Pressurized automatic dental implantation micro robot and control method
阅读说明：本技术 一种加压式自动化牙种植微型机器人及控制方法 (Pressurized automatic dental implantation micro robot and control method ) 是由 孙玉春 周永胜 王勇 张耀鹏 陈虎 张磊 刘云松 叶红强 原福松 柯怡芳 于 2020-07-23 设计创作，主要内容包括：本发明涉及一种加压式自动化牙种植微型机器人,种植手机安装在种植手机安装座上,种植手机安装座通过固定装置与嵌合式牙种植手术导板固连,种植钻传动螺纹与种植手机螺套配合,弹簧一端固定在种植手机安装座上,另一端固定在种植钻末端,能给种植钻施加压力,会迫使种植钻与种植手机作相对移动,从而实现在设定种植的工作方向上切削的同时进给。本发明能根据实际情况对种植位置的工作方向实施准确定位微调,能解决个性化的操作；能保证种植钻工作时纵向的轴线方向加压实施进给,运行快捷稳定,具有安全性；而且根据实际情况设定参数后,能够自动化地完成操作过程,精度高,有利于向基层医疗系统推广使用。(The invention relates to a pressurized automatic tooth planting micro-robot, wherein a planting mobile phone is installed on a mounting seat of the planting mobile phone, the mounting seat of the planting mobile phone is fixedly connected with an embedded tooth planting operation guide plate through a fixing device, a transmission screw thread of a planting drill is matched with a screw sleeve of the planting mobile phone, one end of a spring is fixed on the mounting seat of the planting mobile phone, the other end of the spring is fixed at the tail end of the planting drill, pressure can be applied to the planting drill, the planting drill and the planting mobile phone can be forced to move relatively, and therefore cutting and feeding in the set planting working direction are achieved. The invention can accurately position and finely adjust the working direction of the planting position according to the actual situation, and can solve the personalized operation; the longitudinal axial direction pressurization feeding can be ensured when the planting drill works, the operation is rapid and stable, and the safety is realized; and after the parameters are set according to actual conditions, the operation process can be automatically completed, the precision is high, and the method is favorable for popularization and use of the primary medical system.)
1. The utility model provides an automatic tooth of pressurization formula is planted micro-robot which characterized in that includes: the embedded dental implant operation guide plate comprises an embedded dental implant operation guide plate, a fixing device, a spring, an implant drill, an implant mobile phone mounting seat and an implant mobile phone, wherein the implant mobile phone is mounted on the implant mobile phone mounting seat, the implant mobile phone mounting seat is fixedly connected with the embedded dental implant operation guide plate through the fixing device, the implant drill is provided with a cutting edge for cutting and a screw thread for transmission, the implant drill transmission screw thread is matched with a screw sleeve of the implant mobile phone, one end of the spring is fixed on the implant mobile phone mounting seat, the other end of the spring is fixed at the tail end of the implant drill, pressure can be applied to the implant drill, the implant drill and the implant mobile phone can be forced to move relatively, and feeding is achieved while cutting in.
2. The pressurized automated dental implant micro-robot of claim 1, wherein: the spring is a plurality of springs which are uniformly arranged between the planting mobile phone mounting seat and the tail end of the planting drill.
3. The pressurized automated dental implant micro-robot of claim 1, wherein: the fixing device comprises an inserting groove, a plurality of positioning holes, positioning screws and a bolt of a mounting seat of the implant mobile phone, the inserting groove is arranged at the upper part of the embedded dental implant operation guide plate, the plurality of positioning holes are arranged on the side surface of the inserting groove, the bolt of the mounting seat of the implant mobile phone is arranged at the end part of the mounting seat of the implant mobile phone, and after the bolt of the mounting seat of the implant mobile phone is inserted into the inserting groove, the positioning screws are screwed into the positioning holes to enable the positioning screws to prop against the bolt of the mounting seat of the implant mobile phone, so that the mounting seat of the implant mobile; and if the working direction of the implant drill needs to be finely adjusted, taking out the positioning screw, moving the bolt of the implant mobile phone mounting seat to the right or left, and screwing the positioning screw into the positioning hole to finish the fine-adjusted positioning.
