阅读说明：本技术 一种自动化牙种植微型机器人及控制方法 (Automatic dental implant 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：本发明涉及一种自动化牙种植微型机器人及控制方法,螺旋套筒与旋转体安装座固连,旋转体安装座通过固定装置与嵌合式牙种植手术导板固连,旋转体与旋转驱动装置输出轴固连,从而旋转驱动装置能够带动旋转体同步旋转,所述种植钻支撑杆与种植钻连接,旋转体位于螺旋套筒内,旋转体前后对应位置上均设有旋转体直线滑道,种植钻支撑杆两端穿过旋转体前后的旋转体直线滑道后,挂在螺旋套筒螺旋滑道上。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稳定,不偏离,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 an automatic tooth planting micro-robot and a control method thereof.A spiral sleeve is fixedly connected with a rotating body mounting seat, the rotating body mounting seat is fixedly connected with an embedded tooth planting operation guide plate through a fixing device, and the rotating body is fixedly connected with an output shaft of a rotation driving device, so that the rotation driving device can drive the rotating body to synchronously rotate. 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 axis direction of the planting drill can be ensured to be stable and not deviate when the planting drill works, 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. An automatic change tooth planting micro robot which characterized in that includes: the embedded tooth planting operation guide plate comprises an embedded tooth planting operation guide plate, a fixing device, a spiral sleeve, a rotary driving device, a rotary body, a planting drill support rod, a rotary body linear slideway, a rotary body mounting seat, a spiral sleeve spiral slideway and a planting drill, wherein the spiral sleeve is fixedly connected with the rotary body mounting seat, the rotary body mounting seat is fixedly connected with the embedded tooth planting operation guide plate through the fixing device, the rotary body is fixedly connected with an output shaft of the rotary driving device, so that the rotary driving device can drive the rotary body to synchronously rotate, the planting drill support rod is connected with the planting drill, the rotary body is positioned in the spiral sleeve, the rotary body linear slideway is arranged at the front and the rear corresponding positions of the rotary body, two ends of the planting drill support rod penetrate through the rotary body linear slideway at the front and the rear of the rotary body and are hung on the spiral sleeve spiral slideway, when the, thereby realize planting and bore rotation and feed, can keep spiral sleeve, rotator, planting drill three coaxial throughout, guarantee that the planting drill can not squint when feeding.

2. The automated dental implant micro-robot of claim 1, wherein: the rotary driving device comprises a first rotary motor, a driving gear, a driven gear, a driver, a controller, a man-machine interaction touch screen and a first rotary motor mounting seat, wherein the first rotary motor is connected with the first rotary motor mounting seat, the first rotary motor mounting seat is connected with a rotator mounting seat, the man-machine interaction touch screen is connected with the controller, the controller is connected with the driver, the driver is connected with the first rotary motor, an output shaft of the first rotary motor is connected with the driving gear, the driving gear is meshed with the driven gear, the driven gear is connected with the rotator, and the rotator can rotate.

3. The automated dental implant micro-robot of claim 1, wherein: the rotary driving device comprises a second rotary motor, a driving wheel, a driving rope or a driving belt, a rotary motor mounting seat, a driver, a controller and a human-computer interaction touch screen, wherein the second rotary motor is fixed on the rotary motor mounting seat, the human-computer interaction touch screen is connected with the controller, the controller is connected with the driver, the driver is connected with the second rotary motor, a second rotary motor output shaft is connected with the driving wheel, the driving wheel is connected with the driven wheel through the driving rope or the driving belt, the driven wheel is connected with the rotating body, and the rotating body can rotate.

4. The automated dental implant micro-robot of claim 1, wherein: the rotary driving device is a planting mobile phone.

5. The automated dental implant micro-robot of claim 1, wherein: the planting drill support rod comprises a support rod and a planting drill support seat, the support rod is fixed on two sides of the planting drill support seat and is integrated with the planting drill support seat into a whole, the planting drill penetrates into the planting drill support seat from the bottom of the planting drill support seat, and the planting drill is fixed with the planting drill support seat through a planting drill fixing screw; the planting drill fixing screw can quickly replace the planting drill; the planting drill support is matched with the spiral slideway of the spiral sleeve and the linear slideway of the rotating body through the support rod.

6. The automated dental implant micro-robot of claim 1, wherein: the spiral slide way of the spiral sleeve is positioned on the inner wall of the spiral sleeve.

7. The automated dental implant micro-robot of claim 1, wherein: the spiral sleeve spiral slideway is a spiral slideway which is communicated with the spiral sleeve.

