CN105496579A - Tooth implantation drilling robot based on small cavity - Google Patents
Tooth implantation drilling robot based on small cavity Download PDFInfo
- Publication number
- CN105496579A CN105496579A CN201610014985.2A CN201610014985A CN105496579A CN 105496579 A CN105496579 A CN 105496579A CN 201610014985 A CN201610014985 A CN 201610014985A CN 105496579 A CN105496579 A CN 105496579A
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- arm
- mechanical arm
- chassis
- executor
- motor
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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
Abstract
The invention relates to a tooth implantation drilling robot based on a small cavity. The robot comprises a bearing chassis, a mechanical arm, a clamp, a drilling executor, a control box, a chassis turbine box and a driving arm base. The lower portion of the chassis turbine box is fixed to the bearing chassis. The upper portion of the chassis turbine box is connected with the driving arm base. The upper portion of the driving arm base is provided with a connection hole. The control box is connected with an external computer through a wire and meanwhile fixed to the chassis turbine box. One end of the mechanical arm is connected with the connection hole in the driving arm base. The other end of the mechanical arm is connected with one end of the clamp. The other end of the clamp is connected with the drilling executor. The tooth implantation drilling robot is characterized in that the drilling executor comprises a medical special brushless motor, a speed reducer, a rear axle housing, a front axle housing, a machine head shell, a drill bit, a small connecting rod, a crank, a large connecting rod, a rear transmission shaft, a front transmission shaft, a bevel gear, a one-piece gear spindle and a universal joint pin. The medical special brushless motor is connected with one end of the rear transmission shaft through the speed reducer, and the other end of the rear transmission shaft is connected with one end of the front transmission shaft through the universal joint pin.
Description
Technical field
The present invention relates to the drilling machine technical field of medical surgery operation, specifically a kind ofly plant tooth drilling robot based on little cavity.
Background technology
At present, the prevalence of China's malocclusion is more than 60%, fixture technology is modal and effective Dental Erosion correcting method, but the tooth caused due to wound damages, just need to carry out dental implant, robot dental implant is the brand-new application of in medical domain one of robotics.
Implant denture is implanted into implantation body's (artificial tooth root) at the alveolar bone of oral cavity agomphosis, and after the several months, Integrated implant completes, then on artificial tooth root device artificial tooth.
In dental implant process, it is very important for artificial tooth root being implanted to desirable position, and in addition, the quality of boring directly determines that can artificial tooth plant successfully.Traditional plants in tooth boring procedure, and the hand-held dental drill of planting of odontologist is holed, and there will be a lot of problem in this process.On the one hand, the stability of planting dental drill because dentist is hand-held is too poor, and the hand tremor in boring procedure can have a strong impact on the quality of boring, and the position (implantation position of artificial tooth) of holing is difficult to accurate control, and the experience of doctor can only be leaned on to decide.On the other hand, because the bone density of human body is different, no matter be traditional dental implant surgical or utilize robotic drill to plant tooth, operating theater instruments is not energetic to the dynamics of dental bed, and this can bring very large operation risk to patient.
Robotics is the good method that solves the problem, and can reduce the surgical errors that anthropic factor causes, and improves surgical quality.Abroad there is certain development planting tooth robot field, but be not also applied in clinical practice.Zhi Ya robot under the image guiding of U.S. Ou Daoming university research is a set of robot more advanced so far, but be not also applied in clinical practice, also under test generally, the rotation of removing drill bit, its boring executor itself does not have degree of freedom, can not curvature movement be done, thus limit the motility of a whole set of robot.On the one hand, human oral cavity cavity space is less, and structure varies with each individual, and some position robot arm is difficult to arrive and carry out drilling operation, and the reduction of this drilling robot motility can limit it and apply in other surgical operation.On the other hand, this Zhi Ya robot is in real operation on oral cavity, and the visual field can be blocked because of the deficiency of end motility, and this can make operating difficulty strengthen, and affects surgical quality.
Summary of the invention
Object of the present invention is exactly to solve the above-mentioned problems in the prior art, there is provided a kind of and plant tooth drilling robot based on little cavity, this robot is owing to adding a fine setting degree of freedom in the boring executor of end, substantially increase the motility of this robot, thus make this robot both may be used for little cavity plant dental drill hole operation in, can be applied in again in other bone surgery boring under vision facilities intervention, expand the range of application of this robot.
Object of the present invention is achieved through the following technical solutions: a kind ofly plant tooth drilling robot based on little cavity, comprise bearing chassis, mechanical arm, fixture, boring executor, control chamber, chassis turbine box and drive arm seat, turbine box bottom, chassis is fixed in bearing chassis, top is connected with driving arm seat, drives arm seat top to be provided with connecting hole; Described control chamber is connected with outer computer by wire, is fixed on the turbine box of chassis simultaneously, and described mechanical arm one end is connected with the connecting hole driven on arm seat, and the other end connects with fixture one end, and the other end of fixture is connected with boring executor;
It is characterized in that described boring executor comprises medical extraordinary brushless motor, decelerator, rear axle housing, front shaft sleeve, head shell, drill bit, small rod, crank, big connecting rod, inter-axle shaft, front propeller shaft, bevel gear, integral type gear mandrel and cross axle; Described medical extraordinary brushless motor is connected with inter-axle shaft one end by decelerator, the other end of inter-axle shaft is connected with front propeller shaft one end by cross axle, the other end of front propeller shaft is provided with bevel gear, bevel gear is matched with integral type gear mandrel, integral type gear mandrel is fixed in head shell by taper roll bearing, and drill bit inserts in integral type gear mandrel; Overlap respectively at front propeller shaft and inter-axle shaft outside and have front shaft sleeve and rear axle housing, all by deep groove ball bearing, power transmission shaft is connected with corresponding axle sleeve; Crank is provided with in the bottom of rear axle housing, the junction of front shaft sleeve and rear axle housing is provided with small rod, and small rod is fixedly connected with front shaft sleeve, linked together between crank and small rod by big connecting rod, crank, small rod, big connecting rod and rear axle housing form a parallel-crank mechanism jointly; This parallel-crank mechanism is by the step motor drive on fixture;
Described fixture comprises chuck body, fastening bolt, motor fixed block and motor retainer; About described chuck body, two sides are provided with blind hole, are connected with one end of mechanical arm by this blind hole, and in the middle of chuck body, be provided with groove, this groove is used for laying medical extraordinary brushless electric machine, and is fixed by fastening bolt; In chuck body, on the end face of boring executor, be provided with motor fixed block and motor retainer, fix motor by motor fixed block and motor retainer.
Compared with prior art, robot of the present invention adds a cross axle between the inter-axle shaft and front propeller shaft of boring executor, rear axle housing is provided with parallel-crank mechanism, the driving force that the motor be used on transferring clamp produces, thus realize by the motion controlling cross axle and parallel-crank mechanism the rotation of executor front end within the scope of certain angle of holing, adding of this rotational freedom, be equivalent to add a micro-adjusting mechanism that boring executor front end can be made bending, the turning action of executor front end in little cavity of holing can be realized, the motion of cooperative mechanical arm again, expand whole robot motion's scope further, substantially increase the motility of robot, and expand the range of application of this robot, can be applied in other bone surgery under vision facilities intervention, robot of the present invention arranges torque sensor between fixture and gadget arm, and drill bit is controlled effectively to the power that patient's osseous tissue produces, and well avoids in operation process the additional injury that the patient that sclerotin is poor produces, the configuration of mechanical arm of the present invention meets the standard of Medical Robot, and robot is compact conformation on the whole, is easy to control, and precision is high, can meet the demand of little cavity boring, improves surgical quality.
Accompanying drawing explanation
Fig. 1 is the perspective view of planting a kind of embodiment of tooth drilling robot that the present invention is based on little cavity.
Fig. 2 is the perspective view of planting the fixture 3 of a kind of embodiment of tooth drilling robot that the present invention is based on little cavity.
Fig. 3 is the main TV structure schematic diagram of planting the boring executor 4 of a kind of embodiment of tooth drilling robot that the present invention is based on little cavity.
Fig. 4 is the part-structure profile of planting the boring executor 4 of a kind of embodiment of tooth drilling robot that the present invention is based on little cavity.
Fig. 5 is the perspective view of planting the mechanical arm 2 of a kind of embodiment of tooth drilling robot that the present invention is based on little cavity.
In figure, 1-bearing chassis, 2-mechanical arm, 3-fixture, 4-holes executor, 5-control chamber, 6-chassis turbine box, 7-drives arm seat, 21-servomotor, the large mechanical arm of 22-, 23-planetary reducer, 24-gadget hands arm, 31-chuck body, 32-fastening bolt, 33-motor fixed block, 34-motor retainer, the medical extraordinary brushless electric machine of 401-, 402-decelerator, 403-rear axle housing, 404-front shaft sleeve, 405-head shell, 406-drill bit, 407-small rod, 408-crank, 409-big connecting rod, 410-inter-axle shaft, 411-front propeller shaft, 412-bevel gear, 413-integral type gear mandrel, 414-cross axle.
Detailed description of the invention
The present invention is further explained in detail below in conjunction with embodiment and accompanying drawing thereof, but not in this, as the restriction to the application's claims.
The tooth drilling robot of planting that the present invention is based on little cavity (is called for short robot, see Fig. 1-5) comprise bearing chassis 1, mechanical arm 2, fixture 3, boring executor 4, control chamber 5, chassis turbine box 6 and drive arm seat 7, chassis turbine box 6 bottom is fixed in bearing chassis 1, top is connected with driving arm seat 7, drives arm seat 7 top to be provided with connecting hole; Described control chamber 5 is connected with outer computer by wire, is fixed on chassis turbine box 6 simultaneously, and described mechanical arm 2 one end is connected with the connecting hole driven on arm seat 7, and the other end connects with fixture 3 one end, and the other end of fixture 3 is connected with boring executor 4;
Described boring executor 4 (see Fig. 3-4) comprises medical extraordinary brushless motor 401, decelerator 402, rear axle housing 403, front shaft sleeve 404, head shell 405, drill bit 406, small rod 407, crank 408, big connecting rod 409, inter-axle shaft 410, front propeller shaft 411, bevel gear 412, integral type gear mandrel 413 and cross axle 414, described medical extraordinary brushless motor 401 is connected with inter-axle shaft 410 one end by decelerator 402, the other end of inter-axle shaft 410 is connected with front propeller shaft 411 one end by cross axle 414, the other end of front propeller shaft 411 is provided with bevel gear 412, bevel gear 412 is matched with integral type gear mandrel 413, integral type gear mandrel is fixed in head shell 405 by taper roll bearing, drill bit 406 inserts in integral type gear mandrel 413, pass through inter-axle shaft, front propeller shaft, bevel gear, integral type gear mandrel by the speed of medical extraordinary brushless motor 401 and transmission of torque to drill bit 406, drive bit operation, overlap respectively at front propeller shaft 411 and inter-axle shaft 410 outside and have front shaft sleeve 404 and rear axle housing 403, all by deep groove ball bearing, power transmission shaft is connected with corresponding axle sleeve, crank 408 is provided with in the bottom of rear axle housing 403, the junction of front shaft sleeve 404 and rear axle housing 403 is provided with small rod 407, and small rod 407 is fixedly connected with front shaft sleeve 404, linked together by big connecting rod 409 between crank and small rod, crank 408, small rod 407, big connecting rod 409 and rear axle housing 403 form a parallel-crank mechanism jointly, this parallel-crank mechanism is by the step motor drive on fixture 3, when cross axle 414 turns to initial point (in front of cross axle axle sleeve and the equal concentric of rear axle housing) position, the motion of parallel four limit mechanisms, can drive the motion of front shaft sleeve 404, thus realizes the curvature movement of boring executor 4 front end,
Described fixture 3 (see Fig. 2) comprises chuck body 31, fastening bolt 32, motor fixed block 33 and motor retainer 34; Described chuck body about 31 two sides are provided with blind hole, are connected by this blind hole one end with mechanical arm 2, and in the middle of chuck body 31, be provided with groove, this groove is used for laying medical extraordinary brushless electric machine 401, and are fixed by fastening bolt 32; In chuck body 31, on the end face of boring executor 4, be provided with motor fixed block 33 and motor retainer 31, fix motor by motor fixed block 33 and motor retainer 31.
Of the present inventionly be further characterized in that described mechanical arm 2 (see Fig. 5) comprises servomotor 21, large mechanical arm 22, planetary reducer 23 and gadget arm 24; Described large mechanical arm 22 lower end is connected with the connecting hole of joint central spindle with driving arm seat 7 top by oscillating bearing, the top of large mechanical arm 22 is connected with joint central spindle one end with gadget arm 24 by oscillating bearing, and the oscillating bearing that gadget arm 24 can be connected with gadget arm around large mechanical arm rotates; All be provided with servomotor 21 and planetary reducer 23 at each oscillating bearing place, servomotor 21 is connected with large mechanical arm 22 by planetary reducer 23; Described gadget arm 24 forms by two sections, and epimere gadget arm can 360 ° of rotations, and the blind hole on epimere gadget arm and chuck body about 31 two sides is connected.
Of the present invention being further characterized in that is provided with torque sensor at fixture 3 and mechanical arm 2 junction, this torque sensor can to the power size of osseous tissue, can effectively be avoided producing additional injury to the patient that sclerotin is poor in operation process by drill bit in Real-time Feedback boring procedure.
Described drill bit 406 is provided with positioner to of the present invention being further characterized in that.
The model being further characterized in that described medical extraordinary brushless motor 401 of the present invention is Sce-0042379.
This robot is also provided with navigation system to of the present invention being further characterized in that.The limited visual range of surgeon can be extended by this navigation system, maximum possible operative site information is provided, realize mutual Kinematic Positioning in preoperative, the art of medical image and operative site.
The operation principle of planting tooth drilling robot that the present invention is based on little cavity is: bearing chassis 1 is evenly distributed with bolt hole, for fixing a whole set of robot, chassis turbine box 6 is fixed in bearing chassis, there is turbine and worm inside, turbine drives worm screw to rotate along Z axis (vertical direction), thus drive the driving arm seat 7 above the turbine box of chassis to rotate, drive the rotation meeting driving mechanical arm 2 of arm seat 7, fixture 3 and boring executor 4 rotation in the Z-axis direction, this robot belongs to the category of prosthetic robot, be designed with six-freedom degree, wherein drive arm seat 7 along a rotational freedom of Z axis, the one degree of freedom that mechanical arm 2 rotates around the joint driving arm seat 7 to be connected with mechanical arm 2, mechanical arm 2 have two degree of freedom, a rotational freedom being large mechanical arm 22 and being connected joint with gadget arm 24, another is the rotational freedom of gadget arm 24 self, fixture 3 is connected to gadget arm 24 and boring executor 4, fixture 3 rotates around fixture 3 and gadget arm 24 junction has one degree of freedom, last degree of freedom is the bending degree of freedom of boring executor 4 self, in boring executor, the rotation of medical extraordinary brushless electric machine 401 is successively through decelerator 402, inter-axle shaft 410, cross axle 414, front propeller shaft 411, bevel gear 412, integral type gear mandrel 413 passes to drill bit 406, the performing step of this degree of freedom is in addition: when medical extraordinary brushless electric machine turns to initial point (position of cross axle and front shaft sleeve and the equal concentric of rear axle housing) position, the now athletic meeting of parallel-crank mechanism drives front shaft sleeve 404 to rotate around the axis of cross axle.Can assigned address be arrived under the motion of so a whole set of robot in each joint coordinates, carry out the operations such as boring.
The using method of planting tooth drilling robot that the present invention is based on little cavity is: in conjunction with practical situation, and patient is fixed on operating-table, by robotic asssembly in the frame of distance patient correct position.Robot is provided with navigation system, preoperative, robot can first utilize the positioner be arranged near drill bit 406 to position target location, get the coordinate of this target location, by the controller in control chamber 5, this coordinate information transmission is recorded in outer computer, again according to the preoperative CT scan data to target dental bed bone, by the digitized parameter of three-dimensional reconstruction Software Create target dental bed bone, manipulation software is installed in outer computer, is worked by manipulation software vectoring aircraft mechanical arm 2 and boring executor 4.
Specifically, outer computer sends instruction, and instruction is sent on the controller in control chamber 5, controller can control each motor according to instruction and drive corresponding component motion, thus positioner is moved, and arrive target location, its coordinate figure of outer computer record.Again according to the CT scan data to patient's dental bed bone, by the digitized parameter of three-dimensional reconstruction Software Create patient dental bed bone, and then integrate coordinate data.Then, positioner is taken off, by preoperative planning, determine the implantation point (position of boring) of root of the tooth, implant direction and implantation depth.Manipulation software can move to target location in the auxiliary lower vectoring aircraft mechanical arm 2 of navigation system and boring executor 4 along space coordinates and carry out boring work.
Referring to based on human oral cavity or the cavity being similar to human oral cavity size based on little cavity described in the present invention.
The manipulation software related in the present invention and three-dimensional reconstruction software all belong to prior art, and torque sensor, navigation system, positioner etc. are also available commercially.
The present invention does not state part and is applicable to prior art.
Claims (6)
1. plant tooth drilling robot based on little cavity for one kind, comprise bearing chassis, mechanical arm, fixture, boring executor, control chamber, chassis turbine box and drive arm seat, turbine box bottom, chassis is fixed in bearing chassis, and top is connected with driving arm seat, drives arm seat top to be provided with connecting hole; Described control chamber is connected with outer computer by wire, is fixed on the turbine box of chassis simultaneously, and described mechanical arm one end is connected with the connecting hole driven on arm seat, and the other end connects with fixture one end, and the other end of fixture is connected with boring executor;
It is characterized in that described boring executor comprises medical extraordinary brushless motor, decelerator, rear axle housing, front shaft sleeve, head shell, drill bit, small rod, crank, big connecting rod, inter-axle shaft, front propeller shaft, bevel gear, integral type gear mandrel and cross axle; Described medical extraordinary brushless motor is connected with inter-axle shaft one end by decelerator, the other end of inter-axle shaft is connected with front propeller shaft one end by cross axle, the other end of front propeller shaft is provided with bevel gear, bevel gear is matched with integral type gear mandrel, integral type gear mandrel is fixed in head shell by taper roll bearing, and drill bit inserts in integral type gear mandrel; Overlap respectively at front propeller shaft and inter-axle shaft outside and have front shaft sleeve and rear axle housing, all by deep groove ball bearing, power transmission shaft is connected with corresponding axle sleeve; Crank is provided with in the bottom of rear axle housing, the junction of front shaft sleeve and rear axle housing is provided with small rod, and small rod is fixedly connected with front shaft sleeve, linked together between crank and small rod by big connecting rod, crank, small rod, big connecting rod and rear axle housing form a parallel-crank mechanism jointly; This parallel-crank mechanism is by the step motor drive on fixture;
Described fixture comprises chuck body, fastening bolt, motor fixed block and motor retainer; About described chuck body, two sides are provided with blind hole, are connected with one end of mechanical arm by this blind hole, and in the middle of chuck body, be provided with groove, this groove is used for laying medical extraordinary brushless electric machine, and is fixed by fastening bolt; In chuck body, on the end face of boring executor, be provided with motor fixed block and motor retainer, fix motor by motor fixed block and motor retainer.
2. according to claim 1ly plant tooth drilling robot based on little cavity, it is characterized in that fixture and mechanical arm junction are provided with torque sensor.
3. according to claim 1ly plant tooth drilling robot based on little cavity, it is characterized in that described mechanical arm comprises servomotor, large mechanical arm, planetary reducer and gadget hands arm; Described large mechanical arm lower end is connected with the connecting hole of joint central spindle with driving arm seat top by oscillating bearing, the top of large mechanical arm is connected with joint central spindle one end with gadget arm by oscillating bearing, and the oscillating bearing that gadget arm can be connected with gadget arm around large mechanical arm rotates; All be provided with servomotor and planetary reducer at each oscillating bearing place, servomotor is connected with large mechanical arm by planetary reducer; Described gadget arm forms by two sections, and epimere gadget arm can 360 ° of rotations, and epimere gadget arm is connected with the blind hole on two sides about chuck body.
4. according to claim 1ly plant tooth drilling robot based on little cavity, it is characterized in that described drill bit is provided with positioner.
5. according to claim 1ly plant tooth drilling robot based on little cavity, it is characterized in that the model of described medical extraordinary brushless motor is Sce-0042379.
6. described plant tooth drilling robot based on little cavity according to claim 1-5 is arbitrary, it is characterized in that this robot is also provided with navigation system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610014985.2A CN105496579B (en) | 2016-01-07 | 2016-01-07 | Plant tooth drilling robot based on small cavity |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610014985.2A CN105496579B (en) | 2016-01-07 | 2016-01-07 | Plant tooth drilling robot based on small cavity |
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| CN105496579A true CN105496579A (en) | 2016-04-20 |
| CN105496579B CN105496579B (en) | 2017-11-17 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610014985.2A Expired - Fee Related CN105496579B (en) | 2016-01-07 | 2016-01-07 | Plant tooth drilling robot based on small cavity |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106235998A (en) * | 2016-08-26 | 2016-12-21 | 梁怡 | A kind of dental tooth repair device and system |
| CN106725914A (en) * | 2017-02-18 | 2017-05-31 | 许建芹 | A kind of medical extraction robot |
| CN107616853A (en) * | 2017-10-10 | 2018-01-23 | 陈萍 | For planting the guider in dental drill hole |
| CN108201470A (en) * | 2016-12-16 | 2018-06-26 | 上海铂联医疗科技有限公司 | A kind of autonomous type tooth-implanting robot system and its device and method |
| WO2018191903A1 (en) * | 2017-04-20 | 2018-10-25 | 中国科学院深圳先进技术研究院 | Dental implantation robot system and operating method therefor |
| CN108969101A (en) * | 2018-06-22 | 2018-12-11 | 中科新松有限公司 | Medical robot localization method |
| CN110638547A (en) * | 2019-09-26 | 2020-01-03 | 重庆医科大学附属永川医院 | Oral cavity electric cleaner |
| CN110960322A (en) * | 2019-12-23 | 2020-04-07 | 哈尔滨工业大学 | Cross shaft for endoscope conveying robot |
| CN114601580A (en) * | 2022-03-21 | 2022-06-10 | 西安交通大学口腔医院 | Stomatology department is with high-efficient accurate tooth planting arm based on artificial intelligence |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106235998A (en) * | 2016-08-26 | 2016-12-21 | 梁怡 | A kind of dental tooth repair device and system |
| CN108201470A (en) * | 2016-12-16 | 2018-06-26 | 上海铂联医疗科技有限公司 | A kind of autonomous type tooth-implanting robot system and its device and method |
| CN106725914A (en) * | 2017-02-18 | 2017-05-31 | 许建芹 | A kind of medical extraction robot |
| CN106725914B (en) * | 2017-02-18 | 2019-01-11 | 南京香宁国际人工智能和智能制造研究院有限公司 | A kind of medical extraction robot |
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| CN107616853A (en) * | 2017-10-10 | 2018-01-23 | 陈萍 | For planting the guider in dental drill hole |
| CN108969101A (en) * | 2018-06-22 | 2018-12-11 | 中科新松有限公司 | Medical robot localization method |
| CN110638547A (en) * | 2019-09-26 | 2020-01-03 | 重庆医科大学附属永川医院 | Oral cavity electric cleaner |
| CN110960322A (en) * | 2019-12-23 | 2020-04-07 | 哈尔滨工业大学 | Cross shaft for endoscope conveying robot |
| CN110960322B (en) * | 2019-12-23 | 2021-06-15 | 哈尔滨工业大学 | Cross shaft for endoscope conveying robot |
| CN114601580A (en) * | 2022-03-21 | 2022-06-10 | 西安交通大学口腔医院 | Stomatology department is with high-efficient accurate tooth planting arm based on artificial intelligence |
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| CN105496579B (en) | 2017-11-17 |
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