阅读说明：本技术 牙科种植体植入精度测试装置、系统及其方法 (Device, system and method for testing implantation precision of dental implant ) 是由 王利峰 刘洪澎 刘冠宇 沈晨 于 2019-09-23 设计创作，主要内容包括：本发明涉及医疗设备技术领域,提供了一种牙科种植体植入精度测试装置、系统及其方法。该装置包括本体,本体的顶面形成有牙齿模型列,牙齿模型列包括多个规格不同的牙齿模型,多个牙齿模型沿本体的长度方向间隔设置,相邻两个牙齿模型之间开设有操作孔。该方法包括以下步骤：在操作孔中填充凝胶材料、以形成模拟颌骨；在模拟颌骨上开设种植窝洞；在种植窝洞中填充印模材料；将由印模材料凝固而成的印模牙齿列从牙齿模型列上取下；将获取的印模牙齿列的三维模型与虚拟种植三维模型进行三维配准、以获得空间变换参数；利用空间变换参数将印模牙齿列的三维模型与虚拟种植三维模型进行匹配。本发明可实现种植机器人在术前种植精度的测量。(the invention relates to the technical field of medical equipment, and provides a device, a system and a method for testing the implantation precision of a dental implant. The device includes the body, and the top surface of body is formed with the tooth model and is listed as, and the tooth model is listed as including the different tooth model of a plurality of specifications, and a plurality of tooth models set up along the length direction interval of body, have seted up the handle hole between two adjacent tooth models. The method comprises the following steps: filling a gel material in the operation hole to form a simulated jaw bone; arranging planting holes on the simulated jaw bones; filling impression materials in the planting pits; removing the impression teeth array solidified by the impression material from the teeth model array; carrying out three-dimensional registration on the obtained three-dimensional model of the impression tooth array and the virtual implant three-dimensional model to obtain space transformation parameters; and matching the three-dimensional model of the impression tooth array with the virtual planting three-dimensional model by using the space transformation parameters. The invention can realize the measurement of the preoperative planting precision of the planting robot.)

1. The utility model provides a dentistry implant implantation accuracy testing arrangement, its characterized in that includes the body, the top surface of body is formed with tooth model and is listed as, tooth model is listed as including the different tooth model of a plurality of specifications, and is a plurality of the tooth model is followed the length direction interval of body sets up, and adjacent two the handle hole has been seted up between the tooth model, the size of handle hole is greater than the size of planting the drill bit.

2. The device for testing the implantation accuracy of a dental implant according to claim 1, wherein the bottom surface of the body is provided with cleaning holes corresponding to the operation holes one by one, and the cleaning holes are communicated with the corresponding operation holes.

3. The dental implant implantation accuracy test apparatus according to claim 1, wherein the number of the tooth model rows is plural, and the plural tooth model rows are sequentially arranged in a width direction of the body.

4. the dental implant implantation accuracy testing apparatus as defined in claim 1, wherein the operation hole is tapered from top to bottom.

5. A dental implant implantation accuracy testing system, comprising a positioning platform, an implantation robot, a navigator, a controller and the dental implant implantation accuracy testing apparatus as claimed in any one of claims 1 to 4, wherein the body is fixed on the positioning platform, the top surface of the positioning platform is provided with at least three non-collinear first visual markers, the end effector of the implantation robot is provided with at least three non-collinear second visual markers, the first visual markers and the second visual markers are both located in the detection range of the navigator, and the navigator and the implantation robot are both electrically connected with the controller.

6. a testing method based on the dental implant implantation accuracy testing apparatus according to any one of claims 1 to 4, comprising the steps of:

filling a gel material in the operation hole to form a simulated jaw bone;

determining the planting position and the planting depth of an implant on the simulated jaw bone according to the virtual planting three-dimensional model;

Forming planting cavities in the simulated jaw bone according to the planting position and the planting depth;

filling impression material in the planting cavity until the impression material covers the tooth model column;

Removing the impression teeth array solidified by the impression material from the teeth model array after a specified time;

acquiring a three-dimensional model of the impression dentition;

carrying out three-dimensional registration on the three-dimensional model of the impression dentition and the virtual planting three-dimensional model to obtain space transformation parameters;

Matching the three-dimensional model of the impression dentition with the virtual implant three-dimensional model by using the spatial transformation parameters to acquire an error of an impression column of the impression dentition relative to an implant of the virtual implant three-dimensional model; wherein the impression column is a columnar structure formed by the impression material in the planting cavity.