8. 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 operation guide plate with a positioning hole and a slot according to CT and scanning data of a patient;

2) determining the working direction of the implant drill by adjusting the position between the rotating body mounting seat and the embedded tooth implant operation guide plate;

3) setting the forward rotation speed and forward rotation time of the rotary driving device;

4) starting the rotary driving device, driving the rotary body to rotate by the rotary driving device, pushing the planting drill supporting rod by the rotary body linear slideway, enabling two ends of the planting drill supporting rod to move along the track of the spiral sleeve spiral slideway and linearly slide along the rotary body linear slideway, and thus realizing cutting and feeding of the rotary driving device in the set planting direction without moving the rotary driving device;

5) and 4) after the operation of the step 4) is finished, the rotation driving device automatically starts the reverse rotation action, so that the planting drill is retracted to the original position.

9. The method for controlling an automated dental implant micro-robot as claimed in claim 8, wherein: the rotary driving device comprises a first rotary motor, a driving gear, a driven gear, a driver, a controller, a man-machine interaction touch screen and a first rotary motor mounting seat, wherein the first rotary motor is connected with the first rotary motor mounting seat, the first rotary motor mounting seat is connected with a rotator mounting seat, the man-machine interaction touch screen is connected with the controller, the controller is connected with the driver, the driver is connected with the first rotary motor, an output shaft of the first rotary motor is connected with the driving gear, the driving gear is meshed with the driven gear, the driven gear is connected with the rotator, and the rotator can rotate.

10. The method for controlling an automated dental implant micro-robot as claimed in claim 8, wherein: the planting drill support rod comprises a support rod and a planting drill support seat, the support rod is fixed on two sides of the planting drill support seat and is integrated with the planting drill support seat into a whole, the planting drill penetrates into the planting drill support seat from the bottom of the planting drill support seat, and the planting drill is fixed with the planting drill support seat through a planting drill fixing screw; the planting drill fixing screw can quickly replace the planting drill; the planting drill support is matched with the spiral slideway of the spiral sleeve and the linear slideway of the rotating body through the support rod.

Technical Field

The invention relates to a dental implantation device, in particular to an 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, the longitudinal axis direction of the mobile implant is unstable and easy to deviate when the mobile implant works, so that operation errors or failures are caused, and the safety problem 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 an 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 axis direction of the planting drill can be ensured to be stable and not deviate when the planting drill works, 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 discloses an automatic tooth implantation micro-robot, which comprises: the embedded tooth planting operation guide plate comprises an embedded tooth planting operation guide plate, a fixing device, a spiral sleeve, a rotary driving device, a rotary body, a planting drill support rod, a rotary body linear slideway, a rotary body mounting seat, a spiral sleeve spiral slideway and a planting drill, wherein the spiral sleeve is fixedly connected with the rotary body mounting seat, the rotary body mounting seat is fixedly connected with the embedded tooth planting operation guide plate through the fixing device, the rotary body is fixedly connected with an output shaft of the rotary driving device, so that the rotary driving device can drive the rotary body to synchronously rotate, the planting drill support rod is connected with the planting drill, the rotary body is positioned in the spiral sleeve, the rotary body linear slideway is arranged at the front and the rear corresponding positions of the rotary body, two ends of the planting drill support rod penetrate through the rotary body linear slideway at the front and the rear of the rotary body and are hung on the spiral sleeve spiral slideway, when the, thereby realize planting and bore rotation and feed, can keep spiral sleeve, rotator, planting drill three coaxial throughout, guarantee that the planting drill can not squint when feeding.

The rotary driving device comprises a first rotary motor, a driving gear, a driven gear, a driver, a controller, a human-computer interaction touch screen and a first rotary motor mounting seat, wherein the first rotary motor is connected with the first rotary motor mounting seat, the first rotary motor mounting seat is connected with a rotator mounting seat, the human-computer interaction touch screen is connected with the controller, the controller is connected with the driver, the driver is connected with the first rotary motor, an output shaft of the rotary motor is connected with the driving gear, the driving gear is meshed with the driven gear, the driven gear is connected with the rotator, and the rotator can rotate.

The rotary driving device comprises a second rotary motor, a driving wheel, a driving rope or a driving belt, a rotary motor mounting seat, a driver, a controller and a human-computer interaction touch screen, wherein the second rotary motor is fixed on the rotary motor mounting seat, the human-computer interaction touch screen is connected with the controller, the controller is connected with the driver, the driver is connected with the second rotary motor, a second rotary motor output shaft is connected with the driving wheel, the driving wheel is connected with the driven wheel through the driving rope or the driving belt, the driven wheel is connected with the rotator, and the rotator can rotate.

Wherein, the rotary driving device is a plant mobile phone.

The planting drill support rod comprises a support rod and a planting drill support seat, the support rod is fixed on two sides of the planting drill support seat and is integrated with the planting drill support seat into a whole, the planting drill penetrates into the planting drill support seat from the bottom of the planting drill support seat, and the planting drill is fixed with the planting drill support seat through a planting drill fixing screw; the planting drill fixing screw can quickly replace the planting drill; the planting drill support is matched with the spiral slideway of the spiral sleeve and the linear slideway of the rotating body through the support rod.

