CN107833625A - The operating system and its method of workpiece - Google Patents
The operating system and its method of workpiece Download PDFInfo
- Publication number
- CN107833625A CN107833625A CN201710981082.6A CN201710981082A CN107833625A CN 107833625 A CN107833625 A CN 107833625A CN 201710981082 A CN201710981082 A CN 201710981082A CN 107833625 A CN107833625 A CN 107833625A
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- China
- Prior art keywords
- workpiece
- display
- information
- handheld device
- operated
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Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
- G06T7/0012—Biomedical image inspection
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
- A61C1/00—Dental machines for boring or cutting ; General features of dental machines or apparatus, e.g. hand-piece design
- A61C1/0007—Control devices or systems
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10072—Tomographic images
- G06T2207/10081—Computed x-ray tomography [CT]
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30004—Biomedical image processing
- G06T2207/30008—Bone
Abstract
Present invention generally provides the ergonomics operating system and its method of the operating personnel such as the dentist in a kind of guiding implantation for image.Drilled close to dentistry or show the information for needing operative doctor frequent to observe with the physics or virtual monitor that dental burr is combined.Therefore, operative doctor can monitor boring sites in curing and display simultaneously, without head is moved to other direction of display not in its visual field.The present invention shows many technological merits, such as the simplicity of operation, improved processing safety, higher productivity ratio and efficiency of raising etc..
Description
Technical field
The present invention relates to the operating system or devices and methods therefor that operating personnel operate workpiece.Although this invention will be to scheme
Carry out description and interpretation exemplified by boring the mandibular of patient as guiding, it is intended that present invention can also apply to other field,
Such as the industrial procedure of image guiding；Other image guided surgery programs, such as the operation carried out in ear, nose, larynx, nasal sinus；Figure
As the audiphone implantation or installation of guiding；Therapeutic agent is transmitted in image guiding, for example is transported to intraocular or other organs；Image draws
The conduit led；Such as the image guided radiation therapy of oncotherapy；Image guides cardiac valve replacement or reparation etc..
Background technology
Titanium implantses are widely used in repairing incomplete tooth.In whole process, the jawbone of patient is drilled to prepare
Implant site is important but the step of excessive risk.In order to avoid patient harm, operative doctor must be very careful.It is this potential
The example of damage includes inadvertently entering mandible incisor, may make cortex osteone perforation, or the tooth that damage is neighbouring.In order to hold
Row one calculates drilling plan meticulously, it is desirable to which operative doctor closely, constantly monitors the dynamic space between drill bit and jawbone
Relation.
In the boring procedure of image guiding, large screen display is placed in operating room.Display screen real-time display is arranged on
The drilling track in drill bit, surgical planning on handpiece, and the relative position of the 3D rendering of patient's jawbone.Drilled in jawbone
During, operative doctor is guided by display screen.For example, the U.S. of Sonenfeld et al. Publication No. 20080171305
Patent application, this kind of implant surgery is illustrated in Fig. 2 J.The challenge that operative doctor faces is, when he is absorbed in display screen
When, for safety, he also must be noted that patient's jawbone in real world.Therefore, when being drilled on real jawbone, operation
Doctor must often move up and down his head observe the virtual drill bit on the position and display screen to be drilled in real world and
Jawbone.This strict requirements make doctor nervous and pressure, and add the possibility of maloperation, and this may result in pair
The jawbone of patient causes irremediable loss, or drilling plan is performed ineffective.
Accordingly, there exist the needs for overcoming above mentioned problem.Advantageously, the invention provides a kind of equipment operator in work
The operating system or device operated on part, there is the advantages of numerous technologies, such as facilitate and meet ergonomic designs, operation letter
It is single, the security of operation is improved, higher production efficiency, improves operating efficiency etc..