4. The method for controlling an automated dental implant micro-robot according to claim 1, comprising the steps of:
1) designing a mosaic type dental implantation surgical guide plate with a fixing device according to CT and scanning data of a patient;
2) determining the working direction of the implant drill by adjusting the position between the implant mobile phone mounting seat and the embedded tooth implant operation guide plate;
3) setting forward rotation speed and forward rotation time of the mobile phone;
4) the planting mobile phone is started, and when the planting mobile phone drives the planting drill to rotate, the planting drill and the planting mobile phone are forced to move relatively due to the pulling force of the spring, so that cutting in the set planting direction is realized while feeding is realized;
5) and 4) after the operation of the step 4) is finished, the planting mobile phone automatically starts the reverse rotation action, so that the planting drill is retracted to the original position.
5. The method for controlling an automated dental implant micro-robot according to claim 4, wherein: the spring is a plurality of springs which are uniformly arranged between the planting mobile phone mounting seat and the tail end of the planting drill.
6. The method for controlling an automated dental implant micro-robot according to claim 4, wherein: the fixing device comprises an inserting groove, a plurality of positioning holes, positioning screws and a bolt of a mounting seat of the implant mobile phone, the inserting groove is arranged at the upper part of the embedded dental implant operation guide plate, the plurality of positioning holes are arranged on the side surface of the inserting groove, the bolt of the mounting seat of the implant mobile phone is arranged at the end part of the mounting seat of the implant mobile phone, and after the bolt of the mounting seat of the implant mobile phone is inserted into the inserting groove, the positioning screws are screwed into the positioning holes to enable the positioning screws to prop against the bolt of the mounting seat of the implant mobile phone, so that the mounting seat of the implant mobile; and if the working direction of the implant drill needs to be finely adjusted, taking out the positioning screw, moving the bolt of the implant mobile phone mounting seat to the right or left, and screwing the positioning screw into the positioning hole to finish the fine-adjusted positioning.
Technical Field
The invention relates to a dental implantation device, in particular to a pressurized automatic dental implantation micro-robot and a control method.
Background
Although the existing dental implantation operation guide plate and the existing dental implantation mobile phone can complete the dental implantation task, the existing dental implantation operation guide plate and the existing dental implantation mobile phone have some problems: firstly, the planting position is determined, the working direction of the mobile phone is planted, and fine adjustment is inaccurate; secondly, when the mobile phone is in work, the pressing force in the longitudinal axis direction is insufficient, so that the mobile phone is unsmooth in work, needs to be repeatedly carried out, is time-consuming and labor-consuming, and has the problem of safety; thirdly, the operation of implanting the mobile phone is completed according to the experience of a doctor, and the operation cannot be automatically completed after parameters are set according to the condition of a patient, so that the automatic process is realized.
Disclosure of Invention
The invention aims to provide a pressurized automatic tooth implantation micro-robot and a control method, which can accurately position and finely adjust the working direction of an implantation position according to the actual situation and can solve the problem of personalized operation; the longitudinal axial direction pressurization feeding can be ensured when the planting drill works, the operation is rapid and stable, and the safety is realized; and after the parameters are set according to actual conditions, the operation process can be automatically completed, the precision is high, and the method is favorable for popularization and use of the primary medical system.
In order to achieve the purpose, the invention has the following technical scheme:
the invention relates to a pressurized automatic tooth implantation micro-robot, comprising: the embedded dental implant operation guide plate comprises an embedded dental implant operation guide plate, a fixing device, a spring, an implant drill, an implant mobile phone mounting seat and an implant mobile phone, wherein the implant mobile phone is mounted on the implant mobile phone mounting seat, the implant mobile phone mounting seat is fixedly connected with the embedded dental implant operation guide plate through the fixing device, the implant drill is provided with a cutting edge for cutting and a screw thread for transmission, the implant drill transmission screw thread is matched with a screw sleeve of the implant mobile phone, one end of the spring is fixed on the implant mobile phone mounting seat, the other end of the spring is fixed at the tail end of the implant drill, pressure can be applied to the implant drill, the implant drill and the implant mobile phone can be forced to move relatively, and feeding is achieved while cutting in.