7. the method for testing the implantation accuracy of a dental implant according to claim 6, wherein said step of three-dimensionally registering said three-dimensional model of said impression dentition with said three-dimensional model of said virtual implant to obtain spatial transformation parameters comprises:

selecting a plurality of first characteristic points on the three-dimensional model of the impression dentition;

Selecting a plurality of second characteristic points on the virtual planting three-dimensional model;

performing similarity measurement on the first feature points and the second feature points to obtain matched feature pairs;

Roughly registering the three-dimensional model of the impression dentition and the virtual planting three-dimensional model by using the characteristics;

And carrying out fine registration on the three-dimensional model of the impression dentition and the virtual planting three-dimensional model after the coarse registration by utilizing an ICP (inductively coupled plasma) algorithm so as to obtain the space transformation parameters.

8. the method for testing the implantation accuracy of a dental implant according to claim 6, wherein said step of three-dimensionally registering said three-dimensional model of said impression dentition with said three-dimensional model of said virtual implant to obtain spatial transformation parameters comprises:

Respectively delineating regions of interest on the three-dimensional model of the impression dentition and the virtual planting three-dimensional model by using an ROI technology;

registering the two regions of interest by using an ICP algorithm to obtain the spatial transformation parameters.

9. the method for testing the implantation accuracy of a dental implant according to claim 6, wherein the step of determining the implantation position and the implantation depth of the implant on the simulated jaw bone according to the virtual three-dimensional model of implantation and forming the implantation cavity on the simulated jaw bone according to the implantation position and the implantation depth comprises:

The method comprises the steps that position coordinates of a clamp of an operation platform in a planting robot coordinate system are determined in advance, so that space conversion parameters of the clamp coordinate system and the planting robot coordinate system are obtained;

Fixing the body on the operating platform by using a clamp;

selecting one characteristic point on the contact surface of the body and the clamp as a common coordinate origin of a virtual planting three-dimensional model coordinate system and the clamp coordinate system so as to match the virtual planting three-dimensional model coordinate system with the clamp coordinate system;

determining a starting point coordinate and an end point coordinate of a planting path in the virtual planting three-dimensional model coordinate system;

And converting the coordinates of the starting point and the coordinates of the end point in the coordinate system of the planting robot by using the space conversion parameters so as to control the planting robot to open the planting cavity in the simulated jaw bone.

10. the method for testing the implantation accuracy of a dental implant according to claim 6, wherein the step of determining the implantation position and the implantation depth of the implant on the simulated jaw bone according to the virtual three-dimensional model of implantation and forming the implantation cavity on the simulated jaw bone according to the implantation position and the implantation depth comprises:

Fixing the body on a positioning platform;

Mounting at least three non-collinear first visual markers on the top surface of the positioning platform, and determining the position coordinates of the first visual markers in a positioning platform coordinate system;

Mounting at least three non-collinear second visual markers on an end effector of the planting robot, and determining position coordinates of the second visual markers in the end effector coordinate system;

installing a navigator to a preset position so that the first visual marker and the second visual marker are both located within the detection range of the navigator;

Calculating the position coordinates of the second visual mark in the planting robot coordinate system by utilizing robot kinematics according to the position coordinates of the second visual mark in the end effector coordinate system;

Respectively measuring the position coordinates of the first visual marker and the second visual marker in a navigator coordinate system by using the navigator;

calculating a first space transformation parameter of the positioning platform coordinate system and the navigator coordinate system by using the position coordinates of the first visual marker in the positioning platform coordinate system and the navigator coordinate system respectively;

Calculating a second space transformation parameter of the navigator coordinate system and the planting robot coordinate system by utilizing the position coordinates of the second visual marker in the planting robot coordinate system and the navigator coordinate system respectively;

selecting one characteristic point on the contact surface of the body and the positioning platform as a common coordinate origin of a virtual planting three-dimensional model coordinate system and a positioning platform coordinate system so as to match the virtual planting three-dimensional model coordinate system with the positioning platform coordinate system;

determining a starting point coordinate and an end point coordinate of a planting path in the virtual planting three-dimensional model coordinate system;

And converting the coordinates of the starting point and the coordinates of the end point into a coordinate system of the planting robot according to the first space conversion parameter and the second space conversion parameter so as to control the planting robot to open the planting cavity on the simulated jaw bone.

