CN107595418A - A kind of automatic planting dentistry robot - Google Patents
A kind of automatic planting dentistry robot Download PDFInfo
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- CN107595418A CN107595418A CN201710835480.7A CN201710835480A CN107595418A CN 107595418 A CN107595418 A CN 107595418A CN 201710835480 A CN201710835480 A CN 201710835480A CN 107595418 A CN107595418 A CN 107595418A
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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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B34/32—Surgical robots operating autonomously
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/74—Manipulators with manual electric input means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Robotics (AREA)
- Heart & Thoracic Surgery (AREA)
- Biomedical Technology (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Dentistry (AREA)
- Epidemiology (AREA)
- Instructional Devices (AREA)
- Dental Prosthetics (AREA)
Abstract
The present invention relates to dental field, and in particular to a kind of automatic planting dentistry robot, tooth-planting machine people, including modular construction, plants navigation system, tracking location system, mechanical arm system, plants drive system, control system.Tooth-planting machine people, it can integrate and analyze each several part information, including CT information, Plant plane, oral cavity information, mechanical arm information, instruction control machinery arm is sent, realizes automation plantation；The supporting construction that modular construction includes trolley structure, is connected with trolley structure, supporting construction connect each funtion part, including mechanical arm, tracker and display；Plantation navigation system can realize registration, Information Integrated Analysis in preoperative Plant plane design, art, send instruction and receive feedback, and plantation drill point registration tools carry out personalized designs for different plantation brand instruments, improve the problem of manual registration precision is low；Modular Structure Design has taken into full account dentistry implant operation scene, automatic planting operation is had more operability.
Description
Technical field
The present invention relates to dental field, and in particular to a kind of automatic planting dentistry robot.
Background technology
Tooth-implanting is comfortable, attractive in appearance, durable and do not damage adjacent teeth, is preferred recovery scenario after current absence of tooth.Plantation
Tooth refers to the pure titanium of root type or titanium alloy material being anchored in jawbone, and the reparation for missing tooth provides support and fixed.Oral cavity kind
The theory and technology of plant is synosteosis, i.e., orderly or stock is deposited directly to implant surface, and planting body is anchored in bone.Bone knot
The quality of conjunction is directly connected to success or failure and the long-time stability of tooth-implanting.The factor for influenceing synosteosis has a lot, wherein critically important
One be exactly planting body position and axial direction, if bone regeneration around implant bone amount is less than 1.5mm, it may occur however that bone regeneration around implant bone
Absorb；If planting body can not may bear too strong side force towards to jaw tooth function point, planting body, it is equally possible to cause to plant
Bone information around implant.This bone information declines while being often reflected in synosteosis quality, substantially reduces making for tooth-implanting
Use the time limit.
Clinically, plantation doctor is pursuing a kind of method that can aid in determining planting body position axial direction always, and plantation is led
Plate and plantation navigation are arisen at the historic moment in this demand.But plantation guide plate compression doctor operating space, fabrication cycle
It is long, it is big to processing technology dependence, entity guide plate increase operation cost is made, accuracy still has much room for improvement；Plant navigation system
Guided bone can only be provided, rigidity positioning and orientation can not be provided, doctor is still needed to and single-handedly complete to plant.Although existing automatic tooth implantation
Technical concept, but without concrete implementation scheme, and there are still many in specific implementation process to face for automatic tooth implanted prosthetics
The problem of bed uses, as preoperative planning is time-consuming, registration trouble in art, lacks modularized design suitable for implant operation scene
Deng.
Registration is to realize the step that virtual image integrates with entity information.Existing method uses a little registering method more, i.e.,
The intraoral multiple datum marks of attachment of pre-operative patients clap CT, and the coordinate of datum mark is stored in virtual three dimensional image；It is intraoral with punctual
Still adhere to these datum marks, registration is realized by the coordinate of more datum marks.Point with time, according to CT scheme by the apparatus with inductor
The order of datum mark points out the central point of intraoral datum mark one by one as in.It is complicated operating process to be present in the method for registering, manual point
The problem of error be present in benchmark dot center.