The spring is a plurality of springs which are uniformly arranged between the planting mobile phone mounting seat and the tail end of the planting drill.
The fixing device comprises an inserting groove, a plurality of positioning holes, a positioning screw and a bolt of a mounting seat of a planting mobile phone, wherein the inserting groove is formed in the upper part of the embedded tooth planting operation guide plate, the plurality of positioning holes are formed in the side surface of the inserting groove, the bolt of the mounting seat of the planting mobile phone is arranged at the end part of the mounting seat of the planting mobile phone, and after the bolt of the mounting seat of the planting mobile phone is inserted into the inserting groove, the positioning screw is screwed into the positioning hole, so that the positioning screw abuts against the bolt of the mounting seat of the planting mobile phone, and the mounting seat of the planting mobile phone; and if the working direction of the implant drill needs to be finely adjusted, taking out the positioning screw, moving the bolt of the implant mobile phone mounting seat to the right or left, and screwing the positioning screw into the positioning hole to finish the fine-adjusted positioning.
The invention discloses a control method of an automatic tooth implantation micro-robot, which comprises the following steps:
1) designing a mosaic type dental implantation surgical guide plate with a fixing device according to CT and scanning data of a patient;
2) determining the working direction of the implant drill by adjusting the position between the implant mobile phone mounting seat and the embedded tooth implant operation guide plate;
3) setting forward rotation speed and forward rotation time of the mobile phone;
4) the planting mobile phone is started, and when the planting mobile phone drives the planting drill to rotate, the planting drill and the planting mobile phone are forced to move relatively due to the pulling force of the spring, so that cutting in the set planting direction is realized while feeding is realized;
5) and 4) after the operation of the step 4) is finished, the planting mobile phone automatically starts the reverse rotation action, so that the planting drill is retracted to the original position.
The spring is a plurality of springs which are uniformly arranged between the planting mobile phone mounting seat and the tail end of the planting drill.
The fixing device comprises an inserting groove, a plurality of positioning holes, a positioning screw and a bolt of a mounting seat of a planting mobile phone, wherein the inserting groove is formed in the upper part of the embedded tooth planting operation guide plate, the plurality of positioning holes are formed in the side surface of the inserting groove, the bolt of the mounting seat of the planting mobile phone is arranged at the end part of the mounting seat of the planting mobile phone, and after the bolt of the mounting seat of the planting mobile phone is inserted into the inserting groove, the positioning screw is screwed into the positioning hole, so that the positioning screw abuts against the bolt of the mounting seat of the planting mobile phone, and the mounting seat of the planting mobile phone; and if the working direction of the implant drill needs to be finely adjusted, taking out the positioning screw, moving the bolt of the implant mobile phone mounting seat to the right or left, and screwing the positioning screw into the positioning hole to finish the fine-adjusted positioning.
The invention has the advantages that:
the invention can accurately position and finely adjust the working direction of the planting position according to the actual situation, and can solve the personalized operation; the longitudinal axial direction pressurization feeding can be ensured when the planting drill works, the operation is rapid and stable, and the safety is realized; and after the parameters are set according to actual conditions, the operation process can be automatically completed, the precision is high, and the method is favorable for popularization and use of the primary medical system. .
Drawings
FIG. 1 is a schematic diagram of the general structure of the present invention;
FIG. 2 is a schematic view in section along A-A of FIG. 1;
FIG. 3 is an enlarged view of the fixing device of the present invention.
