CN108705536A - A kind of the dentistry robot path planning system and method for view-based access control model navigation - Google Patents
A kind of the dentistry robot path planning system and method for view-based access control model navigation Download PDFInfo
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- CN108705536A CN108705536A CN201810569970.1A CN201810569970A CN108705536A CN 108705536 A CN108705536 A CN 108705536A CN 201810569970 A CN201810569970 A CN 201810569970A CN 108705536 A CN108705536 A CN 108705536A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
- A61C8/00—Means to be fixed to the jaw-bone for consolidating natural teeth or for fixing dental prostheses thereon; Dental implants; Implanting tools
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
- A61C8/00—Means to be fixed to the jaw-bone for consolidating natural teeth or for fixing dental prostheses thereon; Dental implants; Implanting tools
- A61C8/0089—Implanting tools or instruments
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- Engineering & Computer Science (AREA)
- Dentistry (AREA)
- Mechanical Engineering (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Robotics (AREA)
- Epidemiology (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
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- Veterinary Medicine (AREA)
- Dental Tools And Instruments Or Auxiliary Dental Instruments (AREA)
- Manipulator (AREA)
Abstract
The present invention provides the dentistry robot path planning systems and method of a kind of navigation of view-based access control model, vision guided navigation device is moved to the relative position relation figure picture of patient oral cavity operating position second optical markings and third optical markings during this with predeterminated frequency continuous acquisition doctor handheld probe by teaching initial position, and the image of acquisition is sent to industrial control computer；Motion path and track of the robot controller according to the second optical markings relative to third optical markings, the end effector movement for controlling six-DOF robot, so that the first optical markings on the end effector of six-DOF robot are identical relative to the motion path of third optical markings and track as the second optical markings relative to the motion path of third optical markings and track.The present invention can be detected the motion path and trace information of record doctor's handheld probe by visual spatial attention subsystem, then send out control instruction when needed robot is made to reappear this along same path and move.
Description
Technical field
The present invention relates to medical robot technical fields, and in particular to a kind of dentistry robot path of view-based access control model navigation
Planning system and method.
Background technology
It is to want control machinery arm from suitable carrying out one crucial step during kind of tooth operates using robot
Initial position setting in motion plants initial position to patient, this process will avoid robot from colliding with external environment.Such as
What cooks up a collisionless path, and there are many methods, and suitable algorithm may be used and calculate outbound path automatically by computer,
Also can artificial teaching be carried out by doctor, it is contemplated that the method for the safety and reliability of operation, artificial teaching is more reasonable.
Computer automatic path planning at present is needed to carry out Accurate Model to operation object and environment, be implemented more
It is complicated and cumbersome, particularly with dynamic, uncertain occasion.
Invention content
For the defects in the prior art, the present invention provides a kind of dentistry robot path planning system of view-based access control model navigation
System and method, the present invention can be detected the motion path and trace information of record doctor's handheld probe by visual spatial attention subsystem,
Then control instruction is sent out when needed robot is made to reappear this along same path move.
To achieve the above object, the present invention provides following technical scheme：
In a first aspect, the present invention provides a kind of dentistry robot path planning systems of view-based access control model navigation, including：Machine
Device people subsystem and visual spatial attention subsystem；
The robot subsystems include：Six-DOF robot and robot controller；
The visual spatial attention subsystem includes：Vision guided navigation device and industrial control computer；
Wherein, the first optical markings, doctor's handheld probe are installed on the end effector of the six-DOF robot
Second optical markings are installed, patient oral cavity is equipped with third optical markings on appropriate location；
The vision guided navigation device is fixed on the predeterminated position of working space, and the vision guided navigation device is connected with predeterminated frequency
Continuous acquisition doctor holds doctor's handheld probe and is moved to patient oral cavity operating position during this by teaching initial position
The relative position relation figure picture of second optical markings and the third optical markings, and the image of acquisition is sent to described
Industrial control computer；
The image and default visual processes model that the industrial control computer is acquired according to the vision guided navigation device
And the Transformation Relation of Projection obtains motion path and track of second optical markings relative to the third optical markings；
Fortune of the industrial control computer by second optical markings of acquisition relative to the third optical markings
Dynamic path and track are sent to the robot controller；
The robot controller is after receiving the instruction that user indicates that robot carries out operation reproduction, control described six
The end effector of degree of freedom robot moves to the teaching initial position, then according to second optical markings relative to
The motion path of the third optical markings and track control the end effector movement of the six-DOF robot, so that
Obtain movement of the first optical markings on the end effector of the six-DOF robot relative to the third optical markings
Path and track are identical relative to the motion path of the third optical markings and track as second optical markings.