Technical Field

the invention relates to the technical field of medical equipment, in particular to a device, a system and a method for testing the implantation precision of a dental implant.

background

The implant mobile phone is a tool for drilling a jaw bone and preparing an implant cavity in a tooth implanting operation. When using the implanting mobile phone, a doctor usually directly holds the implanting mobile phone by hand to operate. Because the internal space of the oral cavity is narrow and not direct-view, and the whole treatment process is precise operation under local anesthesia, in the whole treatment process, a doctor needs to bend down and lower the head for a long time, the working intensity is high, and the operation failure rate is high for inexperienced doctors. In order to improve the success rate of the operation and reduce the working strength of doctors, researchers at home and abroad develop a planting robot, and the planting precision and effect are improved by utilizing the characteristics of the planting robot, such as precision, flexibility, minimal invasion and the like.

The accuracy of the planting robot for planting the implant needs to consider a plurality of indexes, such as horizontal deviation of the neck of the implant, vertical deviation of the neck of the implant, horizontal deviation of the root end of the implant, vertical deviation of the root end of the implant and angle deviation of the central axis of the implant. However, at present, it is difficult to accurately measure the planting precision of the robot in the preoperative simulation experiment.

Disclosure of Invention

The present invention is directed to solving at least one of the problems of the prior art or the related art. Therefore, the invention provides a device, a system and a method for testing the implantation accuracy of a dental implant, so as to realize the measurement of the implantation accuracy of an implantation robot.

according to the first aspect of the invention, the dental implant implantation precision testing device comprises a body, wherein a tooth model array is formed on the top surface of the body, the tooth model array comprises a plurality of tooth models with different specifications, the tooth models are arranged at intervals along the length direction of the body, an operation hole is formed between every two adjacent tooth models, and the size of the operation hole is larger than that of an implantation drill bit.

The dental implant implantation precision testing device according to the embodiment of the invention can enable the implantation robot to perform the implantation test before the operation so as to acquire the implantation precision by using the impression tooth row formed by the test at the later stage.

in addition, the device for testing the implantation accuracy of the dental implant according to the embodiment of the invention can also have the following additional technical characteristics:

according to one embodiment of the invention, the bottom surface of the body is provided with cleaning holes which correspond to the operation holes one by one, and the cleaning holes are communicated with the corresponding operation holes.

according to one embodiment of the present invention, the number of the tooth model columns is plural, and the plural tooth model columns are sequentially arranged in a width direction of the body.

according to an embodiment of the invention, the operation hole is tapered from top to bottom.

according to the second aspect of the invention, the dental implant implantation precision testing system comprises a positioning platform, an implantation robot, a navigator, a controller and the dental implant implantation precision testing device, wherein the body is fixed on the positioning platform, the top surface of the positioning platform is provided with at least three non-collinear first visual marks, the end effector of the implantation robot is provided with at least three non-collinear second visual marks, the first visual marks and the second visual marks are both located in the detection range of the navigator, and the navigator and the implantation robot are both electrically connected with the controller.

according to a third aspect of the invention, the testing method based on the dental implant implantation precision testing device comprises the following steps:

filling a gel material in the operation hole to form a simulated jaw bone;

Determining the planting position and the planting depth of an implant on the simulated jaw bone according to the virtual planting three-dimensional model;

forming planting cavities in the simulated jaw bone according to the planting position and the planting depth;

Filling impression material in the planting cavity until the impression material covers the tooth model column;

Removing the impression teeth array solidified by the impression material from the teeth model array after a specified time;

Acquiring a three-dimensional model of the impression dentition;

carrying out three-dimensional registration on the three-dimensional model of the impression dentition and the virtual planting three-dimensional model to obtain space transformation parameters;

matching the three-dimensional model of the impression dentition with the virtual implant three-dimensional model by using the spatial transformation parameters to acquire an error of an impression column of the impression dentition relative to an implant of the virtual implant three-dimensional model; wherein the impression column is a columnar structure formed by the impression material in the planting cavity.