Wherein, spiral sleeve spiral slide is located spiral sleeve inner wall.

The spiral sleeve spiral slideway is a spiral slideway which is communicated with the spiral sleeve.

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 operation guide plate with a positioning hole and a slot according to CT and scanning data of a patient;

2) determining the working direction of the implant drill by adjusting the position between the rotating body mounting seat and the embedded tooth implant operation guide plate;

3) setting the forward rotation speed and forward rotation time of the rotary driving device;

4) starting the rotary driving device, driving the rotary body to rotate by the rotary driving device, pushing the planting drill supporting rod by the rotary body linear slideway, enabling two ends of the planting drill supporting rod to move along the track of the spiral sleeve spiral slideway and slide along the rotary body linear slideway simultaneously, and thus realizing the feeding while cutting in the set planting direction by the rotary driving device without moving the rotary driving device;

5) and 4) after the operation of the step 4) is finished, the rotation driving device automatically starts the reverse rotation action, so that the planting drill is retracted to the original position.

The rotary driving device comprises a first rotary motor, a driving gear, a driven gear, a driver, a controller, a human-computer interaction touch screen and a first rotary motor mounting seat, wherein the first rotary motor is connected with the first rotary motor mounting seat, the first rotary motor mounting seat is connected with a rotator mounting seat, the human-computer interaction touch screen is connected with the controller, the controller is connected with the driver, the driver is connected with the first rotary motor, an output shaft of the rotary motor is connected with the driving gear, the driving gear is meshed with the driven gear, the driven gear is connected with the rotator, and the rotator can rotate.

The planting drill support rod comprises a support rod and a planting drill support seat, the support rod is fixed on two sides of the planting drill support seat and is integrated with the planting drill support seat into a whole, the planting drill penetrates into the planting drill support seat from the bottom of the planting drill support seat, and the planting drill is fixed with the planting drill support seat through a planting drill fixing screw; the planting drill fixing screw can quickly replace the planting drill; the planting drill support is matched with the spiral slideway of the spiral sleeve and the linear slideway of the rotating body through the support rod.

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 axis direction of the planting drill can be ensured to be stable and not deviate when the planting drill works, 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 view of a gear drive configuration of the rotary drive of the present invention;

FIG. 2 is a schematic view of the transmission structure of the rotary driving device of the present invention, which is a transmission rope or a transmission belt;

FIG. 3 is an enlarged schematic view of a support rod of the planting drill of the present invention;

FIG. 4 is an enlarged schematic view of the through spiral chute of the present invention;

fig. 5 is a schematic view of the rotation driving device of the present invention being a mobile phone for planting.

In the figure, 1, a mosaic type dental implantation operation guide plate; 2. a fixing device; 3. a first rotating motor; 4. a driving gear; 5. a driven gear; 6. a helical sleeve; 7. a rotating body; 8. planting drill support rods; 9. a rotary body linear slideway; 10. a rotating body mounting base; 11. a helical sleeve helical slideway; 12. planting and drilling; 13. a human-computer interaction touch screen; 14. a controller; 15. a driver; 16. a driven wheel; 17. a drive rope or belt; 18. a driving wheel; 19. a second rotating motor; 20. a rotating motor mounting base; 21. a strut; 22. planting drill screws; 24. planting and drilling a support; 25. a through spiral slideway; 26. a mounting base of the rotating motor.

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 to 5, an automated dental implant micro-robot of the present invention comprises: the embedded tooth planting operation guide plate comprises an embedded tooth planting operation guide plate, a fixing device, a spiral sleeve, a rotary driving device, a rotary body, a planting drill support rod, a rotary body linear slideway, a rotary body mounting seat, a spiral sleeve spiral slideway and a planting drill, wherein the spiral sleeve is fixedly connected with the rotary body mounting seat, the rotary body mounting seat is fixedly connected with the embedded tooth planting operation guide plate through the fixing device, the rotary body is fixedly connected with an output shaft of the rotary driving device, so that the rotary driving device can drive the rotary body to synchronously rotate, the planting drill support rod is connected with the planting drill, the rotary body is positioned in the spiral sleeve, the rotary body linear slideway is arranged at the front and the rear corresponding positions of the rotary body, two ends of the planting drill support rod penetrate through the rotary body linear slideway at the front and the rear of the rotary body and are hung on the spiral sleeve spiral slideway, when the, simultaneously, the planting drill slides along the linear slide way of the rotating body, so that the rotation and the feeding of the planting drill are realized, the spiral sleeve, the rotating body and the planting drill can be always kept coaxial, and the planting drill is ensured not to deviate when being fed.