In the figure, 1, a mosaic type dental implantation operation guide plate; 2. a fixing device; 3. planting and drilling; 4. a
Detailed Description
The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
Referring to fig. 1-2, a pressurized type automatic dental implant micro-robot of the present invention comprises: the embedded dental implant operation guide plate comprises an embedded dental implant operation guide plate, a fixing device, a spring, an implant drill, an implant mobile phone mounting seat and an implant mobile phone, wherein the implant mobile phone is mounted on the implant mobile phone mounting seat, the implant mobile phone mounting seat is fixedly connected with the embedded dental implant operation guide plate through the fixing device, the implant drill is provided with a cutting edge for cutting and a screw thread for transmission, the implant drill transmission screw thread is matched with a screw sleeve of the implant mobile phone, one end of the spring is fixed on the implant mobile phone mounting seat, the other end of the spring is fixed at the tail end of the implant drill, pressure can be applied to the implant drill, the implant drill and the implant mobile phone can be forced to move relatively, and feeding is achieved while cutting in.
The spring is a plurality of springs which are uniformly arranged between the planting mobile phone mounting seat and the tail end of the planting drill.
The fixing device comprises an inserting groove, a plurality of positioning holes, a positioning screw and a bolt of a mounting seat of a planting mobile phone, wherein the inserting groove is formed in the upper part of the embedded tooth planting operation guide plate, the plurality of positioning holes are formed in the side surface of the inserting groove, the bolt of the mounting seat of the planting mobile phone is arranged at the end part of the mounting seat of the planting mobile phone, and after the bolt of the mounting seat of the planting mobile phone is inserted into the inserting groove, the positioning screw is screwed into the positioning hole, so that the positioning screw abuts against the bolt of the mounting seat of the planting mobile phone, and the mounting seat of the planting mobile phone; and if the working direction of the implant drill needs to be finely adjusted, taking out the positioning screw, moving the bolt of the implant mobile phone mounting seat to the right or left, and screwing the positioning screw into the positioning hole to finish the fine-adjusted positioning.
The invention discloses a control method of an automatic tooth implantation micro-robot, which comprises the following steps:
1) designing a mosaic type dental implantation surgical guide plate with a fixing device according to CT and scanning data of a patient;
2) determining the working direction of the implant drill by adjusting the position between the implant mobile phone mounting seat and the embedded tooth implant operation guide plate;
3) setting forward rotation speed and forward rotation time of the mobile phone;
4) the planting mobile phone is started, and when the planting mobile phone drives the planting drill to rotate, the planting drill and the planting mobile phone are forced to move relatively due to the pulling force of the spring, so that cutting in the set planting direction is realized while feeding is realized;
5) after the operation of the step 4) is finished, the planting mobile phone automatically starts the reverse rotation action to enable the planting drill to be retracted to the original position;
the original state of the springs is a compressed state, and when the planting drill is at an initial position, the springs are already in a stretched state, so that the springs have downward tension in the axial direction of the planting drill, and the cutting and feeding in the set planting direction can be realized.
The spring is a plurality of springs which are uniformly arranged between the planting mobile phone mounting seat and the tail end of the planting drill.
The fixing device comprises an inserting groove, a plurality of positioning holes, positioning screws and a bolt of a mounting seat of the implant mobile phone, the inserting groove is arranged at the upper part of the embedded dental implant operation guide plate, the plurality of positioning holes are arranged on the side surface of the inserting groove, the bolt of the mounting seat of the implant mobile phone is arranged at the end part of the mounting seat of the implant mobile phone, and after the bolt of the mounting seat of the implant mobile phone is inserted into the inserting groove, the positioning screws are screwed into the positioning holes to enable the positioning screws to prop against the bolt of the mounting seat of the implant mobile phone, so that the mounting seat of the implant mobile; and if the working direction of the implant drill needs to be finely adjusted, taking out the positioning screw, moving the bolt of the implant mobile phone mounting seat to the right or left, and screwing the positioning screw into the positioning hole to finish the fine-adjusted positioning.
The planting mobile phone can adopt: meyes dental 20:1 implants, NSK SG20 implants, and the like, but are not limited to these products.
As described above, the present invention can be more fully realized. The above description is only a reasonable embodiment of the present invention, and the scope of the present invention includes but is not limited to the above description, and any insubstantial modifications of the technical solution of the present invention by those skilled in the art are included in the scope of the present invention.
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