According to an embodiment of the present invention, the step of three-dimensionally registering the three-dimensional model of the impression dentition with the virtual implant three-dimensional model to obtain spatial transformation parameters comprises:

Selecting a plurality of first characteristic points on the three-dimensional model of the impression dentition;

Selecting a plurality of second characteristic points on the virtual planting three-dimensional model;

Performing similarity measurement on the first feature points and the second feature points to obtain matched feature pairs;

roughly registering the three-dimensional model of the impression dentition and the virtual planting three-dimensional model by using the characteristics;

and carrying out fine registration on the three-dimensional model of the impression dentition and the virtual planting three-dimensional model after the coarse registration by utilizing an ICP (inductively coupled plasma) algorithm so as to obtain the space transformation parameters.

according to an embodiment of the present invention, the step of three-dimensionally registering the three-dimensional model of the impression dentition with the virtual implant three-dimensional model to obtain spatial transformation parameters comprises:

Respectively delineating regions of interest on the three-dimensional model of the impression dentition and the virtual planting three-dimensional model by using an ROI technology;

registering the two regions of interest by using an ICP algorithm to obtain the spatial transformation parameters.

according to an embodiment of the present invention, the step of determining an implantation position and an implantation depth of an implant on the simulated jaw bone according to the virtual implantation three-dimensional model, and forming an implantation cavity on the simulated jaw bone according to the implantation position and the implantation depth comprises:

the method comprises the steps that position coordinates of a clamp of an operation platform in a planting robot coordinate system are determined in advance, so that space conversion parameters of the clamp coordinate system and the planting robot coordinate system are obtained;

fixing the body on the operating platform by using a clamp;

selecting one characteristic point on the contact surface of the body and the clamp as a common coordinate origin of a virtual planting three-dimensional model coordinate system and the clamp coordinate system so as to match the virtual planting three-dimensional model coordinate system with the clamp coordinate system;

determining a starting point coordinate and an end point coordinate of a planting path in the virtual planting three-dimensional model coordinate system;

and converting the coordinates of the starting point and the coordinates of the end point in the coordinate system of the planting robot by using the space conversion parameters so as to control the planting robot to open the planting cavity in the simulated jaw bone.

According to an embodiment of the present invention, the step of determining an implantation position and an implantation depth of an implant on the simulated jaw bone according to the virtual implantation three-dimensional model, and forming an implantation cavity on the simulated jaw bone according to the implantation position and the implantation depth comprises:

fixing the body on a positioning platform;

mounting at least three non-collinear first visual markers on the top surface of the positioning platform, and determining the position coordinates of the first visual markers in a positioning platform coordinate system;

Mounting at least three non-collinear second visual markers on an end effector of the planting robot, and determining position coordinates of the second visual markers in the end effector coordinate system;

Installing a navigator to a preset position so that the first visual marker and the second visual marker are both located within the detection range of the navigator;

calculating the position coordinates of the second visual mark in the planting robot coordinate system by utilizing robot kinematics according to the position coordinates of the second visual mark in the end effector coordinate system;

Respectively measuring the position coordinates of the first visual marker and the second visual marker in a navigator coordinate system by using the navigator;

Calculating a first space transformation parameter of the positioning platform coordinate system and the navigator coordinate system by using the position coordinates of the first visual marker in the positioning platform coordinate system and the navigator coordinate system respectively;

Calculating a second space transformation parameter of the navigator coordinate system and the planting robot coordinate system by utilizing the position coordinates of the second visual marker in the planting robot coordinate system and the navigator coordinate system respectively;

selecting one characteristic point on the contact surface of the body and the positioning platform as a common coordinate origin of a virtual planting three-dimensional model coordinate system and a positioning platform coordinate system so as to match the virtual planting three-dimensional model coordinate system with the positioning platform coordinate system;

determining a starting point coordinate and an end point coordinate of a planting path in the virtual planting three-dimensional model coordinate system;

And converting the coordinates of the starting point and the coordinates of the end point into a coordinate system of the planting robot according to the first space conversion parameter and the second space conversion parameter so as to control the planting robot to open the planting cavity on the simulated jaw bone.

one or more technical solutions in the embodiments of the present invention have at least one of the following technical effects:

The dental implant implantation precision testing device is simple in structure and convenient and fast to operate, a simulated jaw bone can be formed only by filling a gel material in an operation hole during testing, and the preoperative implantation robot can drill an implantation cavity in the simulated jaw bone to perform implantation testing. After drilling is finished, the impression material is filled into the planting cavity until the impression material covers the whole tooth model row. And after the impression material is solidified, taking off the impression tooth row formed by solidifying the impression material from the tooth model row to obtain the actual planting effect of the planting robot, and comparing the shape of the impression column and the position of the impression tooth row with the planting position and the shape of an ideal implant to obtain the planting precision of the planting robot.

when the test method for the implantation precision of the dental implant is used for testing, firstly, the planting robot is controlled to prepare the impression tooth array by using the test device for the implantation precision of the dental implant; then acquiring a three-dimensional model of the impression tooth array; then, three-dimensional registration is carried out on the three-dimensional model of the impression tooth row and the virtual planting three-dimensional model to obtain space transformation parameters; and finally, matching the three-dimensional model of the impression dentition with the virtual planting three-dimensional model by using the space transformation parameters, and further obtaining the error of the impression column of the impression dentition relative to the implant of the virtual planting three-dimensional model. Therefore, the method for testing the implantation precision of the dental implant can realize the measurement of the implantation precision of the implantation robot before the operation and provide guarantee for the later operation, and is convenient to operate and high in reliability.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

in order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

fig. 1 is a schematic structural diagram of a device for testing implantation accuracy of a dental implant according to an embodiment of the present invention;

FIG. 2 is a schematic view of the configuration of the array of impression teeth in an embodiment of the present invention;

FIG. 3 is a schematic illustration of matching a three-dimensional model of an array of impression teeth with a three-dimensional model of a virtual implant in an embodiment of the present invention;

FIG. 4 is a schematic structural diagram of a system for testing implantation accuracy of a dental implant according to an embodiment of the present invention;

FIG. 5 is a schematic diagram of another dental implant implantation accuracy testing system according to an embodiment of the present invention;

fig. 6 is a schematic installation diagram of a device for testing the implantation accuracy of a dental implant according to an embodiment of the present invention.

reference numerals:

1: a body; 1.1: a dental model; 1.2: an operation hole; 1.3: cleaning the holes;

1.4: planting the pits; 1.5: positioning the boss; 2: impression tooth row; 2.1: stamping the mould column;

2.2: impression of a tooth curved surface; 3: a planting robot; 3.1: an end effector;

4: an operating platform; 5: a clamp; 6: positioning the platform; 7: a navigator;

8: a first visual indicia; 9: a second visual indicia;

10: impression three-dimensional model of the dentition; 11: virtually planting the three-dimensional model;

11.1: an implant; a: a planting robot coordinate system; b: a fixture coordinate system;

c: positioning a platform coordinate system; d: an end effector coordinate system;

e: a navigator coordinate system.

Detailed Description

in order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

in the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the embodiments of the present invention and simplifying the description, but do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the embodiments of the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

in the description of the embodiments of the present invention, it should be noted that, unless explicitly stated or limited otherwise, the terms "connected" and "connected" are to be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. Specific meanings of the above terms in the embodiments of the present invention can be understood in specific cases by those of ordinary skill in the art.

in embodiments of the invention, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through intervening media. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of an embodiment of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

with reference to fig. 1 and fig. 2, the present embodiment provides a dental implant implantation accuracy testing device, the device includes a body 1, the body 1 is preferably formed by 3D printing, a tooth model row is formed on a top surface of the body 1, the tooth model row includes a plurality of tooth models 1.1 with different specifications, the tooth models 1.1 are arranged at intervals along a length direction of the body 1, an operation hole 1.2 is formed between two adjacent tooth models 1.1, and a size of the operation hole 1.2 is larger than a size of an implantation drill. Wherein the shape of the operation hole 1.2 can be, but is not limited to, circular, elliptical or polygonal.

