748380000027
S6.2, constructing and obtaining a conversion matrix from a tool target pose coordinate system Tip' to a mechanical arm base coordinate systemTip′TB：
Figure FDA0003128748380000028
Step S7, establishing a conversion matrix from the surgical tool coordinate system Tip to the mechanical arm tail end TCP coordinate systemTipTE：
S7.1, establishing a surgical knife coordinate system Tip, comprising the following steps: determination of the origin of coordinates o1Determining x1Axis, y1Axis and z1A shaft;
origin of coordinates o1: using the coordinate P of the tool tip under the TCP coordinate system of the tail end of the mechanical armEIs the origin of coordinates;
x1shaft: TCP coordinate at the end of the mechanical arm in the direction of the toolDirection vector of the system
Figure FDA0003128748380000029
As x1Direction vector of shaft under TCP coordinate system at tail end of mechanical arm
Figure FDA0003128748380000031
y1Shaft: using the z-axis of the TCP coordinate system at the end of the robot arm and
Figure FDA0003128748380000032
as a result of cross multiplication of (a) as y1Direction vector y of shaft under TCP coordinate system at tail end of mechanical armE；
z1Shaft: to be provided with
Figure FDA0003128748380000033
And yEAs a result of cross multiplication of (a) as z1Direction vector z of shaft under TCP coordinate system at tail end of mechanical armE；
S7.2, constructing and obtaining a conversion matrix from the surgical tool coordinate system Tip to the mechanical arm tail end TCP coordinate systemTipTE：
Figure FDA0003128748380000034
Step S8, calculating a transformation matrix from a TCP coordinate system at the tail end of the mechanical arm to a base coordinate system of the mechanical arm when the tool reaches a target poseE′TBThe method comprises the following steps:
when the tool reaches the target pose, the tool coordinate system Tip and the tool target pose coordinate system Tip' are coincided, so that the conversion matrix from the tool coordinate system Tip to the mechanical arm base coordinate systemTipTBEqual to the transformation matrix from the tool target pose coordinate system Tip' to the robot arm base coordinate systemTip′TBThus, the following relationship is present:
TipTB＝Tip′TB
and because the conversion matrix from the surgical knife coordinate system Tip to the mechanical arm base coordinate systemTipTBComprises the following steps:
TipTB＝TipTE·ETB
therefore, when the tool reaches the target pose, the transformation matrix from the TCP coordinate system at the tail end of the mechanical arm to the base coordinate system of the mechanical armE′TBComprises the following steps:
E′TB＝(TipTE)-1·TipTB＝(TipTE)-1·Tip′TB
step S9, according to the determined tool reaching the target pose in the step S8, converting the TCP coordinate system of the tail end of the mechanical arm to the coordinate system of the base of the mechanical armE′TBGenerating a control instruction for each joint of a mechanical arm of the dental implant robot so as to enable each joint of the mechanical arm of the dental implant robot to move;
step S10, when the motion of each joint of the mechanical arm of the dental implant robot is finished, the position coordinate A of the tip of the tool under the coordinate system of the base of the mechanical arm is calculated "BAnd the direction vector of the tool in the coordinate system of the base of the arm
Figure FDA0003128748380000041
The position coordinate A of the tip of the cutter under the coordinate system of the base of the mechanical arm "BAnd the entry point position a of the target path in the robot arm base coordinate system obtained in step S5BComparing to obtain a position coordinate error;
the direction vector of the tool under the coordinate system of the base of the mechanical arm
Figure FDA0003128748380000042
And the entry point direction of the target path in the robot arm base coordinate system obtained in step S5
Figure FDA0003128748380000043
Comparing to obtain a direction vector error;
step S11, judging whether the position coordinate error and the direction vector error are both smaller than a set threshold value, if so, ending navigation, and indicating that the cutter of the dental implant robot moves to a target pose; otherwise, the steps S9-S11 are repeatedly executed.
2. The method of claim 1, wherein the patient tracer comprises 9 titanium beads, 4 positioning balls and a rigid support that is not easily imaged in a CT scan image;
wherein the coordinates of each titanium bead and the positioning ball under the coordinate system of the patient tracer are known, and the patient tracer is always worn by the patient in the navigation and positioning process.
3. The method as claimed in claim 1, wherein the tool tracer comprises a rigid support and 4 positioning balls, the positioning balls are fixedly mounted at the end of the mechanical arm, and the coordinates of each positioning ball in the coordinate system of the tool tracer are known.
4. The method for navigating and positioning a dental implant robot according to claim 1, wherein in step S5, the parameters are obtained by:
CTS: measuring and calculating coordinates of titanium beads on a tracer of a patient by a CT scanner;
STO: the coordinate of a positioning ball on a tracer of a patient is measured and calculated by an optical positioning instrument;
OTT: the coordinate of a positioning ball on a tool tracer is measured and calculated by an optical positioning instrument;
TTE: is obtained by calibration of hands and eyes;
ETB: by means of arm controlsAnd reading.
CN202110698441.3A 2021-06-23 2021-06-23 Navigation and positioning method for dental implant robot Active CN113400325B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202110698441.3A CN113400325B (en) 2021-06-23 2021-06-23 Navigation and positioning method for dental implant robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202110698441.3A CN113400325B (en) 2021-06-23 2021-06-23 Navigation and positioning method for dental implant robot