The instrument of intraoral attachment datum mark is to print off tooth model by quick moulding material mostly at present, utilizes tooth neck
Or undercut maintenance between tooth, because single tooth undercut retention is weak, so need to print more teeth even half mouthful of tooth simultaneously
Mould.Therefore this method is not suitable for the more patient of agomphosis, and patient's sense of discomfort is strong.
Dentistry plantation brand is numerous, and each system plantation drill point has difference in length.Existing plantation drill point registration tools are more
Manually control plantation drill point needle point points out plane registration icon central point, and registration accuracy is relatively low.
The automatic planting equipment of current entity is few, and everybody concern of the design to modular construction is less.Automatic planting
The clinical practice of system is promoted and also needs to propose more feasible schemes.
The content of the invention
In view of the shortcomings of the prior art, the invention discloses a kind of automatic planting dentistry robot, for being carried on the back more than solving
The problem of being mentioned in scape technology.Concrete technical scheme is as follows：
A kind of automatic planting dentistry robot, plantation dentistry robot, including modular construction, plantation navigation system, chase after
Track alignment system, mechanical arm system, plantation drive system and control system, the plantation navigation system can realize preoperative plantation
Registration, Information Integrated Analysis in conceptual design, art, send instruction and receive feedback, the tracking location system is plantation navigation
Structure realizes information integration, and the plantation dentistry robot integrates and analyzes each several part information, sends instruction control machinery arm, real
Now automation plantation, each several part information include CT information, Plant plane, oral cavity information and mechanical arm information；
Described information integrated analysis function needs the tracking location system auxiliary, and patient is intraoral, is all connected with feeling on mechanical arm
Device, the signal that inductor is received and reflection tracker is sent are answered, the signal that inductor is reflected back by tracker is transferred to the kind
Plant navigation system, the displacement in the analysis of plantation the navigation system oral cavity, mechanical arm；It is described to send command function, it is to pass instruction
Mechanical arm and the plantation drive system are defeated by, commands mechanical arm and the plantation drive system to carry out implant operation；
Preferably, the supporting construction that the modular construction includes trolley structure, is connected with trolley structure, supporting construction connect
Each funtion part, including tracker and display and the mechanical arm are connect, i.e. chassis upper surface there are three supporting constructions, is respectively
Mechanical arm support structure, display apparatus supporting structure, tracker supporting construction machine；The tracking location system includes transmitting and received
The tracker of signal, the inductor of reflected signal；The mechanical arm system and the plantation drive system are holding for implant operation
Row part, plantation motor are fixed on the robotic arm, and planting between mobile phone and motor has click-on design, prevent motor and mechanical arm it
Between, plantation mobile phone and motor between relative position change；The control system includes three parts, and computer is preoperative sets
The major part of human-computer interaction is realized when being operated in meter, art, trolley surface has the controllable production of hybrid seeds of control panel of plantation driving equipment
Driving parameter is planted, it is foot-operated to drive mechanical arm and plantation motor；
Preferably, the trolley structure bottom four corners are respectively provided with a pulley, and pulley is provided with self-locking structure, and pulley is slightly within
Side is provided with a jack-up structure, and chassis is jacked up and fixed；
Preferably, the pallet bottom is provided with a drawer and a support, is respectively used to place power line and rides；
Preferably, lifting structure is set in the chassis, three supporting constructions can together lift with lifting structure；
Preferably, the mechanical arm support structure is horizontally slidable, and mechanical arm support structure is horizontally slidable；
Preferably, the mechanical arm support structure on-mechanical arm side is provided with the gradient, is provided with plantation driving structure herein
Guidance panel；
Preferably, there is a water pump the mechanical arm support structure side；
Preferably, connection telescopic arm one above the display apparatus supporting structure, connection telescopic arm one and Display support knot
Relative rotation angle is 360 ° of rotations between structure；Display is fixed on telescopic arm one, is rotated against between display and telescopic arm one
Angle is to be rotated more than or equal to 180 °, including the rotation on horizontal plane and on vertical plane；
Preferably, the tracker supporting construction is Collapsible structure, in vertical direction, telescopic extensions 100cm with
On；
Preferably, telescopic arm two, connection telescopic arm two and tracker supporting construction are connected in the tracker supporting construction
Between relative rotation angle be 360 ° rotation；Tracker is connected on telescopic arm two, and junction is provided with the handle of a length 10-20cm
Hand；
Preferably, registration uses autoegistration method in the art, need to be by intraoral fixture, registration tools and inductor.