The content of the invention
One aspect of the present invention provides a kind of operating system operated for operating personnel on workpiece or device.This is
System includes：
(1) it is used for the handheld device that operating personnel hold, wherein the handheld device is included under the control of operating personnel
The action component to be worked on workpiece；
(2) measuring the sensor-based system of the spatial relationship between the action component and the workpiece, (such as 3D cameras, 3D are passed
Feel head or 3D tracking systems)；
(3) it is used for the display system for showing n bar information P1, P2...Pn, n bars information is selected from the work of the handheld device
Condition, the condition of the workpiece, the 3D rendering of the handheld device, the 3D rendering of the workpiece, the action component with it is described
The spatial relationship preplaned between workpiece between real time spatial relationship and the action component and the workpiece, wherein n
It is integer, n >=2；The display system includes the first display, first display and the beeline of the handheld device
Dmin1 is less than 30 centimetres.For example, when first display connects or is attached to the handheld device, Dmin=0.The display
System also includes the second display separated with the handheld device.First display can be that physical display is (or hard
Part display) or virtual monitor, first display show at least one information in the n bars information；It is described
Second display shows at least one information in the n bars information.Both " at least one information " can with identical or
It is different.
Another aspect of the present invention provides a kind of method operated on workpiece, including：
(i) handheld device held for operating personnel is provided, wherein the handheld device is included in the control of operating personnel
The action component to be worked under system on workpiece；
(ii) spatial relationship between the action component and the workpiece is measured with sensor-based system；
(iii) display system of P1, P2...Pn for showing n bar information are provided, n bars information is selected from described hold and set
Under standby condition of work, the 3D rendering of the 3D rendering of the condition of the workpiece, the handheld device, the workpiece, the action
The space preplaned between part and the workpiece between real time spatial relationship and the action component and the workpiece
Relation, wherein n are integers, n >=2；Wherein described display system includes：It is less than with the beeline Dmin1 of the handheld device
30 centimetres of the first display, and the second display separated with the handheld device；
(iv) at least one information of the display in the n bars information on first display；And
(v) at least one information of the display in the n bars information on the second display；Step (iv) and
(v) two kinds " at least one information " in can be with identical or different.
It can will readily recognize that from the detailed description carried out below in conjunction with accompanying drawing to preferred embodiment of the present invention
The features described above and advantage and further feature and advantage of the present invention.
Brief description of the drawings
In the accompanying drawings, it is unrestricted by means of example that the present invention is shown, and in the accompanying drawings, identical reference number refers to phase
Like element.All accompanying drawings are all schematical and typically illustrate only and illustrate part essential to the invention.In order to simple
And clearly illustrate, element is not necessarily drawn to scale shown in accompanying drawing as discussed below.To exempt from unnecessarily to obscure this
Invention, known features and equipment are shown in simplified form.Other parts can be omitted or only indirectly shown.
Fig. 1 is a kind of operating system operated for operating personnel on workpiece of one embodiment of the invention or showing for device
It is intended to；
Fig. 2 is the block diagram using the method for the operating system (or device) of present invention embodiment as shown in Figure 1；
Fig. 3 is shown according to an embodiment of the invention to be drilled for dentist in the jawbone implant site of patient
Dental operation system or dental apparatus；
Fig. 4 shows the bore direction of the drill bit of dental burr according to an embodiment of the invention relative to predetermined brill
The schematic diagram in hole orientation；
Fig. 5 shows that the bit bore depth of dental burr according to an embodiment of the invention is deep relative to predetermined drilling
The schematic diagram of degree；
Fig. 6 schematically shows 3D imagings according to an embodiment of the invention and 3D tracking systems；
Fig. 7 (a), Fig. 7 (b) and Fig. 7 (c) schematically show the drill bit of dental burr according to an embodiment of the invention
Bore direction relative to predetermined bore direction schematic diagram, and in order to correctly to operating personnel show dental burr it is due
Moving direction and the orientation of display schematic diagram is set to consistent with world coordinate system, in other words, schematic diagram orientation does not follow display
Device rotates.