Publications (2)

Publication Number Publication Date
CN113400325A true CN113400325A (en) 2021-09-17
CN113400325B CN113400325B (en) 2022-03-25

Family

ID=77682679

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202110698441.3A Active CN113400325B (en) 2021-06-23 2021-06-23 Navigation and positioning method for dental implant robot

Country Status (1)

Country Link
CN (1) CN113400325B (en)

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113768641A (en) * 2021-11-15 2021-12-10 极限人工智能有限公司 Needle registration locator, system, method, device, equipment and storage medium
CN113855286A (en) * 2021-09-24 2021-12-31 四川锋准机器人科技有限公司 Implant robot navigation system and method
CN113995511A (en) * 2021-12-31 2022-02-01 中南大学 Actual measurement positioning operation navigation system and positioning operation navigation method
CN114211484A (en) * 2021-12-01 2022-03-22 北京长木谷医疗科技有限公司 Front-end tool pose synchronization method, electronic device and storage medium
CN114366356A (en) * 2022-01-17 2022-04-19 北京理工大学 Positioning precision evaluation device and method for autonomous dental implant robot
CN114454167A (en) * 2022-02-11 2022-05-10 四川锋准机器人科技有限公司 Calibration method for geometrical size of tail end clamp holder of dental implant robot
CN114505859A (en) * 2022-02-23 2022-05-17 四川锋准机器人科技有限公司 Tail end smoothness control method for dental implant surgical robot
CN114521962A (en) * 2022-04-24 2022-05-24 杭州柳叶刀机器人有限公司 Trajectory tracking method and device for surgical robot, robot and storage medium
CN114683279A (en) * 2022-02-17 2022-07-01 广东博智林机器人有限公司 Navigation precision determination method and device and electronic equipment
CN115153925A (en) * 2022-07-18 2022-10-11 杭州键嘉机器人有限公司 Automatic drill positioning device and method for oral dental implant surgery
WO2023082990A1 (en) * 2021-11-09 2023-05-19 极限人工智能有限公司 Method and apparatus for determining working pose of robotic arm

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19902273A1 (en) * 1999-01-21 2000-08-03 Dieter Edinger Positioning appliance for dental implant in jawbone involves reference frame, fixture element. detachable element, and screw sleeve connection
US20180185103A1 (en) * 2015-07-21 2018-07-05 Denso Corporation Medical treatment assisting apparatus
US20190350685A1 (en) * 2018-07-15 2019-11-21 Parseh Intelligent Surgical System Accuracy of electromagnetic navigation systems
CN110547874A (en) * 2018-05-30 2019-12-10 上海舍成医疗器械有限公司 Method for determining a movement path, component for the method, and use in an automation device
CN211633669U (en) * 2020-02-14 2020-10-09 北京柏惠维康科技有限公司 Tooth implantation system
CN112168392A (en) * 2020-10-21 2021-01-05 雅客智慧（北京）科技有限公司 Dental navigation surgery registration method and system
CN112790885A (en) * 2021-01-26 2021-05-14 雅客智慧（北京）科技有限公司 Dental preparation system

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19902273A1 (en) * 1999-01-21 2000-08-03 Dieter Edinger Positioning appliance for dental implant in jawbone involves reference frame, fixture element. detachable element, and screw sleeve connection
US20180185103A1 (en) * 2015-07-21 2018-07-05 Denso Corporation Medical treatment assisting apparatus
CN110547874A (en) * 2018-05-30 2019-12-10 上海舍成医疗器械有限公司 Method for determining a movement path, component for the method, and use in an automation device
US20190350685A1 (en) * 2018-07-15 2019-11-21 Parseh Intelligent Surgical System Accuracy of electromagnetic navigation systems
CN211633669U (en) * 2020-02-14 2020-10-09 北京柏惠维康科技有限公司 Tooth implantation system
CN112168392A (en) * 2020-10-21 2021-01-05 雅客智慧（北京）科技有限公司 Dental navigation surgery registration method and system
CN112790885A (en) * 2021-01-26 2021-05-14 雅客智慧（北京）科技有限公司 Dental preparation system

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
白石柱 等: "自主式口腔种植机器人手术***动物体内种植精度的研究", 《中华口腔医学杂志》 *

