阅读说明：本技术 一种直线引导式自动化牙种植微型机器人及控制方法 (Linear guide type automatic tooth 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：本发明涉及一种直线引导式自动化牙种植微型机器人及控制方法,种植手机安装在种植手机安装座上,种植手机安装座与滑块固连,滑块与导轨配合,导轨通过固位孔和螺钉与嵌合式牙种植手术导板固连,种植手机与种植钻连接,人机交互触摸屏与控制器连接,控制器分别与驱动器、光栅尺连接,驱动器与种植手机连接,光栅尺固定在导轨的侧面,定位板与嵌合式牙种植手术导板连接,种植钻从定位板中央的通孔穿过,且种植钻螺纹与定位板中央的通孔内螺纹配合。本发明种植钻能保证按直线方向运行,能阻止种植钻在工作中出现的晃动,确保工作安全运行；且根据实际情况设定参数后,能自动化地完成操作过程,有利于向基层医疗系统推广使用。(The invention relates to a linear guide type automatic tooth planting micro-robot and a control method, wherein a planting mobile phone is installed on a planting mobile phone installation seat, the planting mobile phone installation seat is fixedly connected with a sliding block, the sliding block is matched with a guide rail, the guide rail is fixedly connected with an embedded tooth planting operation guide plate through a fixing hole and a screw, the planting mobile phone is connected with a planting drill, a man-machine interaction touch screen is connected with a controller, the controller is respectively connected with a driver and a grating ruler, the driver is connected with the planting mobile phone, the grating ruler is fixed on the side surface of the guide rail, the positioning plate is connected with the embedded tooth planting operation guide plate, the planting drill penetrates through a through hole in the center of the positioning plate, and the thread of the planting drill. The planting drill can run in a straight line direction, can prevent the planting drill from shaking in work, and ensures safe operation of the work; and after the parameters are set according to actual conditions, the operation process can be automatically completed, and the method is favorable for popularization and use of the primary medical system.)

1. The utility model provides an automatic tooth of straight line guide formula is planted micro-robot which characterized in that includes: the embedded dental implant operation guide plate comprises a guide rail, a sliding block, a grating ruler, an implant mobile phone mounting seat, an implant drill, a positioning plate, a driver, a controller and a human-computer interaction touch screen, 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 sliding block, the sliding block is matched with the guide rail, the guide rail is fixedly connected with the embedded dental implant operation guide plate through a positioning hole and a screw, the implant mobile phone is connected with the implant drill, the human-computer interaction touch screen is connected with the controller, the controller is respectively connected with the driver and the grating ruler, the driver is connected with the implant mobile phone, the grating ruler is fixed on the side surface of the guide rail, the grating ruler is used for feeding back the drilling depth of the implant drill in real time, if the set value of the human-computer interaction touch screen is reached, the implant drill stops, and the planting drill thread is matched with the through hole internal thread in the center of the positioning plate, and the positioning plate can prevent the planting drill from shaking in work.

2. The utility model provides an automatic tooth of straight line guide formula is planted micro-robot which characterized in that includes: the embedded dental implant operation guide plate comprises a guide rail, a slide block, a grating ruler, an implant mobile phone mounting seat, an implant drill, a tension spring, a locking switch, a driver, a controller and a human-computer interaction touch screen, 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 slide block, the slide block is matched with the guide rail, the guide rail is fixedly connected with the embedded dental implant operation guide plate through a position fixing hole and a screw, the implant mobile phone is connected with the implant drill, the human-computer interaction touch screen is connected with the controller, the controller is respectively connected with the driver and the grating ruler, the driver is connected with the implant mobile phone, the grating ruler is fixed on the side surface of the guide rail, the grating ruler is used for feeding back the drilling depth of the implant drill in real time, if the set value of the human-computer interaction touch, the extension spring is arranged between the bottom of the sliding block and the bottom of the guide rail, and can apply pressure to the planting drill to force the planting drill and the planting mobile phone to move relatively, so that cutting and feeding in the set planting working direction are achieved.

3. The method for controlling a linear-guided 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) setting forward rotation speed, forward rotation time and drilling depth of the mobile phone through a human-computer interaction touch screen;

3) the planting mobile phone is controlled to be started through the human-computer interaction touch screen, when the planting mobile phone drives the planting drill to rotate, the planting mobile phone is installed on the planting mobile phone installation seat, and the planting mobile phone installation seat is fixedly connected with the sliding block, so that the working direction of the planting drill connected with the planting mobile phone is consistent with the axis direction of the sliding rail, the working direction of the planting drill can keep linear movement, and the drilling motion safety of the planting drill is ensured.