during testing: s1, filling the operation hole 1.2 with a gel material such as plaster, wherein the hardened gel material is equivalent to a human jaw bone, that is, the gel material is a simulated jaw bone. S2, controlling the planting robot to drill a planting cavity 1.4 on the simulated jaw bone by using the planting drill bit; s3, because the impression material is elastic, good in fluidity and plasticity, short in solidification time, and the form and the volume of the impression material are unchanged after the impression material is solidified, after the planting robot completes drilling, an operator can fill the impression material into the planting cavity 1.4 until the impression material covers the whole tooth model row, namely, not only the planting cavity 1.4 is filled with the impression material, but also a layer of impression material is required to be attached to the surfaces of all the tooth models 1.1. S4, after the impression material is solidified, the impression teeth row 2 formed by solidifying the impression material is taken off from the teeth model row as shown in fig. 2. The impression tooth array 2 comprises an impression tooth curved surface 2.2 and an impression column 2.1, the impression tooth curved surface 2.2 is a curved surface structure formed by attaching impression materials to the surface of a tooth model 1.1, and the impression column 2.1 is a columnar structure formed by the impression materials in an implantation cavity. S5, comparing the shape of the impression cylinder 2.1 and its position on the impression teeth row 2 with the implantation position and shape of the ideal implant, thereby obtaining the implantation accuracy of the implantation robot. It should be noted that the step S5 can be realized by various ways, such as directly and manually measuring the mold column 2.1 to obtain the shape and size of the mold column 2.1 and the position and size of the mold column 2.1 on the impression teeth row 2, and comparing the shape and size of the mold column 2.1 with the shape and size of the ideal implant. Of course, in order to improve the measurement accuracy and efficiency, it is also possible to use electronic devices such as a computer, a mouth scanner, and the like, specifically, as shown in fig. 3: firstly, scanning an impression tooth array 2 by using an oral cavity scanning device to obtain a three-dimensional model 10 of the impression tooth array; then, three-dimensional registration is carried out on the three-dimensional model 10 of the impression tooth row and the virtual planting three-dimensional model 11 so as to obtain space transformation parameters; the virtual planting three-dimensional model 11 is a tooth model column virtual three-dimensional model, and a virtual planting body 11.1 is designed in advance at an ideal planting position of the tooth model column virtual three-dimensional model. Next, the three-dimensional model 10 of the impression dentition is matched with the virtual implant three-dimensional model 11 using the spatial transformation parameters, and the error of the impression post 2.1 of the impression dentition 2 with respect to the implant 11.1 of the virtual implant three-dimensional model 11 is obtained.

In order to realize the reutilization and the cost reduction of the device, the bottom surface of the body 1 is provided with cleaning holes 1.3 which are in one-to-one correspondence with the operation holes 1.2, and the cleaning holes 1.3 are communicated with the corresponding operation holes 1.2. Thus, after the test is complete, the operator can insert a tool, such as a screwdriver, into the clearance hole 1.3 and eject the remaining gel material out of the operation hole 1.2. Of course, in order to ensure that the gel material can be easily ejected when cleaning the operation hole 1.2, the operation hole 1.2 is tapered from top to bottom, that is, the cross-sectional area of the operation hole 1.2 is gradually reduced toward the direction adjacent to the cleaning hole 1.3. Wherein the operation hole 1.2 can be formed by die drawing, and the die drawing angle is preferably 1-2 degrees.

in addition, in order to further improve the reliability of the precision test, the number of the tooth model rows is plural, and the plural tooth model rows are sequentially arranged along the width direction of the body 1, that is, plural rows of tooth models 1.1 are formed on the top surface of the body 1, the specifications, i.e., the shapes and the sizes, of all the tooth models 1.1 positioned on the same row are the same, and the specifications of the tooth models 1.1 positioned on different rows are different. During testing, the test results of each tooth model column can be summed up and then the average value can be calculated.

in addition, as shown in fig. 5, this embodiment further provides a system for testing the implantation accuracy of a dental implant, the system includes a positioning platform 6, an implantation robot 3, a navigator 7, a controller and the device for testing the implantation accuracy of a dental implant described above, the body 1 is fixed on the positioning platform 6, the top surface of the positioning platform 6 is provided with at least three non-collinear first visual markers 8, the end effector 3.1 of the implantation robot 3 is provided with at least three non-collinear second visual markers 9, the first visual markers 8 and the second visual markers 9 are both located in the detection range of the navigator 7, and the navigator 7 and the implantation robot 3 are both electrically connected with the controller. As shown in fig. 6, in order to fix the body 1 on the positioning platform 6, a positioning boss 1.5 is formed on the bottom surface of the body 1, and a positioning groove matched with the positioning boss 1.5 is formed on the positioning platform 6.

It should be noted that the position coordinates of the first visual marker 8 in the positioning table coordinate system C and the position coordinates of the second visual marker 9 in the end effector coordinate system D can be determined when the first visual marker 8 and the second visual marker 9 are mounted.