Embodiment
In the description that follows, multiple details will be illustrated for illustrative purposes to provide comprehensive reason to the present invention
Solution.However, to those skilled in the art it is readily apparent that in the case of these no specific details or using of equal value
Arrangement, can put into practice the present invention.
Number range disclosed herein, unless otherwise indicated, the scope are continuous, include the minimum value and maximum of scope
Value and each value between the minimum value and maximum.In addition, referring to integer within the scope of one, only include from minimum value
To the integer of the maximum including the scope.In addition, when providing multiple scopes with Expressive Features or feature, can be by these models
Enclose and combine.
With reference to figure 1, operating personnel 10 are operated using operating system (or device) 100 pairs of workpiece 20.Handheld device 30
Operating personnel 10 are supplied to be held on its hand 11.Under the control of operating personnel 10, included in handheld device 30, or
Person works from the action component 31 that handheld device 30 extends or launches on workpiece 20.Action component 30 is selected from machine components, such as
Drill bit, grinding machine, grinding machine and blade；Electromagnetic radiation, laser beam, liquid flow, gas stream and ultrasonic wave etc., or its any combinations.
Sensor-based system 40 in Fig. 1 can be the three-dimensional (3D) for measuring the spatial relationship between action component 31 and workpiece 20
Sensor-based system (such as 3D cameras, 3D sensing heads or 3D tracking systems)；It will be explained in detail later, this can have energy by providing
The action component 31 and workpiece 20 tracked by sensor-based system 40, along with the predetermined 3D information of action component 31 and workpiece 20 is come
Complete.
Display system 50 is used for showing n bar information P1, P2...Pn, these information be selected from handheld device 30 condition of work,
Real time spatial relationship between the condition of workpiece 20, action component 31 and workpiece 20, and between action component 31 and workpiece 20
The spatial relationship preplaned, if action component 31 is relative to the predetermined track of workpiece 20.N is integer and n >=2.The n bars letter
Breath P1, P2...Pn can be expressed as image, symbol, numeral, chart, curve, form, text or its any combination.
In Fig. 1, display system 50 includes the first display 52 integrated with handheld device 30 and divided with handheld device 30
From second display 56.It is appreciated that the first display 52 can also separate with handheld device 30, and with handheld device 30 it
Between there is a beeline Dmin1, Dmin1 to be less than 30 centimetres, 20 centimetres, 10 centimetres or 5 centimetres.For example, when first display
When device 52 is attached or bonded to handheld device 30, Dmin1=0.As known to geometry technical staff, hand-held as 3D objects sets
Standby 30 can be considered as being made up of m spatial point, and the first display 52 may be considered that and is made up of n bar spatial points, wherein often
Individual spatial point can be defined as concept point or preferably have the point (therefore not making m and n be unlimited number) of enough small sizes.
There to be the distance of m × n point-to-point, the minimum value in these m × n point-to-point distances is defined as Dmin1.Equally, should
Work as understanding, second display 56 there can be the beeline Dmin2 to handheld device, and Dmin2 is typically larger than first and shown
Show any distance between device 52 and handheld device 30, such as Dmin2 ＞ Dmin1.In certain embodiments, beeline
Dmin2 can be more than 100 centimetres, more than 200 centimetres, more than 300 centimetres or more than 400 centimetres.
First display 52 shows at least one information in above-mentioned n bars information, such as P2.Second display 56 is aobvious
Show at least one information in above-mentioned n bars information, such as P1, P3, P4... and Pn.
Fig. 2 is the block diagram for the method using operating system (or device) 100 as shown in Figure 1.In step 210,
Operating personnel grip the handheld device with action component, and control the handheld device so that the action component according to
Predetermined work plan is operated to workpiece.In step 220, sensor-based system is measured between the action component and the workpiece
Real time spatial relationship.This can be realized by tracking locus and the direction of the action component and the workpiece.
The workpiece can be expressed as the previously stored 3D rendering of the workpiece.In step 230, display system is shown has with operation
N bar information P1, P2...Pn of pass.The display system includes the first display and second display.First display with
The beeline Dmin1 of handheld device is less than 30 centimetres.For example, when first display connects or be attached to handheld device
When, Dmin=0.First display shows at least one information in the n bars information.The second display and institute
Handheld device is stated to separate and show at least one information in the n bars information.
Fig. 3 illustrates one exemplary embodiment of the present invention.With reference to figure 3, according to Fig. 1 and Fig. 2, dental operation system
100a is the example of the operating system 100 in Fig. 1, and used by such as dental operation doctor 10a operating personnel 10.Dentistry
Operative doctor 10a is prepared for the drill core for being placed on dental implant on such as jawbone 20a workpiece 20.Handheld device
30 be dental burr 30a.The action component 31 of handheld device 30 is illustrated as dental burr 30a drill bit 31a.
In figure 3, sensing system 40a measures the spatial relationship between dental burr 30a and jawbone 20a.Display system 50a quilts
It is designed as showing n bar information P1, P2...Pn, n bars information is selected from dental drill 30a condition of work, jawbone 20a condition, tooth
30a 3D rendering, jawbone 20a 3D rendering, the real time spatial relationship between drill bit 31a and jawbone 20a, and drill bit bore in section
The spatial relationship preplaned between 31a and jawbone 20a, wherein n are integers, n >=2.N bars information P1, P2...Pn can
To be expressed as image, symbol, numeral, chart, curve, form, text or its any combination.
In figure 3, display system 50a includes and dental drill 30a the first display 52a integrated and and dental drill
The second display 56a of 30a separation.It will be appreciated, however, that the first display 52a, which can have to handheld device, is less than 30 lis
The beeline Dmin1a of rice.For example, when the first display 52a connections or when being attached to handheld device 30a, Dmin1a=
0。
In normal operating, second display 56a is placed in the top of operative doctor 10a heads.The first display 52a shows
Show at least one information in the n bars information.The second display 56a is shown in above-mentioned n bars information extremely
Few information.Described two " at least one information " can be with identical or different.
Generally, second display 56a size or viewing area are bigger at least 50 times than the first display 52a.In some realities
Apply in example, second display 56a size or viewing area can be bigger at least 100 times, at least 200 times than the first display 52a
Or even at least 300 times.For example, the first display 52a can have square, circular or rectangular shape.First display 52a
Maximum linear dimension can be in the range of 0.5 inch to 5 inches, such as 0.8 inch to 3 inches, or 1 inch to 2 inches.
Beeline between first display 52a center and dental drill 30a tip can be at 0.5 inch to 10 inches
In the range of, such as 1 inch to 8 inches, or 2 inches to 4 inches.
In boring procedure, for the sake of security, on the one hand operative doctor 10a must be noted that the bore portion of patient's jawbone
Position, on the other hand, observe or read n bar information P1, P2...Pn being shown in above system 50a.N bar information usually requires not
Same observed frequency.For example, operative doctor is per second may to need to read some information, and every one minute or every 5 minutes read
Other information.That is, operative doctor 10a need respectively with F1, F2... and Fn observed frequency observation n bar information P1,
P2...Pn。
In the prior art, operating room is equipped only with similar second display 56a display, and dental burr does not have
Similar first display 52a display.Result is that all information will be merely displayed on second display 56a.If operation doctor
Raw 10a needs to observe the boring sites in curing on patient's jawbone and second display 56a, then he must be by with maximum observed frequency
F1, F2... and Fn move up and down head to keep the change in its visual field.This strict requirements make doctor 10a it is nervous and
Pressure, and the possibility of maloperation is added, this may result in the irremediable loss of jawbone to patient, or perform not
Good drilling plan.