Cited By (20)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113855286B (en) * 2021-09-24 2023-01-10 四川锋准机器人科技有限公司 Implant robot navigation system and method
CN113855286A (en) * 2021-09-24 2021-12-31 四川锋准机器人科技有限公司 Implant robot navigation system and method
WO2023082990A1 (en) * 2021-11-09 2023-05-19 极限人工智能有限公司 Method and apparatus for determining working pose of robotic arm
CN113768641B (en) * 2021-11-15 2022-02-08 极限人工智能有限公司 Needle registration locator, system, method, device, equipment and storage medium
CN113768641A (en) * 2021-11-15 2021-12-10 极限人工智能有限公司 Needle registration locator, system, method, device, equipment and storage medium
CN114211484A (en) * 2021-12-01 2022-03-22 北京长木谷医疗科技有限公司 Front-end tool pose synchronization method, electronic device and storage medium
CN114211484B (en) * 2021-12-01 2023-08-18 北京长木谷医疗科技有限公司 Front-end tool pose synchronization method, electronic equipment and storage medium
WO2023098839A1 (en) * 2021-12-01 2023-06-08 北京长木谷医疗科技有限公司 Front-end tool pose synchronization method, electronic device and storage medium
CN113995511A (en) * 2021-12-31 2022-02-01 中南大学 Actual measurement positioning operation navigation system and positioning operation navigation method
CN113995511B (en) * 2021-12-31 2022-04-22 中南大学 Actual measurement positioning operation navigation system and positioning operation navigation method
CN114366356A (en) * 2022-01-17 2022-04-19 北京理工大学 Positioning precision evaluation device and method for autonomous dental implant robot
CN114454167A (en) * 2022-02-11 2022-05-10 四川锋准机器人科技有限公司 Calibration method for geometrical size of tail end clamp holder of dental implant robot
CN114454167B (en) * 2022-02-11 2024-06-07 四川锋准机器人科技有限公司 Method for calibrating geometric dimension of tail end clamp holder of dental implant robot
CN114683279A (en) * 2022-02-17 2022-07-01 广东博智林机器人有限公司 Navigation precision determination method and device and electronic equipment
CN114683279B (en) * 2022-02-17 2023-05-23 广东博智林机器人有限公司 Navigation precision determining method and device and electronic equipment
CN114505859A (en) * 2022-02-23 2022-05-17 四川锋准机器人科技有限公司 Tail end smoothness control method for dental implant surgical robot
CN114505859B (en) * 2022-02-23 2023-12-01 四川锋准机器人科技有限公司 Method for controlling compliance of tail end of dental implant operation robot
CN114521962A (en) * 2022-04-24 2022-05-24 杭州柳叶刀机器人有限公司 Trajectory tracking method and device for surgical robot, robot and storage medium
CN115153925A (en) * 2022-07-18 2022-10-11 杭州键嘉机器人有限公司 Automatic drill positioning device and method for oral dental implant surgery
CN115153925B (en) * 2022-07-18 2024-04-23 杭州键嘉医疗科技股份有限公司 Automatic drill bit positioning device and method for dental implant operation

Also Published As

Publication number Publication date
CN113400325B (en) 2022-03-25

Similar Documents

Publication Publication Date Title
CN113400325B (en) Navigation and positioning method for dental implant robot
CN113855286B (en) Implant robot navigation system and method
EP3254621B1 (en) 3d image special calibrator, surgical localizing system and method
CN110355754B (en) Robot hand-eye system, control method, device and storage medium
JP6367905B2 (en) Surgical robot system for stereotactic surgery and control method for stereotactic robot
JP2019030702A (en) Surgical robot for stereotactic surgery and control method of surgical robot for stereotactic surgery
JP2015042437A (en) Robot system and calibration method of robot system
WO2022141153A1 (en) Ultrasonic positioning puncture system and storage medium
CN112603538A (en) Orthopedic navigation positioning system and method
CN113413216B (en) Double-arm puncture robot based on ultrasonic image navigation
KR102601195B1 (en) Dental Robots and Method of Oral Navigation
JP2010188439A (en) Method and apparatus for calculating parameter
CN113855287B (en) Oral implantation operation robot with evaluation of implantation precision and control method
CN113211431A (en) Pose estimation method based on two-dimensional code correction robot system
JP7258516B2 (en) Calibration method and gripping system
Šuligoj et al. Medical applicability of a low-cost industrial robot arm guided with an optical tracking system
CN116035705A (en) Integral kinematic space positioning method for surgical robot
CN114504385A (en) Surgical robot tip attitude adjustment method, system, device, and medium
CN116942314A (en) Positioning method and system for mixing optical positioning and mechanical positioning
CN116269812A (en) Master-slave operation puncture system and planning method
JP4244705B2 (en) Calibration apparatus and method for laser processing head with rotating mechanism
JP2002361578A (en) Working robot
CN114290330A (en) Calibration method and calibration device for robot, robot and readable storage medium
CN113876433A (en) Robot system and control method
CN114067646A (en) Visual simulation teaching system of puncture surgical robot

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant