CN108784852B

CN108784852B - Drilling control system and method for dental implant

Info

Publication number: CN108784852B
Application number: CN201810652550.XA
Authority: CN
Inventors: 王利峰; 沈晨; 刘洪澎
Original assignee: Yake Wisdom Beijing Technology Co ltd
Current assignee: Yake Wisdom Beijing Technology Co ltd
Priority date: 2018-06-22
Filing date: 2018-06-22
Publication date: 2020-10-16
Anticipated expiration: 2038-06-22
Also published as: CN108784852A

Abstract

The invention provides a dental drilling control system and a method, wherein the system comprises: the robot comprises a robot controller, mechanical arms, a force sensor, an oral planter, a force sensor collector and an industrial personal computer; the oral implanting machine is driven by the mechanical arm to perform tooth drilling operation; the force sensor is used for acquiring the drilling force of the oral planter in real time in the process of drilling the planting teeth by the oral planter; the industrial personal computer calculates the drilling feeding speed and the motor rotating speed according to the drilling force acquired by the force sensor in real time, so that the robot controller controls the mechanical arm to adjust the drilling feeding speed, and the motor controller controls the motor on the oral planter to adjust the motor rotating speed. According to the invention, the drilling feeding speed and the motor rotating speed of the mechanical arm are automatically controlled according to the drilling force information fed back by the force sensor, so that safe and reliable automatic drilling is realized.

Description

Drilling control system and method for dental implant

Technical Field

The invention relates to the technical field of medical robots, in particular to a dental drilling control system and method.

Background

In the traditional dental implant operation, a doctor holds an implant machine to manually control drilling feeding, and experienced stomatologists can determine information such as feeding speed and force according to hand feeling during drilling.

Human bone is classified into compact bone and cancellous bone according to relative density: compact texture of compact bone, strong compression resistance and distortion resistance, and is mainly distributed on the surface of the bone; the spongy bone is sparse and spongy and is mainly distributed in the bone. Different people have different bone qualities, the bone quantity and the bone structure greatly change in the growth period, the bone structure is kept relatively static in the adult period, and the bone structure is degraded to the old period, so that the stress condition of a drill bit is closely related to the bone structure in the drill bit in the drilling process, and the drilling force changes approximately as shown in figure 1:

(1) when the electric drill is fed to meet a first cortical wall (mainly composed of compact bone), the resistance is increased, the drilling force is gradually increased, and when the first cortical wall is broken through and enters the cancellous bone, the resistance is reduced, and the drilling force is suddenly reduced;

(2) after the drill bit enters the cancellous bone, the resistance is smaller than that when the drill bit drills the first layer, and the drilling force can be maintained to fluctuate at a relatively stable level;

(3) the resistance is increased after the continuous feeding meets the second layer of cortical wall, the drilling force is increased, and the drilling force is suddenly reduced when the drill is drilled through.

In the robot-assisted dental implant surgery, since there is no manual intervention by a dentist as in the conventional dental implant surgery, there is a need to provide an intelligent control system to ensure safety and reliability in the robot-assisted dental implant procedure.

Disclosure of Invention

Aiming at the defects in the prior art, the invention provides a dental drilling control system and a dental drilling control method.

In order to achieve the purpose, the invention provides the following technical scheme:

in a first aspect, the present invention provides a dental drilling control system comprising: the robot comprises a robot controller, mechanical arms, a force sensor, an oral planter, a force sensor collector and an industrial personal computer; wherein, the oral planter is driven by the mechanical arm to perform tooth drilling operation;

the force sensor is arranged between the mechanical arm and the oral planter and is used for acquiring the drilling force of the oral planter in real time in the process of drilling the dental implant by the oral planter;

the force sensor collector is used for reading the drilling force collected by the force sensor in real time and sending the drilling force to the industrial personal computer;

the industrial computer is according to the drilling force that the real-time collection of force sensor calculates first drilling feed speed and first motor speed to send the first drilling feed speed that obtains for robot controller, so that robot controller is right the arm is controlled in order to realize the adjustment of drilling feed speed, and send the first motor speed that obtains for motor controller on the oral cavity planter, so that motor controller is right motor on the oral cavity planter controls in order to realize the adjustment of motor speed.

Further, the industrial computer according to the real-time drilling force of gathering of force sensor calculates first drilling feed speed and first motor speed, and send the first drilling feed speed who obtains for robot controller, so that robot controller is right the arm is controlled in order to realize the adjustment of drilling feed speed, and send the first motor speed who obtains for motor controller on the oral cavity planter, so that motor controller is to motor on the oral cavity planter controls in order to realize the adjustment of motor speed, includes:

the industrial personal computer calculates the drilling force mean value f in each control period according to the drilling force acquired by the force sensor in real time, and determines the fuzzy strength level corresponding to the drilling force mean value f;

the industrial personal computer queries a preset first fuzzy control table of feeding speed according to the fuzzy strength grade corresponding to the drilling force mean value f to obtain a first fuzzy drilling feeding speed grade corresponding to the fuzzy strength grade;

the industrial personal computer queries a preset first motor rotating speed fuzzy control table according to the fuzzy strength grade corresponding to the drilling force mean value f to obtain a first fuzzy motor rotating speed grade corresponding to the fuzzy strength grade;

the industrial personal computer obtains a first drilling feeding speed corresponding to the first fuzzy drilling feeding speed grade according to the first fuzzy drilling feeding speed grade and obtains a first motor rotating speed corresponding to the first fuzzy motor rotating speed grade according to the first fuzzy motor rotating speed grade;

the industrial personal computer sends the obtained first drilling feed speed to the robot controller so that the robot controller controls the mechanical arm in a corresponding control period to realize the adjustment of the drilling feed speed, and sends the obtained first motor rotating speed to the motor controller on the oral cavity implanter so that the motor controller controls the motor on the oral cavity implanter in the corresponding control period to realize the adjustment of the motor rotating speed.

the industrial personal computer calculates the drilling force mean value f in each control period according to the drilling force acquired by the force sensor in real time, and determines the fuzzy strength corresponding to the drilling force mean value f;

the industrial personal computer queries a first feeding speed fuzzy lookup table calculated in an off-line mode according to the fuzzy dynamics corresponding to the drilling force mean value f so as to obtain a first drilling feeding speed corresponding to the fuzzy dynamics;

the industrial personal computer queries a first motor rotating speed fuzzy lookup table calculated in an off-line mode according to the fuzzy strength of the drilling force mean value f so as to obtain a first motor rotating speed corresponding to the fuzzy strength; the industrial personal computer sends the obtained first drilling feed speed to the robot controller so that the robot controller controls the mechanical arm in a corresponding control period to realize the adjustment of the drilling feed speed, and sends the obtained first motor rotating speed to the motor controller on the oral cavity implanter so that the motor controller controls the motor on the oral cavity implanter in the corresponding control period to realize the adjustment of the motor rotating speed.

Further, the industrial personal computer is also used for receiving age information of the patient;

correspondingly, the industrial computer specifically is used for calculating second drilling feed speed and second motor speed according to patient age information and the drilling power that the force sensor gathered in real time to the second drilling feed speed that will obtain sends for robot controller, so that robot controller is right the arm is controlled in order to realize the adjustment of drilling feed speed, and sends the second motor speed that obtains for motor controller on the oral cavity planter, so that motor controller is right motor on the oral cavity planter controls the adjustment in order to realize motor speed.

Further, the industrial computer specifically is used for calculating second drilling feed speed and second motor speed according to patient age information and the drilling force that the real-time collection of force sensor to give the second drilling feed speed that will obtain robot controller, so that robot controller is right the arm is controlled in order to realize the adjustment of drilling feed speed, and give the second motor speed that will obtain motor controller on the oral cavity planter, so that motor controller is right motor on the oral cavity planter controls the adjustment in order to realize motor speed, includes:

the industrial personal computer determines a fuzzy age level corresponding to the age of the patient according to the age information of the patient;

the industrial personal computer queries a preset second fuzzy control table of feeding speed according to the fuzzy strength level corresponding to the drilling force mean value f and the fuzzy age level corresponding to the patient age so as to obtain a second fuzzy drilling feeding speed level corresponding to the fuzzy strength level and the fuzzy age level;

the industrial personal computer queries a preset second motor rotating speed fuzzy control table according to the fuzzy strength level corresponding to the drilling force mean value f and the fuzzy age level corresponding to the patient age so as to obtain a second fuzzy motor rotating speed level corresponding to the fuzzy strength level and the fuzzy age level;

the industrial personal computer obtains a second drilling feeding speed corresponding to the second fuzzy drilling feeding speed grade according to the second fuzzy drilling feeding speed grade and obtains a second motor rotating speed corresponding to the second fuzzy motor rotating speed grade according to the second fuzzy motor rotating speed grade;

the industrial personal computer sends the obtained second drilling feed speed to the robot controller so that the robot controller controls the mechanical arm in a corresponding control period to realize adjustment of the drilling feed speed, and sends the obtained second motor rotating speed to the motor controller on the oral cavity implanter so that the motor controller controls the motor on the oral cavity implanter in the corresponding control period to realize adjustment of the motor rotating speed.

the industrial personal computer determines a fuzzy age corresponding to the age of the patient according to the age information of the patient;

the industrial personal computer inquires a second feeding speed fuzzy inquiry table calculated in an off-line mode according to the fuzzy strength corresponding to the drilling force mean value f and the fuzzy age corresponding to the patient age so as to obtain a second drilling feeding speed corresponding to the fuzzy strength and the fuzzy age;

the industrial personal computer queries a second motor rotating speed fuzzy lookup table calculated in an off-line mode according to the fuzzy strength of the drilling force mean value f and the fuzzy age of the user to obtain a second motor rotating speed corresponding to the fuzzy strength and the fuzzy age;

In a second aspect, the present invention also provides a dental drilling control method, including:

collecting the drilling force in the drilling operation process of the tooth in real time;

the method comprises the steps of acquiring a first drilling feeding speed and a first motor rotating speed according to drilling force acquired in real time, and adjusting the drilling feeding speed and the motor rotating speed according to the acquired first drilling feeding speed and the acquired first motor rotating speed.

Further, the method further comprises:

receiving patient age information;

correspondingly, a second drilling feeding speed and a second motor rotating speed are obtained according to the drilling force acquired in real time and the patient age information, and the drilling feeding speed and the motor rotating speed are adjusted according to the obtained second drilling feeding speed and the second motor rotating speed.

In a third aspect, the present invention also provides an electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the dental drill control method according to the second aspect when executing the program.

In a fourth aspect, the present invention also provides a computer-readable storage medium having stored thereon a computer program which, when being executed by a processor, carries out the steps of the dental drill control method according to the second aspect.

According to the above technical solution, the present invention provides a dental drilling control system, comprising: the robot comprises a robot controller, mechanical arms, a force sensor, an oral planter, a force sensor collector and an industrial personal computer; the oral planter is driven by the mechanical arm to perform tooth drilling operation; the force sensor is arranged between the mechanical arm and the oral planter and is used for acquiring the drilling force of the oral planter in real time in the process of drilling the dental implant by the oral planter; the force sensor collector is used for reading the drilling force collected by the force sensor in real time and sending the drilling force to the industrial personal computer; the industrial computer is according to the drilling force that the real-time collection of force sensor calculates first drilling feed speed and first motor speed to send the first drilling feed speed that obtains for robot controller, so that robot controller is right the arm is controlled in order to realize the adjustment of drilling feed speed, and send the first motor speed that obtains for motor controller on the oral cavity planter, so that motor controller is right motor on the oral cavity planter controls in order to realize the adjustment of motor speed. Therefore, the drilling feeding speed and the motor rotating speed of the mechanical arm are automatically controlled according to the drilling force information fed back by the force sensor, safe and reliable automatic drilling can be realized, and the reliability of the operation can be improved.

Drawings

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

FIG. 1 is a schematic diagram of the relationship between the stress on the drill and the bone structure during drilling;

FIG. 2 is a schematic structural diagram of a dental drilling control system according to an embodiment of the present invention;

FIG. 3 is a schematic diagram of the composition of a fuzzy control system;

FIG. 4 is a plot of the universe of discourse of drilling force f on a fuzzy set and the corresponding fuzzy strength level;

FIG. 5 is a diagrammatic illustration of a universe of patient ages over a fuzzy set and corresponding fuzzy age levels;

FIG. 6 is a plot of borehole feed rate against fuzzy sets and corresponding fuzzy borehole feed rate levels;

FIG. 7 is a plot of motor speed over a fuzzy set and corresponding fuzzy motor speed levels;

FIG. 8 is a schematic diagram of the fuzzy control system;

FIG. 9 is a flow chart of a method for controlling drilling of a tooth according to another embodiment of the present invention;

fig. 10 is a schematic structural diagram of an electronic device according to yet another embodiment of the present invention.

Detailed Description

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

An embodiment of the present invention provides a dental drilling control system, see fig. 2, comprising: the robot comprises a robot controller 1, a mechanical arm 2, a force sensor 3, an oral planter 4, a force sensor collector 6 and an industrial personal computer 7; 5 in the figure indicates the patient; wherein, the oral planter 4 is driven by the mechanical arm 2 to perform tooth drilling operation;

the force sensor 3 is arranged between the mechanical arm 2 and the oral planter 4 and is used for collecting the drilling force of the oral planter 4 in real time in the process of drilling the planting teeth by the oral planter 4;

the force sensor collector 6 is used for reading the drilling force collected by the force sensor 3 in real time and sending the drilling force to the industrial personal computer 7;

the industrial computer 7 is according to the drilling force that force sensor 3 gathered in real time calculates first drilling feed speed and first motor speed to send the first drilling feed speed that obtains for robot controller 1, so that robot controller 1 is right arm 2 controls in order to realize the adjustment of drilling feed speed, and send the first motor speed that obtains for motor controller on the oral cavity planter 4, so that motor controller is right motor on the oral cavity planter 4 controls in order to realize the adjustment of motor speed.