The rotary driving device comprises a first rotary motor, a driving gear, a driven gear, a driver, a controller, a man-machine interaction touch screen and a first rotary motor mounting seat, wherein the first rotary motor is connected with the first rotary motor mounting seat, the first rotary motor mounting seat is connected with a rotator mounting seat, the man-machine interaction touch screen is connected with the controller, the controller is connected with the driver, the driver is connected with the first rotary motor, an output shaft of the first rotary motor is connected with the driving gear, the driving gear is meshed with the driven gear, the driven gear is connected with the rotator, and the rotator can rotate.

The rotary driving device comprises a second rotary motor, a driving wheel, a driving rope or a driving belt, a rotary motor mounting seat, a driver, a controller and a human-computer interaction touch screen, wherein the second rotary motor is fixed on the rotary motor mounting seat, the human-computer interaction touch screen is connected with the controller, the controller is connected with the driver, the driver is connected with the second rotary motor, a second rotary motor output shaft is connected with the driving wheel, the driving wheel is connected with the driven wheel through the driving rope or the driving belt, the driven wheel is connected with the rotating body, and the rotating body can rotate.

The rotary driving device is a planting mobile phone.

The planting drill support rod comprises a support rod and a planting drill support seat, the support rod is fixed on two sides of the planting drill support seat and is integrated with the planting drill support seat into a whole, the planting drill penetrates into the planting drill support seat from the bottom of the planting drill support seat, and the planting drill is fixed with the planting drill support seat through a planting drill fixing screw; the planting drill fixing screw can quickly replace the planting drill; the planting drill support is matched with the spiral slideway of the spiral sleeve and the linear slideway of the rotating body through the support rod. (ii) a The diameter of the support rod is smaller than the width of the linear slideway of the rotating body.

The spiral slide way of the spiral sleeve is positioned on the inner wall of the spiral sleeve.

The spiral sleeve spiral slideway is a spiral slideway which is communicated with the spiral sleeve.

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 operation guide plate with a positioning hole and a slot according to CT and scanning data of a patient;

2) determining the working direction of the implant drill by adjusting the position between the rotating body mounting seat and the embedded tooth implant operation guide plate;

3) setting the forward rotation speed and forward rotation time of the rotary driving device;

4) starting the rotary driving device, driving the rotary body to rotate by the rotary driving device, pushing the planting drill supporting rod by the rotary body linear slideway, and enabling two ends of the planting drill supporting rod to move along the track of the spiral sleeve spiral slideway, so that the rotary driving device can cut in the set planting direction and feed at the same time without moving the rotary driving device;

5) and 4) after the operation of the step 4) is finished, the rotation driving device automatically starts the reverse rotation action, so that the planting drill is retracted to the original position.

The rotary driving device comprises a first rotary motor, a driving gear, a driven gear, a driver, a controller, a man-machine interaction touch screen and a first rotary motor mounting seat, wherein the first rotary motor is connected with the first rotary motor mounting seat, the first rotary motor mounting seat is connected with a rotator mounting seat, the man-machine interaction touch screen is connected with the controller, the controller is connected with the driver, the driver is connected with the first rotary motor, an output shaft of the first rotary motor is connected with the driving gear, the driving gear is meshed with the driven gear, the driven gear is connected with the rotator, and the rotator can rotate.

The planting drill support rod comprises a support rod and a planting drill support seat, the support rod is fixed on two sides of the planting drill support seat and is integrated with the planting drill support seat into a whole, the planting drill penetrates into the planting drill support seat from the bottom of the planting drill support seat, and the planting drill is fixed with the planting drill support seat through a planting drill fixing screw; the planting drill fixing screw can quickly replace the planting drill; the planting drill support is matched with the spiral slideway of the spiral sleeve and the linear slideway of the rotating body through the support rod.

A fixing device: as shown in fig. 1, an insertion slot is formed in the upper portion of the embedded dental implant surgical guide plate, a plurality of positioning holes are formed in the side surface of the insertion slot, a rotator mounting seat bolt is arranged at the left end of the rotator mounting seat, and after the rotator mounting seat bolt is inserted into the insertion slot, a positioning screw is screwed into the positioning hole to enable the positioning screw to abut against the rotator mounting seat bolt, so that the rotator mounting seat is positioned, namely the working direction of an implant drill on the rotator mounting seat is determined; and if the working direction of the planting drill needs to be finely adjusted, taking out the positioning screw, moving the bolt of the mounting seat of the rotating body rightwards or leftwards, and screwing the positioning screw into the positioning hole to finish the fine-adjusted positioning.

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

Driving a motor: the ultrasonic motor is prepared from Maxon ECX SPPED 13L, FAULHABER DM1220, GTUSM Jiangsu purple gold east ultrasonic motors, but is not limited to the 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.