The preoperative Plant plane design need to be since CT graphical analyses.
Preferably, the intraoral fixture is a kind of U-shaped folder tool, has the right and left, both sides pass through locking by middle axis connection
Bolt is locked；The intraoral fixture positioning and clamping, the tooth model printed off by rapid prototyping material can be positioned, passed through simultaneously
Tighten bolt clamping；The registration tools can develop in CT images, mark on the basis of the instrument；When patient claps CBCT, mouth
The middle connection registration tools, make the registration tools develop completely in CBCT images；The autoegistration method passes through kind
The algorithm built in navigation system is planted, the algorithm have recorded the mapping relations between registration tools and intraoral inductor, can be by CT
Position relationship between image Zhong Shu areas and registration tools is converted into CT image Zhong Shu areas and intraoral inductor in the entity of oral cavity
Between position relationship, realize that CT 3-D views are registering with solid threedimensional information；
Preferably, rapid prototyping material is placed in the U-shaped folder tool, U-shaped folder tool is buckled on tooth, it is fast in U-shaped folder tool
Fast moulding material can print off tooth contour；
Preferably, the rapid prototyping material can be any material that can be realized rapid shaping and can be used for patient oral cavity
Material, including temperature change trigger the material of solidification, illumination to trigger the material of solidification；
Preferably, the drill point registration tools of the plantation dentistry robot, the length of drill point can be calculated, suitable for difference
The plantation drill point of system；There is the hole of different-diameter on the drill point registration tools surface, for same implant system different-diameter
Drill point；
Preferably, the hole depth of the drill point registration tools is more than or equal to drill point point narrows part and is located at drill point
It is more than point narrows part with ensure drill point needle point insertion hole after will not shake；It is provided with the middle part of the drill point registration tools
One groove, when drill point inserts hole, drill point tip portion exposes in a groove, and groove design can facilitate drill point registration tools
Cleaning；
Preferably, the plantation navigation system can be autonomously formed panorama sketch, mark mandible incisor by deep learning；
Implant area cortex bone and Grafting Cancellous Bone Bolt girder image can be taken out, auxiliary doctor is according to classical Lekholm and Zarb bones
Density classification method is analyzed sclerotin, instructs plantation to bore number；
Beneficial effect：
The present invention proposes a kind of complete automation planting equipment, plantation dentistry robot, including modular construction, plantation
Navigation system, tracking location system, mechanical arm system, plantation drive system, control system etc..The system is realized by mechanical arm
Automatic rigidity positioning, registering time length, the troublesome clinical pain spot of registration are improved using autoegistration method；Intraoral fixing device tool
There are positioning function and small volume, applied widely, mitigation patient's sense of discomfort；Plantation drill point registration tools are directed to different plantation brands
Instrument carries out personalized designs, improves the problem of manual registration precision is low；Modular Structure Design has taken into full account dentistry plantation
Surgical scene, automatic planting operation is set to have more operability.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the required accompanying drawing used in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1：Automatic planting dentistry robot front elevation；
Fig. 2：Automatic planting dentistry robot back view；
Fig. 3：Automatic planting dentistry robot drill point registration tools schematic diagram.
Reference is as follows：1st, trolley structure, 2, pulley, 3, jack up structure, 4, mechanical arm support structure, 5, display branch
Support structure, 6, tracker supporting construction, 7, mechanical arm, 8, plantation mobile phone, 9, plane, 10, guidance panel, 11, plantation water pump,
12nd, telescopic arm one, 13, display, 14, telescopic arm two, 15, optical tracker, 16, handle.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
Part of the embodiment of the present invention, rather than whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art
The every other embodiment obtained under the premise of creative work is not made, belongs to the scope of protection of the invention.
With reference to Fig. 2,3, referring to Fig. 1：A kind of automatic planting dentistry robot, including modular construction, plantation navigation system,
Tracking location system, mechanical arm system, plantation drive system, control system etc..
Plantation navigation system can realize registration, Information Integrated Analysis in preoperative Plant plane design, art, send instruction and connect
Feedback is received, is the core of planting machines people.Tracking location system is to plant the instrument that navigational structure realizes information integration, bag
Include tracker, the inductor of reflected signal of transmitting and reception signal；Realizing CT data, Design scheme and oral cavity letter
Breath, mechanical arm information it is integrated when, it is necessary to by a kind of registration tools that can develop in CT.Mechanical arm system and plantation drive
System is the executable portion of implant operation.Control system includes three parts, and computer realizes people when being and being operated in Design, art
The interactive major part of machine, trolley surface has the controllable plantation driving parameter of the control panel of plantation driving equipment, foot-operated to drive
Dynamic mechanical arm and plantation motor, three part mutual cooperation supplements, the common control completed to planting dentistry robot system.Mould
The supporting construction that blocking structure includes trolley structure, is connected with trolley structure, supporting construction connect each funtion part, including machinery
Arm, tracker and display, it is the basis that planting machines people realizes function.
Preoperative Method is planted around CT data to deploy, when prepared for CT data with the registering of entity information, two
It is the design that operation plan is completed in CT images.CBCT is to plant the conventional hand of preoperative evaluation sclerotin bone amount, design
Section, but CBCT images and can not be directly together with the entity relationship of oral cavity, for by two kinds of data in the Plant plane wherein designed
Integrate, it is necessary to which a fiducial marker, when clapping CBCT, patient is intraoral need to connect the fiducial marker, and reference mark
Thing need to develop in CT images.For convenience of Clinical practice, the system uses autoegistration method, and this method has not by one
Regular shape and the registration tools that can develop in CT images, the instrument are a kind of fiducial markers.When patient claps CBCT, in mouth
This registration tools is connected, registration tools are developed completely in CBCT images.Next specific method for registering describes.
Registration tools are connected to a kind of intraoral intraoral fixing device of needs, and in addition to maintenance, the device must be able to realize positioning,
To ensure the fixing device all the time in same position.The intraoral fixing device that the system uses can realize maintenance and positioning simultaneously.
The intraoral fixing device is a kind of U-shaped folder tool, has the right and left, both sides are locked by middle axis connection by clamping screw.By U
Type fixture is buckled on tooth, and rotational lock bolt, U-shaped folder, which has the right and left, can clamp tooth.Rapid shaping is placed in U-shaped folder tool
Material, U-shaped folder tool is buckled on tooth, rapid prototyping material can print off tooth contour in U-shaped folder tool.Rapid shaping in U-shaped button
Material can be any material that can be realized rapid shaping and can be used for patient oral cavity, include the material of temperature change initiation solidification
Material, illumination trigger the material of solidification.After material built in U-shaped folder tool prints off tooth model and solidified, personalized fixture is formed, can be real
Now position, and strengthen maintenance.The U-shaped folder tool that the system uses, realizes maintenance by the clamping action of fixture, passes through rapid shaping
The tooth model that material prints off realizes positioning.The U-shaped folder has using two kinds of maintenance modes come holding jig in intraoral position, Gu
Position power is larger, and the tooth needed for maintenance is less.
After having clapped CT, CT data import plantation navigation system, are guided according to software and carry out Plant plane design.Plant plane
Design process analyzes important anatomy structure since graphical analysis, analyzes edentulous region sclerotin bone amount.Pass through deep learning, plantation
Navigation system can automatically analyze jawbone important anatomy structure, form panorama sketch.It is steady to obtaining enough initial stages to analyze jawbone density
It is qualitative to have great significance.Plantation navigation system can take out Implant area cortex bone and Grafting Cancellous Bone Bolt girder image, aid in doctor
Lekholm and Zarb bone density sorting techniques according to classics are analyzed sclerotin, instruct plantation to bore number, to obtain foot
Enough primary stabilities.After the completion of graphical analysis, virtually repaired according to patient's occlusion, virtual kind is instructed by virtually repairing
Plant, generate complete Plant plane.
After Plant plane generation, implant operation can be proceeded by, first have to do is exactly registration, by virtual three dimensional image and
Solid threedimensional information combines.Before shooting CT, registration tools are connected to by personalized fixture intraoral, have clapped CBCT
Afterwards, you can remove registration tools, set-up procedure and surgical procedure afterwards need not be again coupled to registration tools.CT data
In, registration tools are with art area in a three-dimensional coordinate, and relative position is fixed between the two.With punctual, be made before CT being clapped
Personalized fixture wear into intraoral, do not have to connection registration tools on personalized fixture now, one sensing of connection needed on fixture
Device.Navigation system built-in algorithms are planted, record the mapping relations between registration tools and intraoral inductor, can be by art in CT images
Position relationship between area and registration tools is converted into the position between intraoral inductor in CT image Zhong Shu areas and oral cavity entity
Relation is put, realizes that CT 3-D views are registering with solid threedimensional information.This method need not match point by point manually, pass through navigation
Algorithm built in system, by registration tools and intraoral inductor it can realize autoregistration.
After registration, intraoral inductor needs to be connected to intraoral, similar inductor always in whole surgical procedure can also connect
Connect on the robotic arm, inductor coordinates with tracker, the displacement of recording mouth and mechanical arm.The information that tracker tracks can be anti-
Be fed to plantation navigation system, navigation system comprehensive analysis information, control machinery arm moves with the movement in oral cavity, i.e., oral cavity to certain
When one direction is moved, mechanical arm can move to the direction therewith.
Mechanical arm system and plantation drive system are the executable portions of implant operation.Plantation navigation system sends instruction control
Mechanical arm system and plantation drive system carry out implant operation.Motor is planted to fix on the robotic arm, plantation mobile phone and motor it
Between have click-on design, prevent between motor and mechanical arm, relative position changes between plantation mobile phone and motor.
During implant operation, plantation mobile phone connection plantation drill point, driving drill point is performed the operation.Different implant systems are equipped with difference
Implanting instrument, be mainly shown as drill point length and diameter up to difference.For different planting tools, the system is equipped with special
Drill point registration tools, there is the hole of different pore size on registration tools surface, suitable for the drill point of same implant system different-diameter.
Hole diameter designs according to different implant system drill points, and hole depth is required to that drill point point narrows part and position is completely covered
More than drill point point narrows part, it is ensured that will not be shaken after drill point needle point insertion hole.Plantation drill point is connected to kind
After planting on mobile phone, the drill point registration tools corresponding with the implant system implanting instrument are selected, drill point needle point is inserted into registering work
Have in the corresponding hole in surface, plantation navigational structure can automatic identification drill point length.When from different from drill point length before
Drill point when, it is necessary to carry out registration.
In art, real-time display is understood over the display in CT images, virtual implant position, mobile phone and drill point position, Yi Shengke
Real Time Observation plant drill point or planting body relative to virtual implant, relative to the position relationship between surrounding anatomical structures.Bag
It is to realize the main path of man-machine interaction containing the computer system including display.Doctor can be completed by computer and modification side
Case design, complete registration in art, tracking etc. in regulation art.In addition to computer, doctor or assistant can be by planting drive control face
Plate and foot-operated control, adjustment procedure.Wherein, the adjustable plantation driving parameter of drive control panel, including rotating speed, torsion are planted
Square, choosing turn direction, whether with water, water speed etc.；Controllable mechanical arm and plantation drive system are ridden, including freely drives machinery
Arm, driving mechanical arm, which reach, specifies site, driving mechanical arm and plantation mobile phone with certain drilling speed or moment of torsion forward-reverse etc..
Function above is realized, it is necessary to the support of modular construction.The design of modular construction on the basis of function is realized,
Need to be as far as possible in view of the application scenarios of implant operation.The support knot that modular construction includes trolley structure 1, is connected with trolley structure
Structure, supporting construction connect each funtion part, including mechanical arm, tracker and display, are the bases that planting machines people realizes function
Plinth.
Pallet bottom corner is respectively provided with a pulley 2, and pulley is provided with self-locking structure, facilitates chassis mobile and stops.For
Stability during further increase chassis application, pallet bottom corner is respectively provided with a jack-up structure 3, when being operated in art,
Jack-up structure can be put down, chassis is jacked up and fixed.Pallet bottom is provided with a drawer and a support, is respectively used to place electricity
Source line and foot-operated, places power line or foot-operated line brings inconvenience in a jumble.Lifting structure is set in chassis, makes chassis height can be with dentist
Height change, doctor can be adjusted according to factors such as itself sitting height, operation height.
There are three supporting constructions chassis upper surface, is mechanical arm support structure 4, display apparatus supporting structure 5, tracker respectively
Supporting construction 6, three supporting constructions can together lift with lifting structure.
Mechanical arm support structure is horizontally slidable, and mechanical arm 7 is located at this structure upper surface, close to patient-side, mechanical arm end
End connection plantation motor and plantation mobile phone 8.Mechanical arm support structure is horizontal to be slided, and mechanical arm is located above patient, close to trouble
Person's coronal-plane center line.Mechanical arm, which is in such position, can shorten mechanical arm pedestal to the distance in art area, suitable for more facing
Bed scene；The opereating specification of doctor can be avoided simultaneously, avoided mechanical arm from being interfered with doctor, given doctor and sufficiently operate sky
Between.Mechanical arm supported underneath structure together skids off with mechanical arm, is a plane 9 beside supporting construction upper surface, mechanical arm, and this is flat
Face can place plantation apparatus etc. as the operating table surface of doctor.There is certain slope supporting construction on-mechanical arm side, is provided with herein
Plant the guidance panel 10 of driving structure, guidance panel is positioned at, facilitating doctor and assistant watches and tune herein and be in certain slope
Section plantation driving parameter.Water pump 11 is planted in supporting construction side, display apparatus supporting structure and optical tracking instrument supporting construction it
Between.
Display apparatus supporting structure and tracker supporting construction are beside mechanical arm support structure.Display apparatus supporting structure more leans on
Nearly patient-side, supporting construction top connection telescopic arm 1, can be achieved 360 ° of rotations between telescopic arm one and supporting construction；Display
13 are fixed on telescopic arm one, and at least 180 ° rotations can be achieved between display and telescopic arm one, including on horizontal plane and vertical plane
On rotation；During clinical practice, display can be adjusted on appropriate location by doctor according to itself sitting height, position and custom.Chase after
Track device supporting construction is Collapsible structure, and in vertical direction, telescopic extensions are in more than 100cm；Connected in supporting construction flexible
Arm 2 14, the characteristic of telescopic arm two are consistent with the characteristic of telescopic arm one for connecting display；Tracker 15 is connected on telescopic arm two, even
Handle 16 of the place provided with a length about 10cm is connect, facilitates and optical tracker position is adjusted in art；During the application of clinic, doctor can root
Optical tracker is adjusted to appropriate location and angle according to art area height, art zone position etc..When doctor adjusts tracker position angle
When spending, display can position of the real-time display tracker relative to inductor, angle, help doctor to adjust tracker to optimal
Position.
The functional structure that modular construction supports by trolley structure and thereon, conceptual entity is planted into automation, made
Application flow is simple and convenient, suitable for implant operation scene.
The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although with reference to the foregoing embodiments
The present invention is described in detail, it will be understood by those within the art that：It still can be to foregoing each implementation
Technical scheme described in example is modified, or carries out equivalent substitution to which part technical characteristic；And these modification or
Replace, the essence of appropriate technical solution is departed from the spirit and scope of various embodiments of the present invention technical scheme.
Claims (18)
- A kind of 1. automatic planting dentistry robot, it is characterised in that：Including modular construction, plantation navigation system, tracing and positioning System, mechanical arm system, plantation drive system and control system, the plantation navigation system can realize that preoperative Plant plane is set Meter, registration, Information Integrated Analysis in art, send instruction and receive feedback, the tracking location system is plantation navigational structure reality Existing information integration, the plantation dentistry robot integrate and analyze each several part information, send instruction control machinery arm, realize automatic Change plantation, each several part information includes CT information, Plant plane, oral cavity information and mechanical arm information.
- 2. automatic planting dentistry robot according to claim 1, it is characterised in that：The modular construction includes chassis Structure, the supporting construction being connected with trolley structure, supporting construction connect each funtion part, including tracker and display and described Mechanical arm, i.e. chassis upper surface have three supporting constructions, are mechanical arm support structure, display apparatus supporting structure, tracker respectively Supporting construction machine；The tracking location system includes tracker, the inductor of reflected signal of transmitting and reception signal；The machine Tool arm system and the plantation drive system are the executable portions of implant operation, and plantation motor is fixed on the robotic arm, plants hand There is click-on design between machine and motor, prevent between motor and mechanical arm, relative position becomes between plantation mobile phone and motor Change；The control system includes three parts, and computer realizes the major part of human-computer interaction when being and being operated in Design, art, Trolley surface has the controllable plantation driving parameter of the control panel of plantation driving equipment, foot-operated to drive mechanical arm and plantation horse Reach.
- 3. automatic planting dentistry robot according to claim 2, it is characterised in that：The trolley structure bottom four corners are each One pulley is installed, pulley is provided with self-locking structure, and side is provided with a jack-up structure to pulley slightly within, chassis is jacked up solid It is fixed.
- 4. the automatic planting dentistry robot according to Claims 2 or 3, it is characterised in that trolley structure bottom is provided with one Individual drawer and a support, it is respectively used to place power line and rides.
- 5. automatic planting dentistry robot according to claim 4, it is characterised in that lifting structure, three branch are set in chassis Support structure can together lift with lifting structure.
- 6. automatic planting dentistry robot according to claim 5, it is characterised in that：The mechanical arm support structure can water It is smooth dynamic.
- 7. according to the automatic planting dentistry robot described in claim 6, it is characterised in that：The mechanical arm support structure is non- Mechanical arm side is provided with the gradient, is provided with the guidance panel of plantation driving structure herein.
- 8. according to the automatic planting dentistry robot described in claim 7, it is characterised in that：The mechanical arm support structure side Fang Youyi water pumps.
- 9. according to the automatic planting dentistry robot described in claim 8, it is characterised in that：On the display apparatus supporting structure Side's connection telescopic arm one, it is 360 ° of rotations to connect relative rotation angle between telescopic arm one and display apparatus supporting structure；Display is consolidated It is scheduled on telescopic arm one, relative rotation angle is to be rotated more than or equal to 180 ° between display and telescopic arm one, including horizontal plane Rotation on upper and vertical plane.
- 10. according to the automatic planting dentistry robot described in claim 9, it is characterised in that：The tracker supporting construction For Collapsible structure, in vertical direction, telescopic extensions are in more than 100cm.
- 11. automatic planting dentistry robot according to claim 10, it is characterised in that：In the tracker supporting construction Telescopic arm two is connected, it is 360 ° of rotations to connect relative rotation angle between telescopic arm two and tracker supporting construction；Tracker connects On telescopic arm two, junction is provided with the handle of a length 10-20cm.
- 12. automatic planting dentistry robot according to claim 2, it is characterised in that：Registration is using automatic in the art Method for registering, need to be by intraoral fixture, registration tools and inductor.
- 13. automatic planting dentistry robot according to claim 12, it is characterised in that：The intraoral fixture is a kind of U Type fixture, there is the right and left, and both sides are locked by middle axis connection by clamping screw；The intraoral fixture can position simultaneously and Clamp, the tooth model printed off by rapid prototyping material positions, and is clamped by tightening bolt；The registration tools can be schemed in CT Develop as in, mark on the basis of the instrument；When patient claps CBCT, the registration tools are connected in mouth, make the registration tools Develop completely in CBCT images；The autoegistration method is by planting the algorithm built in navigation system, the algorithm record Mapping relations between registration tools and intraoral inductor, can be straight by the position relationship between CT image Zhong Shu areas and registration tools Switch through and turn to position relationship in CT image Zhong Shu areas and oral cavity entity between intraoral inductor, realize CT 3-D views and entity The registration of three-dimensional information.
- 14. automatic planting dentistry robot according to claim 13, it is characterised in that：Placed in the U-shaped folder tool fast Fast moulding material, U-shaped folder tool is buckled on tooth, rapid prototyping material can print off tooth contour in U-shaped folder tool.
- 15. automatic planting dentistry robot according to claim 14, it is characterised in that：The rapid prototyping material can be with It is any material that can be realized rapid shaping and patient oral cavity can be used for.
- 16. automatic planting dentistry robot according to claim 2, it is characterised in that：The plantation dentistry robot Drill point registration tools, the length of drill point can be calculated, suitable for the plantation drill point of different system；The drill point registration tools surface There is the hole of different-diameter, the drill point for same implant system different-diameter.
- 17. automatic planting dentistry robot according to claim 16, it is characterised in that：The hole of the drill point registration tools Hole depth is more than or equal to drill point point narrows part and is located at more than drill point point narrows part to ensure that drill point needle point inserts It will not be shaken after hole；A groove is provided with the middle part of the drill point registration tools, when drill point inserts hole, drill point needle point It is partially exposed in groove.
- 18. automatic planting dentistry robot according to claim 2, it is characterised in that：The plantation navigation system passes through Deep learning, panorama sketch can be autonomously formed, mark mandible incisor；Implant area cortex bone and Grafting Cancellous Bone Bolt girder can be taken out Image, auxiliary doctor are analyzed sclerotin according to the Lekholm and Zarb bone density sorting techniques of classics, instruct plantation Bore number.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710835480.7A CN107595418A (en) | 2017-09-15 | 2017-09-15 | A kind of automatic planting dentistry robot |
| CN201810419594.8A CN108670462A (en) | 2017-09-15 | 2018-05-04 | A kind of automatic dental implant robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710835480.7A CN107595418A (en) | 2017-09-15 | 2017-09-15 | A kind of automatic planting dentistry robot |
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| CN107595418A true CN107595418A (en) | 2018-01-19 |
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| CN201710835480.7A Pending CN107595418A (en) | 2017-09-15 | 2017-09-15 | A kind of automatic planting dentistry robot |
| CN201810419594.8A Withdrawn CN108670462A (en) | 2017-09-15 | 2018-05-04 | A kind of automatic dental implant robot |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810419594.8A Withdrawn CN108670462A (en) | 2017-09-15 | 2018-05-04 | A kind of automatic dental implant robot |
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Effective date of registration: 20180404 Address after: Hangzhou City, Zhejiang province 310018 poplar economic and Technological Development Zone Street No. 6 Street No. 452 Building 2 room C0511-0515 Applicant after: Hangzhou Medical Technology Co., Ltd. Applicant after: Shanghai operation Kay robot Co., Ltd. Address before: The Poplar Street of Hangzhou city in Zhejiang province 310018 Hangzhou economic and Technological Development Zone No. 6 Street No. 452 Building 2 room C0511-0515 Applicant before: Hangzhou Medical Technology Co., Ltd. |
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