In a preferred embodiment according to the present invention, the first display 52a at least shows the letter for needing maximum observed frequency
Breath.Display 52a is integrated with dental burr 30a, therefore the bore position on patient proximate's jawbone.Patient's jawbone and the first display
Bore position on device 52a is all in the operative doctor 10a essentially identical visual field.Second display 56a is not or not the visual field
It is interior.The visual field (and vision zone) is the scope in the observable world that any given time is seen.
If operative doctor 10a needs to observe the boring sites in curing on patient's jawbone and the first display 52a, need not lead to
Cross and head is moved up and down with maximum observed frequency F1, F2... and Fn to change its visual field.Boring sites in curing and display are monitored when simultaneously
During device 52a, operative doctor 10a can need or need not can move his or her eyeball.Therefore, operative doctor 10a is only needed
Change his visual field and move up and down his head and second display 56a is read with much lower frequency.Do not showing
In the case of device 52a, display 56a observed frequency can be more than 2 times of the observed frequency that display 52a be present, 5 times with
It is upper, more than 10 times or more.The technical advantage obtained from this function includes ergonomic designs, property simple to operate,
Processing safety is improved, productivity ratio is improved and improves efficiency etc..
For example, the first display 52a can show the dynamic or real time spatial relationship between drill bit 31a and jawbone 20a, phase
For the curve map of the associated scheduled operation plan of the spatial relationship operated on jawbone 20a.Fig. 4 is the first display 52a
On illustrative diagram, show boring directions of the drill bit 31a relative to the boring direction preplaned.With reference to figure 4, region
410 be the safety zone for boring jawbone.In region 410, plan implant at position 420, therefore in border circular areas 430
Place's plan bore position.In surgical operation, drill bit 31a physical location is represented as border circular areas 440.Work as border circular areas
440 not in border circular areas 430 when, operative doctor can adjust and correct bore 30a position so that border circular areas 440 is in circle
In shape region 430, preferably border circular areas 440 and border circular areas 430 is concentric.
Fig. 5 shows two exemplary patterns being respectively displayed on display 52a and 56a, shows that drill bit 31a is relative
In the drill bit 31a drilling depth for preplaning drilling depth.In display 56a, it is contemplated that the healthy tooth around many
21a, drilling depth 35 are preplaned on jawbone 20a.Drill bit 31a physical location it is relative with the drilling depth 35 of plan or
Shown with comparing.When drilling depth reaches desired value, operative doctor can stop drill bit 31a and further creep into jawbone
20a.In order to facilitate operative doctor 10a, reproduction display display 56a is most important in the first display 52a of dental drill
Part (in encircled and require higher observed frequency).The part provides Quick Reference for operative doctor, and
Any head movement is not needed.
So-called " n bars information " should cover extensively information, as long as they are related to operation, and operation should be given
Personnel and Ta assistant.The example of n bar information can include the exact knowledge of the bone topology of jawbone.Such information can be from
Such as obtained in the panorama of the jaw of computer generation and the CT scan of inclination radiation, it provides the shape of cross section of jaw, with 1: 1
Ratio is throughout whole dental arch.
The concept of " spatial relationship " is related to the analysis geometry or flute of each point described by three coordinates in three dimensions
Karr geometry.Three reference axis are provided, each reference axis is handed in origin perpendicular to two other reference axis, the origin for them
The point of fork.They are respectively labeled as x, y and z.Relative to these axles, the position of any point in three dimensions is by orderly three
Real number provides, and each numeral provides the point and the distance along the origin to dead axle measurement, and the distance arrives two other equal to the point
The distance of plane determined by axle.In addition to cartesian coordinate system, other coordinate systems can also be used for convenience, for example, it is round
Cylindrical coordinate and spheric coordinate system etc..
As shown schematically in Figure 6, it can be used for the present invention (if applicable) for the known technology of 3D imagings and 3D tracking.
It is, for example, possible to use determine that registration apparatus or the mark 61 of data are schemed to obtain jawbone 20a 3D for obtaining the position of jawbone
Picture.Jawbone can be imaged by such as CT or MRI any 3D imaging devices 62.Registration apparatus or mark 61 include such as metal material
The suitable material of material, it is clearly illustrated on CT and MRI image.Calling mechanism 61 can be inserted into a manner of reproducible into
Row scanning when patient's mouth in, and during scanning by its position registration on image.For example, can be by dental field
Registration apparatus or mark 61 are maintained in mouth by the method known, clamping plate is adhered on the tooth of patient by adhesive.
The position and direction for boring 30a and drill bit 31a are provided to sensing system 40a by the first tracks of device 63, for example,
The LED being attached on drill body.For example, drill body or drillstock can be equipped with multiple LED emitters, it is radiated by sensing system 40a
Tracking.These LED position can pass through triangulation tracking and e measurement technology or any other suitable tracking and measurement skill
Art tracks so that it is known all the time to bore 30a, particularly drill bit 31a locus and direction.Term " tracks of device " should
When being widely understood to include any type of sensor device, it can be used to provide relevant such as drill bit 30a, drill bit
The 3-D information of the position of 31a and jawbone 20a tracking body.
Similarly, just drilled jawbone 20a position and direction also by the second tracks of device 64 (for example, LED)
Sensing system 40a is supplied to, its position limits relative to the jawbone or jawbone of patient.Due to the first tracks of device 63 and second with
The function of track device 64, boring 30a, drill bit 31a, jawbone 20a and the actual position of a related tooth or multiple teeth can be by sensing
System 40a is spatially definitely tracked.
The spatial relationship of restriction between second tracks of device 64 and the jawbone 20a of patient can use any of side
Method is established, and is used in CT or MRI scan or without using registration apparatus or mark 61 as " centre " reference.If without using
Registration apparatus or mark 61, then the second tracks of device 64 must have and jawbone 20a predefined and fixed space and angle
Relation.If using registration apparatus or mark 61, the second tracks of device 64 can be initially set up and registration apparatus or mark 61
Fixation space and angular relationship, the registration apparatus or mark with and jawbone 20a predefined and fixed space and angle
Degree relation.Those skilled in the art can calculate the space of the fixation between the second tracks of device 64 and jawbone 20a and angle is closed
System.This correlation make it that virtual world CT or MRI scan are related to jawbone/anatomical dental structure of real world, and it can be with
Tracked by system 40a in real time by the second tracks of device 64.
After patient is scanned by CT or MRI imaging systems, image based on data is shown and is sent to sensing system
Unite 40a, to be used by dentist in the program to be carried out is performed.The CT or MRI image data by sensing system 40a with
The information that the position of dental burr and patient's jawbone generates in real time is associated, and both constantly change such as motion.Therefore, bore
30a positions can be overlapped with space and angle precision on the image on the display system 50a of patient's jawbone and tooth.Therefore,
Display system 50a (on 52a, 56a or both) can provide drill bit to dentist 10a in any time during drilling and exist
Continuous, the real-time and three-dimensional image program of position and direction in jawbone.Between implantation plan and actual operation performance
There should be optimal correlation, accurately place insert.
Fig. 7 a), Fig. 7 (b) and Fig. 7 (c) method for further illustrating display drill bit and patient's jawbone spatial relation.
As shown in the drawing, the relation of drill bit ideal position and physical location provides drill bit or the due movement side of operation tool to doctor
To feedback.Fig. 4 is copied to Fig. 7 (a), and adds the arrow 710 of drill bit moving direction.
Fig. 7 (b) illustrate patient teeth 720 in actual scene, ideal drill bit position 730, actual bit location 740,
760 and the display 750 being integrated on 750 are bored in plantation.Display 750 shows the ideal position 730 and physical location of drill bit
Relation between 740.Fig. 7 (c) illustrates same scene, but plants and bore 760 on a different direction.This is to consider
The orientation bored to the hand-held plantation of doctor may be different.Compare Fig. 7 (b) and 7 (c) is visible, the display of figure does not follow display
Orientation, it is but consistent with world coordinate system all the time.In other words, when plantation, which is bored, is biased to another orientation from an orientation
Wait, the display content of display 750 is rotating relative to display, so as to ensure correctly to provide head moving direction for doctor
Feedback.
Here in terms of function and/or logical block components and it can refer to what can be performed by various computation modules or equipment
The symbol of operation, processing task and function is represented to describe technique and technology.These operation, task and functions are sometimes referred to as counted
The execution of calculation machine, computerization, computing device, software realization or computer are realized.It should be appreciated that various pieces shown in accompanying drawing
Component can be realized by being configured as performing any amount of hardware, software and/or the fastener components of specified function.Example
Such as, the control system of an embodiment or control unit can use various such as memory components, Digital Signal Processing element, logic
The integrated circuit packages such as element, inquiry table, they can be in the control of one or more microprocessors or other control devices
Lower operation various functions.
When being realized in software or firmware, the various elements of system described herein are substantially when by one or more
Processor device makes the code segment or executable instruction of the various tasks of host computing system execution when performing.In some embodiments
In, program or code segment are stored in tangible processor readable medium, and it can include storing or transmitting information
Any medium.The example of the suitable form of non-transitory and processor readable medium include electronic circuit, semiconductor storage unit,
ROM, flash memory, erasable ROM (EROM), floppy disk, CD-ROM, CD, hard disk etc..
In specification above, embodiments of the invention are described with reference to many details, it can be from reality
Now arrive realization and change.Therefore, the specification and drawings should be considered as illustrative and not restrictive.The scope of the invention
Unique and exclusive instruction, and the scope of the invention that applicant is intended to, are the one group of claims listed from the application
Word and equivalency range, its concrete form are this kind of claims, including any follow-up corrigendum.
Claims (20)
1. a kind of operating system that workpiece is operated for operating personnel, including：
The handheld device held for operating personnel, wherein the handheld device is included under the control of operating personnel in the work
The action component to be worked on part；
Sensor-based system, it measures the spatial relationship between the action component and the workpiece；
For showing the display system of n bar information P1, P2...Pn, the n bars information is selected from the work bar of the handheld device
Part, the condition of the workpiece, the 3D rendering of the handheld device, the 3D rendering of the workpiece, the action component and the work
The spatial relationship preplaned between part between real time spatial relationship and the action component and the workpiece, wherein n are
Integer, and n >=2；
Wherein described display system includes：First display, first display and the beeline of the handheld device
Dmin1 is less than 30 centimetres；And the second display separated with the handheld device；
Wherein described first display shows at least one information in the n bars information；And
Wherein described second display shows at least one information in the n bars information.
A kind of 2. operating system that workpiece is operated for operating personnel according to claim 1, wherein the action component
Mechanical part selected from drill bit, grinding machine, grinder or blade, electromagnetic radiation, laser beam, liquid flow, gas stream or ultrasonic wave.
3. a kind of operating system that workpiece is operated for operating personnel according to claim 1, wherein the n bars information P1,
P2...Pn is expressed as image, symbol, numeral, chart, curve, form, text or its any combination.
A kind of 4. operating system that workpiece is operated for operating personnel according to claim 1, wherein first display
Device is virtual monitor.
A kind of 5. operating system that workpiece is operated for operating personnel according to claim 4, wherein the operating system
It is dental operation system, first display integrates with the handheld device, and the handheld device is dental burr.
A kind of 6. operating system that workpiece is operated for operating personnel according to claim 5, wherein the handheld device
The action component be the dental burr drill bit.
7. a kind of operating system that workpiece is operated for operating personnel according to claim 6, wherein, the operating personnel
Need to observe n bars information P1, P2...Pn respectively with F1, F2... and Fn observed frequency；And
Wherein described first display at least shows the information for needing maximum observed frequency.
8. a kind of operating system that workpiece is operated for operating personnel according to claim 7, wherein, it is described to need highest
The information of observed frequency is to show that the dynamic space relation between the drill bit and the jawbone is relative in the jawbone
The schematic diagram of the scheduled operation plan of upper operation.
9. a kind of operating system that workpiece is operated for operating personnel according to claim 8, wherein, shown on display
The schematic diagram of the reflection dynamic controlware relation do not change with the change in location of displays and orientation, but and world coordinates
System is consistent.
A kind of 10. operating system that workpiece is operated for operating personnel according to claim 8, wherein described need highest
The information of observed frequency is to show the relative schematic diagram for preplaning bore direction of bore direction of the drill bit.
A kind of 11. operating system that workpiece is operated for operating personnel according to claim 8, wherein described need highest
The information of observed frequency is that the relatively described drill bit of the drilling depth for showing the drill bit preplans drilling depth schematic diagram.
12. a kind of method operated on workpiece, including：
(i) handheld device is provided for operating personnel, wherein the handheld device is included under the control of operating personnel in the work
The action component to be worked on part；
(ii) spatial relationship between the action component and the workpiece is measured with sensor-based system；
(iii) display system for showing n bar information P1, P2...Pn is provided, the n bars information is selected from the work of handheld device
Make condition, the condition of the workpiece, the 3D rendering of the handheld device, the 3D rendering of the workpiece, the action component and institute
The spatial relationship preplaned between real time spatial relationship and the action component and the workpiece between workpiece is stated, wherein
N is integer, n >=2；And wherein described display system includes：First display, first display and the handheld device
Beeline Dmin1 is less than 30 centimetres；And the second display separated with the handheld device；
(iv) at least one information of the display in the n bars information on first display；And
(v) at least one information of the display in the n bars information on the second display.
A kind of 13. method operated on workpiece according to claim 12, wherein the action component is selected from drill bit, mill
Machine, grinder or blade, electromagnetic radiation, laser beam, liquid flow, the mechanical part of gas stream or ultrasonic wave.
A kind of 14. method operated on workpiece according to claim 12, wherein n bars information P1, the P2...Pn table
It is shown as image, symbol, numeral, chart, curve, form, text or its any combination.
A kind of 15. method operated on workpiece according to claim 12, wherein the handheld device is in dentistry hand
Dental burr in art system；And the action component of the handheld device is the drill bit of the dental burr.
A kind of 16. method operated on workpiece according to claim 15, wherein the workpiece is jawbone；And the jaw
The 3D rendering of bone is CT or MRI image.
17. a kind of method operated on workpiece according to claim 16, wherein, the operating personnel need respectively with
F1, F2... and Fn observed frequency observe n bars information P1, P2...Pn；And
Wherein described first display at least shows the information for needing maximum observed frequency.
18. a kind of method operated on workpiece according to claim 17, wherein, the maximum observed frequency that needs
Information is to show that the dynamic space relation between the drill bit and the jawbone is relative predetermined for what is operated on the jawbone
The schematic diagram of operation planning.
19. a kind of method operated on workpiece according to claim 17, wherein, the maximum observed frequency that needs
Information is to show the relative schematic diagram for preplaning boring direction of boring direction of the drill bit.
20. a kind of method operated on workpiece according to claim 17, wherein the maximum observed frequency that needs
Information is the schematic diagram for preplaning drilling depth for the relatively described drill bit of drilling depth for showing the drill bit.
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| WO2023118999A1 (en) * | 2021-12-20 | 2023-06-29 | Biosense Webster (Israel) Ltd. | Method and system for selectively cloning computer display monitors |
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| CN103339468A (en) * | 2010-12-06 | 2013-10-02 | 3形状股份有限公司 | System with 3D user interface integration |
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| CN107833625B (en) | 2022-04-15 |
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