Further, the third optical markings by way of being engaged or pasting with lower jaw bone fixation.
Further, the predeterminated frequency is 50ms/ times.
Further, the industrial control computer in the image acquired according to the vision guided navigation device and default regards
Feel that processing model and the Transformation Relation of Projection obtain motion path of second optical markings relative to the third optical markings
And after track, smoothing processing is filtered to the motion path and track.
Second aspect, the present invention also provides a kind of dentistry based on the view-based access control model navigation as described in first aspect above
The dentistry robot path planning method of robot path planning's system, including：
S1, the predeterminated position that the vision guided navigation device is fixed on to working space, control the vision guided navigation device with
Predeterminated frequency continuous acquisition doctor holds doctor's handheld probe and is moved to patient oral cavity operating position by teaching initial position
The relative position relation figure picture of second optical markings and the third optical markings during this, the vision guided navigation dress
It sets and the image of acquisition is sent to the industrial control computer；
S2, the control industrial control computer carry out relevant treatment：The image acquired according to the vision guided navigation device
And default visual processes model and the Transformation Relation of Projection obtain second optical markings relative to the third optical markings
Motion path and track；The industrial control computer is by second optical markings of acquisition relative to the third optics
The motion path of label and track are sent to the robot controller；
S3, the instruction that instruction robot carries out operation reproduction is sent to the robot controller；
S4, the robot controller control institute after receiving the instruction that user indicates that robot carries out operation reproduction
The end effector for stating six-DOF robot moves to the teaching initial position, then according to the second optical markings phase
Motion path for the third optical markings and track control the end effector movement of the six-DOF robot,
So that the first optical markings on the end effector of the six-DOF robot are relative to the third optical markings
Motion path and track are identical relative to the motion path of the third optical markings and track as second optical markings.
As shown from the above technical solution, the dentistry robot path planning system of view-based access control model navigation provided by the invention,
Including：Robot subsystems and visual spatial attention subsystem；The robot subsystems include：Six-DOF robot and robot
Controller；The visual spatial attention subsystem includes：Vision guided navigation device and industrial control computer；The six-DOF robot
End effector on the first optical markings are installed, doctor's handheld probe is equipped with the second optical markings, and patient pacifies on oral cavity
Equipped with third optical markings；The vision guided navigation device is fixed on the predeterminated position of working space, the vision guided navigation device with
Predeterminated frequency continuous acquisition doctor holds doctor's handheld probe and is moved to patient oral cavity operating position by teaching initial position
The relative position relation figure picture of second optical markings and the third optical markings during this, and by the image of acquisition
It is sent to the industrial control computer；Image that the industrial control computer is acquired according to the vision guided navigation device and
Default visual processes model and the Transformation Relation of Projection obtain fortune of second optical markings relative to the third optical markings
Dynamic path and track；The industrial control computer is by second optical markings of acquisition relative to the third optical markings
Motion path and track be sent to the robot controller；The robot controller is receiving user's instruction robot
After the instruction for carrying out operation reproduction, the end effector for controlling the six-DOF robot moves to the teaching initial bit
It sets, then the motion path according to second optical markings relative to the third optical markings and track, control described six
The end effector of degree of freedom robot moves, so that the first optics on the end effector of the six-DOF robot
Label is relative to the motion path of the third optical markings and track with second optical markings relative to the third light
Motion path and the track for learning label are identical.As it can be seen that the present invention can be detected by visual spatial attention subsystem, record doctor is hand-held to be visited
The motion path and trace information of needle, then sending out control instruction when needed makes robot reappear this along same path
Movement.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is the present invention
Some embodiments for those of ordinary skill in the art without creative efforts, can also basis
These attached drawings obtain other attached drawings.
Fig. 1 is that the structure of the dentistry robot path planning system for the view-based access control model navigation that one embodiment of the invention provides is shown
It is intended to；
Fig. 2 is the schematic diagram that interpolation is carried out to path point；
Fig. 3 is the flow of the dentistry robot path planning method for the view-based access control model navigation that another embodiment of the present invention provides
Figure.
Specific implementation mode
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical solution in the embodiment of the present invention carries out clear, complete description, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
The every other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.
One embodiment of the invention provides a kind of dentistry robot path planning system of view-based access control model navigation, including：Machine
Device people subsystem and visual spatial attention subsystem, two subsystems are connected with each other by cable；
Referring to Fig. 1, the robot subsystems include：Six-DOF robot 2 and robot controller 1；Wherein, six certainly
It is fixed on the ground of working space by degree robot 2, and is connected with robot controller 1 by cable, robot controller 1
Control signal and power can be provided to six-DOF robot.
The visual spatial attention subsystem includes：Vision guided navigation device 6 and industrial control computer 5；
Wherein, the first optical markings 3 are installed, doctor is hand-held to be visited on the end effector of the six-DOF robot 2
Needle is equipped with the second optical markings 4, and third optical markings 7 are equipped on patient oral cavity；Wherein, first optical markings 3 exist
Position and posture in end effector coordinate system can accurately be obtained by measuring.
Wherein, according to certain pattern on the surface of the first optical markings 3, the second optical markings 4 and third optical markings 7
It is printed on the characteristic image of high contrast, in order to which image processing program extracts feature, strictly, and the first optical markings 3, second
The characteristic image on the surface of optical markings 4 and third optical markings 7 is different, in order to the industrial control computer later stage
Difference and path trace is marked；
The vision guided navigation device 6 is fixed on the predeterminated position of working space so that optical markings to be measured can be fallen
In the vision collecting visual field, the vision guided navigation device 6 with predeterminated frequency continuous acquisition doctor hold doctor's handheld probe by
Teaching initial position is moved to patient oral cavity operating position second optical markings 4 and third optics mark during this
The relative position relation figure picture of note 7, and the image of acquisition is sent to the industrial control computer；
The image and default visual processes mould that the industrial control computer 5 is acquired according to the vision guided navigation device 6
Type and the Transformation Relation of Projection obtain motion path and track of second optical markings 4 relative to the third optical markings 7；
Specifically, in each sampling period, vision guided navigation device records third optical markings 7 relative to visual coordinate
It is position and the posture of V, uses homogeneous matrixIt indicates；Position and posture of second optical markings 4 relative to visual coordinate system,
Use homogeneous matrixIt indicates.Then the second optical markings 4 are relative to the position and attitude matrix of third optical markings 7
The relative position and attitude matrix that each sampling period obtainsRepresent the position and attitude point on a path.This
Path is the path for reference data with third optical markings 7, i.e., relative to the path of patient, and fixed road in non-space
Diameter.The advantage of doing so is that if patient moves in local anaesthesia state head portion, when robot reappears this path
It can relatively move, keep the relative pose relationship with patient, improve the safety and flexibility of robotic surgery.
In a preferred embodiment, the industrial control computer is in the figure acquired according to the vision guided navigation device
Picture and default visual processes model and the Transformation Relation of Projection obtain second optical markings relative to the third optics mark
After the motion path of note and track, smoothing processing is filtered to the motion path and track, to filter out the shake of doctor's hand
Deng interference, the accuracy of path planning is improved.
It is understood that as any measuring system, optical markings coordinate data that vision navigation system is got
Contain many noises.Smoothing processing is generally filtered using the method for moving average, that is, collects one group of observed value, calculates this class value
Mean value, using this mean value as the predicted value of next phase.But there are two major limitations for the method for moving average：1, movement is calculated
Must averagely have N number of past observing value that must just store mass data when needing to predict mass data, cause to postpone；2,
Each weights is equal in N number of past observing value, and the weights of the observed value of early stage are 0, but is actually often most close up
The data examined include more information, should have bigger weight.
Consider the defect of conventional method, the embodiment of the present invention uses Holter (Holt) exponential smoothing, it is smooth simultaneously into
Row prediction is to reduce delay.This is a kind of linearized index smoothing method, and larger power is assigned to the observed value closer from time span of forecast
Number, to assigning smaller flexible strategy from the observed value of predicted value farther out.Holter exponential smoothing there are two substantially smooth formula and
One predictor formula, two smoothing formulas respectively carry out smoothly two kinds of factors of time series, they are：
St=α xt+(1-α)(St-1+bt-1) formula 1
bt=γ (St-St-1)+(1-γ)bt-1Formula 2
Ft+T=St+btT formula 3
In formula：α, γ are smoothing parameter；xtFor actual observation value；T is outside forecast epoch number, the F in formula 3t+TFor
The predicted value of t+T phases.Formula 1 utilizes the Trend value b of previous phaset-1Directly correct smooth value St, i.e., by bt-1It is flat to be added in the previous phase
Sliding value St-1On, this eliminates the need for lagging, and makes StReach approximately latest data value；Formula 2 corrects Trend value bt, Trend value
It is indicated with the difference of adjacent smooth value twice, due to randomness, differences of the smoothing factor γ to adjacent smooth value twice can be utilized
It is modified, and correction value is multiplied by (1- γ) plus Trend value early period.
Initial value S1It is typically set to x1, b1Initial value can be set as b1=x2-x1.It is put down with Holter exponential smoothing
When sliding, the value of adjustment smoothing parameter α, γ can adjust smooth and prediction effect.
Position and posture component can be substituted into respectively when being filtered to the initial data in collected path point
It states in formula, calculates Ft+TIt, later will be in the path deposit computer after filtering as filter forecasting output quantity.
The robot controller 1 is after receiving the instruction that user indicates that robot carries out operation reproduction, described in control
The end effector of six-DOF robot 2 moves to the teaching initial position, then according to 4 phase of the second optical markings
Motion path for the third optical markings 7 and track control the end effector fortune of the six-DOF robot 2
It is dynamic, so that the first optical markings 3 on the end effector of the six-DOF robot 2 are relative to the third optics mark
The motion path of note 7 and track and motion path and track of second optical markings 4 relative to the third optical markings 7
It is identical.
It can calculate what robot end should locate according to coordinate transformation relation after obtaining relative to the path of patient
Position：
In formula, visual coordinate system V is relative to the transformation matrix of robot base mark system BAlthough visual sensor and
Robot is each attached in surgical procedure on suitable position, but since vibration or medical staff such as accidentally touch at the factors, vision passes
Position and attitude relationship of the sensor relative to robotIt can also happen that variation, it is therefore desirable to which this value of real-time update ensures peace
It is complete accurate.
Position and posture of first optical markings 3 in robot base mark system on end effector can by calibration and
The data of robot Real-time Feedback obtain, and position and attitude homogeneous matrix isThe first optical markings 3 on end effector
Pose posture in visual coordinate system can be obtained by visual sensor, and position and attitude homogeneous matrix isIt can then calculate
The transition matrix for going out visual coordinate system to robot base mark system is：
Position and posture P of the end effector of robot in robot base mark system are calculated according to both the above formula
Afterwards, robot controller can be sent it to execute movement.
It is limited by factors such as sensor and image processing speeds, vision collecting frequency is 20Hz, with frequency low in this way
Control robot motion may vibrate, and need to carry out interpolation to path point.Using linear interpolation, on path 2 points it
Between generate a series of intermediate points, simply calculate by this 2 points determine straightway on series of points posture information.Such as
Shown in Fig. 2, linear subdivision can be carried out again between two adjacent path points A and B, with steady when improving robot motion
Degree.For location components, linear interpolation can be directly carried out；Spherical surface is carried out after being converted into quaternary number for posture component
Linear interpolation.Present invention interpolation 10 times between two adjacent path points.
As it can be seen that the present embodiment introduces vision guided navigation, it must be accurate to operation object and environment to change robot
The requirement of modeling.By the feedback of visual information, robot can be realized to dynamic, the operation of uncertain occasion.For example, no matter
Under any environment, as long as doctor holds teaching probe teaching and completes corresponding action teaching (such as entrance action), by visual sensing
Device records motion path and the track of teaching probe, when needing robot to reappear the action process, only need to send out control and refer to
Enabling, which can make robot reappear this along same path, moves.
In a preferred embodiment, the third optical markings are solid with mandibular by way of being engaged or pasting
It is fixed.
In a preferred embodiment, the predeterminated frequency is 50ms/ times.
In a preferred embodiment, the industrial control computer passes through Ethernet interface, USB interface, 1394, nothing
The modes such as line WIFI are connected with the vision guided navigation device.
In a preferred embodiment, the industrial control computer passes through Ethernet interface, USB interface, 1394, nothing
The modes such as line WIFI are connected with the robot controller.
By the dentistry robot path planning system it is found that view-based access control model provided in this embodiment navigation, packet is analyzed above
It includes：Robot subsystems and visual spatial attention subsystem；The robot subsystems include：Six-DOF robot and robot control
Device processed；The visual spatial attention subsystem includes：Vision guided navigation device and industrial control computer；The six-DOF robot
First optical markings are installed, doctor's handheld probe is equipped with the second optical markings, and patient installs on oral cavity on end effector
There are third optical markings；The vision guided navigation device is fixed on the predeterminated position of working space, and the vision guided navigation device is with pre-
If frequency continuous acquisition doctor hold doctor's handheld probe by teaching initial position be moved to patient oral cavity operating position this
The relative position relation figure picture of second optical markings and the third optical markings during one, and the image of acquisition is sent out
Give the industrial control computer；Image that the industrial control computer is acquired according to the vision guided navigation device and pre-
If visual processes model and the Transformation Relation of Projection obtain movement of second optical markings relative to the third optical markings
Path and track；The industrial control computer is by second optical markings of acquisition relative to the third optical markings
Motion path and track are sent to the robot controller；The robot controller receive user indicate robot into
After the instruction of row operation reproduction, the end effector for controlling the six-DOF robot moves to the teaching initial position,
Then the motion path according to second optical markings relative to the third optical markings and track, control described six is freely
The end effector movement for spending robot, so that the first optical markings on the end effector of the six-DOF robot
Relative to the motion path of the third optical markings and track with second optical markings relative to the third optics mark
The motion path of note and track are identical.As it can be seen that the present embodiment can be detected record doctor's handheld probe by visual spatial attention subsystem
Motion path and trace information, then sending out control instruction when needed makes robot reappear this fortune along same path
It is dynamic.
Based on identical inventive concept, another embodiment of the present invention provides a kind of base based on as described in above example
In the dentistry robot path planning method of the dentistry robot path planning system of vision guided navigation, referring to Fig. 3, this method includes
Following steps：
Step 101：The vision guided navigation device is fixed on to the predeterminated position of working space, controls the vision guided navigation dress
It sets to hold doctor's handheld probe with predeterminated frequency continuous acquisition doctor and be moved to patient oral cavity by teaching initial position and operate
The relative position relation figure picture of position second optical markings and the third optical markings during this, the vision are led
The image of acquisition is sent to the industrial control computer by boat device.
Step 102：It controls the industrial control computer and carries out relevant treatment：According to vision guided navigation device acquisition
Image and default visual processes model and the Transformation Relation of Projection obtain second optical markings relative to the third optics
The motion path of label and track；The industrial control computer is by second optical markings of acquisition relative to the third
The motion path of optical markings and track are sent to the robot controller.
Step 103：The instruction that instruction robot carries out operation reproduction is sent to the robot controller.
Step 104：The robot controller is after receiving the instruction that user indicates that robot carries out operation reproduction, control
The end effector for making the six-DOF robot moves to the teaching initial position, then according to the second optics mark
Remember the motion path relative to the third optical markings and track, controls the end effector fortune of the six-DOF robot
It is dynamic, so that the first optical markings on the end effector of the six-DOF robot are relative to the third optical markings
Motion path and track it is identical relative to the motion path of the third optical markings and track as second optical markings.
It is understood that dentistry robot path planning method provided in this embodiment is based on described in above example
The dentistry robot path planning system of view-based access control model navigation is realized, therefore its realization principle is similar with advantageous effect, herein no longer
It is described in detail.
It should be noted that herein, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to
Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also include other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
There is also other identical elements in process, method, article or equipment including the element.
Above example is only used to illustrate the technical scheme of the present invention, rather than its limitations；Although with reference to the foregoing embodiments
Invention is explained in detail, it will be understood by those of ordinary skill in the art that：It still can be to aforementioned each implementation
Technical solution recorded in example is modified or equivalent replacement of some of the technical features；And these are changed or replace
It changes, the spirit and scope for various embodiments of the present invention technical solution that it does not separate the essence of the corresponding technical solution.
Claims (5)
1. a kind of dentistry robot path planning system of view-based access control model navigation, which is characterized in that including：Robot subsystems and
Visual spatial attention subsystem；
The robot subsystems include：Six-DOF robot and robot controller；
The visual spatial attention subsystem includes：Vision guided navigation device and industrial control computer；
Wherein, the first optical markings, the installation of doctor's handheld probe are installed on the end effector of the six-DOF robot
There are the second optical markings, third optical markings are installed on patient oral cavity；
The vision guided navigation device is fixed on the predeterminated position of working space, and the vision guided navigation device is continuously adopted with predeterminated frequency
Collection doctor holds doctor's handheld probe, and by teaching initial position to be moved to patient oral cavity operating position described during this
The relative position relation figure picture of second optical markings and the third optical markings, and the image of acquisition is sent to the industry
Control computer；
The image and default visual processes model and throwing that the industrial control computer is acquired according to the vision guided navigation device
Shadow transformation relation obtains motion path and track of second optical markings relative to the third optical markings；
Movement road of the industrial control computer by second optical markings of acquisition relative to the third optical markings
Diameter and track are sent to the robot controller；
The robot controller is after receiving the instruction that user indicates that robot carries out operation reproduction, and control described six is freely
The end effector of degree robot moves to the teaching initial position, then according to second optical markings relative to described
The motion path of third optical markings and track control the end effector movement of the six-DOF robot, so that institute
State motion path of first optical markings relative to the third optical markings on the end effector of six-DOF robot
And track is identical relative to the motion path of the third optical markings and track as second optical markings.
2. system according to claim 1, which is characterized in that the third optical markings are by way of being engaged or pasting
With lower jaw bone fixation.
3. system according to claim 1, which is characterized in that the predeterminated frequency is 50ms/ times.
4. system according to claim 1, which is characterized in that the industrial control computer is according to the vision guided navigation
The image and default visual processes model and the Transformation Relation of Projection of device acquisition obtain second optical markings relative to institute
After motion path and the track of stating third optical markings, smoothing processing is filtered to the motion path and track.
5. a kind of dentistry robot path planning system based on the navigation of such as Claims 1 to 4 any one of them view-based access control model
Dentistry robot path planning method, which is characterized in that including：
S1, the predeterminated position that the vision guided navigation device is fixed on to working space control the vision guided navigation device with default
Frequency continuous acquisition doctor hold doctor's handheld probe by teaching initial position be moved to patient oral cavity operating position this
The relative position relation figure picture of second optical markings and the third optical markings in the process, the vision guided navigation device will
The image of acquisition is sent to the industrial control computer；
S2, the control industrial control computer carry out relevant treatment：According to the vision guided navigation device acquisition image and
Default visual processes model and the Transformation Relation of Projection obtain fortune of second optical markings relative to the third optical markings
Dynamic path and track；The industrial control computer is by second optical markings of acquisition relative to the third optical markings
Motion path and track be sent to the robot controller；
S3, the instruction that instruction robot carries out operation reproduction is sent to the robot controller；
S4, the robot controller are after receiving the instruction that user indicates that robot carries out operation reproduction, control described six
The end effector of degree of freedom robot moves to the teaching initial position, then according to second optical markings relative to
The motion path of the third optical markings and track control the end effector movement of the six-DOF robot, so that
Obtain movement of the first optical markings on the end effector of the six-DOF robot relative to the third optical markings
Path and track are identical relative to the motion path of the third optical markings and track as second optical markings.
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|---|---|---|---|
| CN201810569970.1A CN108705536A (en) | 2018-06-05 | 2018-06-05 | A kind of the dentistry robot path planning system and method for view-based access control model navigation |
| PCT/CN2019/085473 WO2019233227A1 (en) | 2018-06-05 | 2019-05-05 | Visual navigation-based dental robot path planning system and method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810569970.1A CN108705536A (en) | 2018-06-05 | 2018-06-05 | A kind of the dentistry robot path planning system and method for view-based access control model navigation |
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Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109938842A (en) * | 2019-04-18 | 2019-06-28 | 王小丽 | Facial surgical placement air navigation aid and device |
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| WO2019233227A1 (en) * | 2018-06-05 | 2019-12-12 | 雅客智慧（北京）科技有限公司 | Visual navigation-based dental robot path planning system and method |
| WO2020133868A1 (en) * | 2018-12-26 | 2020-07-02 | 雅客智慧（北京）科技有限公司 | Calibration method and device for dental implantology navigation surgeries, and tracking method and device for dental implantology navigation surgeries |
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| CN111407443A (en) * | 2020-02-25 | 2020-07-14 | 浙江工业大学 | Accurate positioning and intelligent navigation method for oral implantation robot |
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| CN111407406A (en) * | 2020-03-31 | 2020-07-14 | 武汉联影智融医疗科技有限公司 | Head position identification device, intraoperative control system and control method |
| CN112539700A (en) * | 2020-11-26 | 2021-03-23 | 上海卓昕医疗科技有限公司 | Tool calibration system and method based on optical positioning |
| CN113647972A (en) * | 2021-07-27 | 2021-11-16 | 北京工业大学 | Double-arm cooperative robot control method and system for assisting oral medical image |
| CN113855286A (en) * | 2021-09-24 | 2021-12-31 | 四川锋准机器人科技有限公司 | Implant robot navigation system and method |
| CN113855286B (en) * | 2021-09-24 | 2023-01-10 | 四川锋准机器人科技有限公司 | Implant robot navigation system and method |
| CN114019977A (en) * | 2021-11-03 | 2022-02-08 | 诺力智能装备股份有限公司 | Path control method and device for mobile robot, storage medium and electronic device |
| CN114019977B (en) * | 2021-11-03 | 2024-06-04 | 诺力智能装备股份有限公司 | Path control method and device for mobile robot, storage medium and electronic equipment |
| CN113787524A (en) * | 2021-11-18 | 2021-12-14 | 极限人工智能有限公司 | Control method and device of mechanical arm, surgical robot and storage medium |
| CN113787524B (en) * | 2021-11-18 | 2022-02-15 | 极限人工智能有限公司 | Control method and device of mechanical arm, surgical robot and storage medium |
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