阅读说明：本技术 一种自动种植牙机器人及其应用方法 (Automatic tooth planting robot and application method thereof ) 是由 刘玉洁 王德峰 骆嘉希 潘杭 李锐鹏 石海钢 梅晓阳 于 2018-08-08 设计创作，主要内容包括：本发明提供了一种自动种植牙机器人及其应用方法,自动种植牙机器人包括电连接的主台车和副台车,主台车上安装有种植系统、控制系统和显示器,副台车上安装有光学追踪定位仪器,光学追踪定位仪器通过刚性连接在口内定位夹具上的定位追踪装置进行配准,光学追踪定位仪器追踪种植系统以及定位追踪装置的位置并将追踪信号发送至控制系统,控制系统根据追踪信号来控制种植系统在种植区域内的种植操作并通过显示器实时显示；主台车上还安装有不间断电源UPS,不间断电源UPS连接着隔离变压器并向控制系统供电。本发明将光学追踪定位仪器安装在副台车上,与主台车分离,可以使光学追踪定位仪器根据种植需要精准移动实现对具有识别特征的部件的追踪。(The invention provides an automatic tooth planting robot and an application method thereof, wherein the automatic tooth planting robot comprises a main trolley and an auxiliary trolley which are electrically connected, a planting system, a control system and a display are installed on the main trolley, an optical tracking and positioning instrument is installed on the auxiliary trolley, the optical tracking and positioning instrument is registered through a positioning and tracking device which is rigidly connected to an intraoral positioning clamp, the optical tracking and positioning instrument tracks the positions of the planting system and the positioning and tracking device and sends tracking signals to the control system, and the control system controls the planting operation of the planting system in a planting area according to the tracking signals and displays the tracking signals in real time through the display; and an uninterruptible power supply UPS is also installed on the main trolley and is connected with the isolation transformer and supplies power to the control system. According to the invention, the optical tracking and positioning instrument is arranged on the auxiliary trolley and separated from the main trolley, so that the optical tracking and positioning instrument can accurately move according to the planting requirement to realize the tracking of the part with the identification characteristic.)

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

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

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

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

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

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

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

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

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

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

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

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

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

Technical Field

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

Background

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

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

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

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

Disclosure of Invention

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

Drawings

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

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

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

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

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

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

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

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

Description of reference numerals:

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

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

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

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

Detailed Description

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

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

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