4) And 3) after the operation of the step 3) is finished, the planting mobile phone automatically starts the reverse rotation action, so that the planting drill is retracted to the original position.

Technical Field

The invention relates to a dental implantation device, in particular to a linear guide type 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 working direction of the planting mobile phone cannot ensure that the mobile phone runs in a straight line direction, and the safety problem is easy to occur; secondly, the mobile phone is easy to shake in the longitudinal axis direction when in work, and the safety problem also exists; 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 linear guide type automatic tooth implantation micro robot and a control method, wherein an implant drill can be ensured to run in a linear direction, can be prevented from shaking in the working process, and can be ensured to run safely; 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 discloses a linear guide type automatic tooth implantation micro-robot, which comprises: the embedded dental implant operation guide plate comprises a guide rail, a sliding block, a grating ruler, an implant mobile phone mounting seat, an implant drill, a positioning plate, a driver, a controller and a human-computer interaction touch screen, 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 sliding block, the sliding block is matched with the guide rail, the guide rail is fixedly connected with the embedded dental implant operation guide plate through a positioning hole and a screw, the implant mobile phone is connected with the implant drill, the human-computer interaction touch screen is connected with the controller, the controller is respectively connected with the driver and the grating ruler, the driver is connected with the implant mobile phone, the grating ruler is fixed on the side surface of the guide rail, the grating ruler is used for feeding back the drilling depth of the implant drill in real time, if the set value of the human-computer interaction touch screen is reached, the implant drill stops, and the planting drill thread is matched with the through hole internal thread in the center of the positioning plate, and the positioning plate can prevent the planting drill from shaking in work.

The invention discloses a linear guide type automatic tooth implantation micro-robot, which comprises: the embedded dental implant operation guide plate comprises a guide rail, a slide block, a grating ruler, an implant mobile phone mounting seat, an implant drill, a tension spring, a locking switch, a driver, a controller and a human-computer interaction touch screen, 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 slide block, the slide block is matched with the guide rail, the guide rail is fixedly connected with the embedded dental implant operation guide plate through a position fixing hole and a screw, the implant mobile phone is connected with the implant drill, the human-computer interaction touch screen is connected with the controller, the controller is respectively connected with the driver and the grating ruler, the driver is connected with the implant mobile phone, the grating ruler is fixed on the side surface of the guide rail, the grating ruler is used for feeding back the drilling depth of the implant drill in real time, if the set value of the human-computer interaction touch, the extension spring is arranged between the bottom of the sliding block and the bottom of the guide rail, and can apply pressure to the planting drill to force the planting drill and the planting mobile phone to move relatively, so that cutting and feeding in the set planting working direction are achieved.

The invention discloses a control method of a linear guide type 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) setting forward rotation speed, forward rotation time and drilling depth of the mobile phone through a human-computer interaction touch screen;

3) the planting mobile phone is controlled to be started through the human-computer interaction touch screen, when the planting mobile phone drives the planting drill to rotate, the planting mobile phone is installed on the planting mobile phone installation seat, and the planting mobile phone installation seat is fixedly connected with the sliding block, so that the working direction of the planting drill connected with the planting mobile phone is consistent with the axis direction of the sliding rail, the working direction of the planting drill can keep linear movement, and the drilling motion safety of the planting drill is ensured.

4) And 3) after the operation of the step 3) is finished, the planting mobile phone automatically starts the reverse rotation action, so that the planting drill is retracted to the original position.

The invention has the advantages that:

the planting drill can run in a straight line direction, can prevent the planting drill from shaking in work, and ensures safe operation of the work; 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 structural view of example 1 of the present invention;

FIG. 2 is a schematic structural diagram of example 2 of the present invention;

in the figure, 1, a mosaic type dental implantation operation guide plate; 2. a guide rail; 3. a slider; 4. planting the mobile phone; 5. a fixing device for a mobile phone mounting seat is planted; 6. planting and drilling; positioning a plate; 8. a grating scale; 9. an extension spring; 10. a slot; 11. a positioning plate bolt; 12. a driver; 13. a controller; 14. a human-computer interaction touch screen; 15. and locking the switch.