during testing: s1, filling the operation hole 1.2 with gel material such as plaster to form a simulated jaw bone. And S2, calculating the position coordinates of the second visual mark 9 in the planting robot coordinate system A by using the robot kinematics according to the position coordinates of the second visual mark 9 in the end effector coordinate system D. At the same time, the position coordinates of the second visual marker 9 in the navigator coordinate system E are measured with the navigator 7. Therefore, the second spatial transformation parameters of the navigator coordinate system E and the planting robot coordinate system a can be calculated by using the position coordinates of the second visual marker 9 in the planting robot coordinate system a and the navigator coordinate system E, respectively. S3, the position coordinates of the first visual marker 8 in the navigator coordinate system E are measured with the navigator 7. Thus, the first spatial transformation parameters of the navigator coordinate system E and the positioning platform coordinate system C can be calculated by using the position coordinates of the first visual marker 8 in the positioning platform coordinate system C and the navigator coordinate system E, respectively. S4, selecting one of the feature points on the contact surface of the main body 1 and the positioning platform 6 as a common origin of coordinates of the virtual planting three-dimensional model coordinate system and the positioning platform coordinate system C, for example, a vertex where the main body 1 and the positioning platform 6 contact may be used as the common origin of coordinates. Therefore, the virtual planting three-dimensional model coordinate system can be matched with the positioning platform coordinate system C. And S5, determining the coordinates of the starting point and the end point of the planting path in the virtual planting three-dimensional model coordinate system. Since the virtual planting three-dimensional model coordinate system and the positioning platform coordinate system C have been matched, determining the start point coordinates and the end point coordinates of the planting path in the virtual planting three-dimensional model coordinate system can be considered as being determined in the positioning platform coordinate system C. And S6, converting the coordinates of the starting point and the ending point into a coordinate system A of the planting robot according to the first space conversion parameter and the second space conversion parameter so as to control the planting robot 3 to open a planting cavity 1.4 in the simulated jaw bone. S7, filling the implant cavity 1.4 with impression material until the impression material covers the entire tooth model row. S8, after the impression material is solidified, the impression teeth row 2 formed by solidifying the impression material is taken off from the teeth model row as shown in fig. 2. S9, scanning the impression tooth array 2, obtaining the three-dimensional model 10 of the impression tooth array, and carrying out three-dimensional registration on the three-dimensional model 10 of the impression tooth array and the virtual planting three-dimensional model 11 to obtain space transformation parameters. S10, matching the three-dimensional model 10 of the impression dentition with the virtual implant three-dimensional model 11 using the spatial transformation parameters to obtain an error of the impression post 2.1 of the impression dentition 2 with respect to the implant 11.1 of the virtual implant three-dimensional model 11.

in addition, the present embodiment further provides a method for testing the implantation accuracy of a dental implant, the method including the following steps:

s1, filling a gel material in the operation hole 1.2 to form a simulated jaw bone;

s2, an operator designs a virtual planting three-dimensional model 11 in a controller such as three-dimensional software of a computer in advance, and determines the planting position and the planting depth of an implant on the simulated jaw bone according to the virtual planting three-dimensional model 11; arranging planting cavities 1.4 in the simulated jaw bone according to the planting position and the planting depth;

s3, filling impression materials into the planting cavities 1.4 until the impression materials cover the tooth model rows, namely, not only the planting cavities 1.4 need to be filled with the impression materials, but also a layer of impression materials needs to be attached to the surfaces of all the tooth models 1.1;

s4, taking down the impression teeth row 2 solidified by the impression material from the teeth model row after a specified time;

s5, a three-dimensional model 10 of the array of impression teeth is obtained, and in particular, the array of impression teeth 2 may be scanned using an oral scanning device.

s6, carrying out three-dimensional registration on the three-dimensional model 10 of the impression dentition and the virtual planting three-dimensional model 11 to obtain space transformation parameters;

s7, matching the three-dimensional model 10 of the impression dentition with the virtual implant three-dimensional model 11 by using the space transformation parameters to acquire the error of the impression column 2.1 of the impression dentition 2 relative to the implant 11.1 of the virtual implant three-dimensional model 11; wherein the impression cylinder 2.1 is a columnar structure of impression material formed in the implantation cavity 1.4.

Therefore, the method for testing the implantation precision of the dental implant can be used for testing the implantation precision of the implantation robot 3, and guarantee is provided for later operations.

It should be noted that step S6 can be implemented in various ways, for example:

firstly, selecting a plurality of first characteristic points on a three-dimensional model 10 of impression tooth rows; selecting a plurality of second characteristic points on the virtual planting three-dimensional model 11; then, carrying out similarity measurement on the first characteristic points and the second characteristic points to obtain matched characteristic pairs; secondly, roughly registering the three-dimensional model 10 of the impression tooth row and the virtual planting three-dimensional model 11 by using the characteristics; finally, an Iterative Closest Point (ICP) algorithm is used to perform a fine registration on the three-dimensional model 10 and the virtual planting three-dimensional model 11 of the impression dentition after the coarse registration, so as to obtain a spatial transformation parameter.