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, example 1: the invention discloses a linear guide type automatic tooth implantation micro-robot, which comprises: the embedded dental implant operation guide plate comprises a guide rail, a sliding block, a grating ruler, an implant mobile phone mounting seat, an implant drill, a positioning plate, a driver, a controller and a human-computer interaction touch screen, 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 sliding block, the sliding block is matched with the guide rail, the guide rail is fixedly connected with the embedded dental implant operation guide plate through a positioning hole and a screw, the implant mobile phone is connected with the implant drill, the human-computer interaction touch screen is connected with the controller, the controller is respectively connected with the driver and the grating ruler, the driver is connected with the implant mobile phone, the grating ruler is fixed on the side surface of the guide rail, the grating ruler is used for feeding back the drilling depth of the implant drill in real time, if the set value of the human-computer interaction touch screen is reached, the implant drill stops, and the planting drill thread is matched with the through hole internal thread in the center of the positioning plate, and the positioning plate can prevent the planting drill from shaking in work.

Referring to fig. 2, example 2: the invention discloses a linear guide type automatic tooth implantation micro-robot, which comprises: the embedded dental implant operation guide plate comprises a guide rail, a slide block, a grating ruler, an implant mobile phone mounting seat, an implant drill, an extension spring, a locking switch, a driver, a controller and a human-computer interaction touch screen, 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 slide block, the slide block is matched with the guide rail, the guide rail is fixedly connected with the embedded dental implant operation guide plate through a position fixing hole and a screw, the implant mobile phone is connected with the implant drill, the human-computer interaction touch screen is connected with the controller, the controller is respectively connected with the driver and the grating ruler, the driver is connected with the implant mobile phone, the grating ruler is fixed on the side surface of the guide rail, the grating ruler is used for feeding back the drilling depth of the implant drill in real time, if the set value of the human-computer interaction touch screen is reached, the implant drill stops drilling, the, the extension spring can apply pressure to the planting drill, and the planting drill and the planting mobile phone can be forced to move relatively, so that cutting and feeding in the set planting working direction are achieved.

One end of the locking switch is connected with the sliding block, and the other end of the locking switch can be inserted into a notch on the embedded tooth implantation operation guide plate to form a locking state, so that the sliding block is in a static state before the implantation mobile phone starts to work; when the implanting mobile phone needs to be opened, the implanting mobile phone can be opened by rotating the locking switch to leave the notch on the embedded tooth implanting operation guide plate.

The invention discloses a control method of a linear guide type 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) setting forward rotation speed, forward rotation time and drilling depth of the mobile phone through a human-computer interaction touch screen;

3) the planting mobile phone is controlled to be started through the human-computer interaction touch screen, when the planting mobile phone drives the planting drill to rotate, the planting mobile phone is installed on the planting mobile phone installation seat, and the planting mobile phone installation seat is fixedly connected with the sliding block, so that the working direction of the planting drill connected with the planting mobile phone is consistent with the axis direction of the sliding rail, the working direction of the planting drill can keep linear movement, and the drilling motion safety of the planting drill is ensured.

4) And 3) after the operation of the step 3) is finished, the planting mobile phone automatically starts the reverse rotation action, so that the planting drill is retracted to the original position.

Positioning a plate: referring to fig. 1-2, the lower portion of the embedded dental implant operation guide plate is provided with a slot, the side surface of the slot is provided with a plurality of positioning holes, the left end of the positioning plate is provided with a positioning plate bolt, and after the positioning plate bolt is inserted into the slot, a positioning screw is screwed into the positioning hole to enable the positioning screw to abut against the positioning plate bolt, so that the positioning plate is positioned; if the positioning plate needs to be replaced, the positioning screw is taken out, the positioning plate bolt is moved rightwards, then a new positioning plate is replaced, the inserting groove is inserted, and the positioning hole is screwed into the positioning screw, so that the work of replacing the positioning plate can be completed.

The planting mobile phone can adopt: meyes dental 20:1 implants, NSK SG20 implants, and the like, but are not limited to these products.

A driver: copley-090-06, nanotec C5-R-E-103, but is not limited to this product.

A controller: maxon Epos4, Rasaismc 104, but is not limited to this product.

Human-computer interaction touch-sensitive screen: quincunx TPC7062HI, TPC7061TD, but is not limited to this product.

The grating ruler can adopt the following steps: RENISHAW ATOM4t 0-020; lyf 481, heidhan; 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.