Firstly, respectively delineating regions of Interest on the three-dimensional model 10 and the virtual planting three-dimensional model 11 of the impression tooth array by using a Region of Interest (ROI) technology; then, the spatial transformation parameters can be obtained by registering the two regions of interest by using an ICP algorithm. The second mode is to perform registration after the region of interest is defined on the three-dimensional model 10 of the impression tooth array and the virtual implant three-dimensional model 11, so compared with the first mode, the second mode can obviously reduce the number of characteristic points, shorten the registration calculation time and improve the precision. Of course, the manner of implementing step S6 is not limited to the above two manners.

In addition, step S2 can also be implemented in various ways, for example:

The first mode is realized based on a dental implant implantation precision testing system as shown in fig. 4, and the system comprises an operation platform 4, an implantation robot 3, a clamp 5 and a controller electrically connected with the implantation robot 3. The clamp 5 may be, but is not limited to, a stopper. For example, the clamp 5 comprises a plurality of limiting blocks, threaded holes are formed in the bottom surfaces of the limiting blocks, and through holes corresponding to the threaded holes in a one-to-one mode are formed in the operating platform. During testing: firstly, position coordinates of a clamp 5 of an operation platform 4 in a planting robot coordinate system A are predetermined to obtain space conversion parameters of a clamp coordinate system B and the planting robot coordinate system A; then, fixing the body 1 on the operation platform 4 by using a clamp 5; then, selecting one characteristic point on the contact surface of the body 1 and the clamp 5 as a common coordinate origin of a virtual planting three-dimensional model coordinate system and a clamp coordinate system B to match the virtual planting three-dimensional model coordinate system with the clamp coordinate system B; secondly, determining a starting point coordinate and an end point coordinate of the planting path in a virtual planting three-dimensional model coordinate system; and finally, converting the coordinates of the starting point and the coordinates of the end point in a coordinate system A of the planting robot by using the space conversion parameters so as to control the planting robot 3 to open a planting cavity 1.4 on the simulated jaw bone.

the second way is realized based on the dental implant implantation precision testing system shown in fig. 5. During testing: first, the body 1, the first visual marker 8 and the second visual marker 9 are installed, and the installation process is not described again here. Secondly, calculating the position coordinates of the second visual mark 9 in the planting robot coordinate system A by using the robot kinematics according to the position coordinates of the second visual mark 9 in the end effector coordinate system D; at the same time, the position coordinates of the second visual markers 9 in the navigator coordinate system E are measured by the navigator 7, respectively; therefore, the second spatial transformation parameters of the navigator coordinate system E and the planting robot coordinate system a can be calculated by using the position coordinates of the second visual marker 9 in the planting robot coordinate system a and the navigator coordinate system E, respectively. Then, the position coordinates of the first visual marker 8 in the navigator coordinate system E are measured with the navigator 7; thus, the first spatial transformation parameters of the positioning platform coordinate system C and the navigator coordinate system E can be calculated by using the position coordinates of the first visual marker 8 in the positioning platform coordinate system C and the navigator coordinate system E, respectively. Next, one of the feature points on the contact surface of the main body 1 and the positioning platform 6 is selected as a common coordinate origin of the virtual planting three-dimensional model coordinate system and the positioning platform coordinate system C, for example, a vertex at which the main body 1 and the positioning platform 6 are in contact can be used as the common coordinate origin. Therefore, the virtual planting three-dimensional model coordinate system can be matched with the positioning platform coordinate system C. Next, the start point coordinates and the end point coordinates of the planting path are determined in the virtual planting three-dimensional model coordinate system. Since the virtual planting three-dimensional model coordinate system and the positioning platform coordinate system C have been matched, determining the start point coordinates and the end point coordinates of the planting path in the virtual planting three-dimensional model coordinate system can be considered as being determined in the positioning platform coordinate system C. And finally, converting the coordinates of the starting point and the coordinates of the end point into a coordinate system A of the planting robot according to the first space conversion parameter and the second space conversion parameter so as to control the planting robot 3 to open a planting cavity 1.4 in the simulated jaw bone.

finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the invention, but not to limit it; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the spirit and scope of the technical solutions of the embodiments of the present invention.