As can be seen from the above description, the present embodiment provides a dental drilling control system, including: the robot comprises a robot controller, mechanical arms, a force sensor, an oral planter, a force sensor collector and an industrial personal computer; the oral planter is driven by the mechanical arm to perform tooth drilling operation; the force sensor is arranged between the mechanical arm and the oral planter and is used for acquiring the drilling force of the oral planter in real time in the process of drilling the dental implant by the oral planter; the force sensor collector is used for reading the drilling force collected by the force sensor in real time and sending the drilling force to the industrial personal computer; the industrial computer is according to the drilling force that the real-time collection of force sensor calculates first drilling feed speed and first motor speed to send the first drilling feed speed that obtains for robot controller, so that robot controller is right the arm is controlled in order to realize the adjustment of drilling feed speed, and send the first motor speed that obtains for motor controller on the oral cavity planter, so that motor controller is right motor on the oral cavity planter controls in order to realize the adjustment of motor speed. It can be seen that this embodiment can realize safe and reliable's automatic drilling according to drilling force information and the drilling feed rate and the motor speed of patient's age information automatic control arm of force sensor feedback, and then can improve the reliability of operation.

In a preferred embodiment, the industrial personal computer 7 calculates a first drilling feed speed and a first motor rotation speed according to the drilling force acquired by the force sensor 3 in real time, and sends the obtained first drilling feed speed to the robot controller 1, so that the robot controller 1 controls the mechanical arm 2 to adjust the drilling feed speed, and sends the obtained first motor rotation speed to the motor controller on the oral planter 4, so that the motor controller controls the motor on the oral planter 4 to adjust the motor rotation speed, including:

the industrial personal computer 7 calculates a drilling force mean value f in each control period according to the drilling force acquired by the force sensor 3 in real time, and determines a fuzzy strength level corresponding to the drilling force mean value f;

for example, referring to fig. 4, the range of variation of the drilling force mean f is defined as the domain of discourse on the fuzzy set: {0,1,2,3,4,5,6,7,8 }; the fuzzy is in five stages, the corresponding fuzzy quantity is expressed by fuzzy language, the fuzzy subset is { VS, S, M, B, VB }, wherein, the degree of relative magnitude of each element respectively expressing the value is: small, moderate, large, very large.

The industrial personal computer 7 queries a preset first feeding speed fuzzy control table according to the fuzzy strength grade corresponding to the drilling force mean value f to obtain the fuzzy drilling feeding speed grade corresponding to the fuzzy strength grade;

it can be understood that the preset first feeding speed fuzzy control table stores therein more suitable and safe fuzzy drilling feeding speed levels respectively corresponding to the fuzzy strength levels, which are obtained in advance through experiments or fuzzy operations and reasoning.

For example, referring to fig. 6, the range of variation of the drill feed speed V is defined as the domain of argument on the fuzzy set: -4, -3, -2, -1,0,1,2,3,4 }; the blurring is in five stages, and the corresponding blurring amount is expressed by a blurring language, and the blurring subset is { NM, NS, ZO, PS, PM }, where each element respectively expresses the degree of relative magnitude of its value as: negative middle, negative small, zero, positive small, middle.

For example, referring to the first feeding speed fuzzy control table shown in table 1, the first feeding speed fuzzy control table shown in table 1 is queried according to the fuzzy strength level corresponding to the drilling force mean value f to obtain the first fuzzy drilling feeding speed level corresponding to the fuzzy strength level. For example, if the drilling force "VS", the drilling feed speed is "PM".

The industrial personal computer 7 queries a preset first motor rotating speed fuzzy control table according to the fuzzy strength grade corresponding to the drilling force mean value f to obtain a first fuzzy motor rotating speed grade corresponding to the fuzzy strength grade;

it can be understood that the preset fuzzy control table for the motor speed stores more suitable and safe fuzzy motor speed levels which are obtained in advance through experiments or fuzzy operation and reasoning and respectively correspond to the fuzzy dynamics levels.

Referring to fig. 7, the variation range of the motor speed N is defined as the domain on the fuzzy set: {0,1,2,3,4,5,6,7,8 }; the fuzzy is in five stages, the corresponding fuzzy quantity is expressed by fuzzy language, the fuzzy subset is { VS, S, M, B, VB }, wherein, the degree of relative magnitude of each element respectively expressing the value is: small, moderate, large, very large.

For example, referring to the first motor rotation speed fuzzy control table shown in table 2, the first motor rotation speed fuzzy control table shown in table 2 is queried according to the fuzzy strength level corresponding to the drilling force mean value f to obtain the first fuzzy motor rotation speed level corresponding to the fuzzy strength level. For example, if the drilling force "VS", then the motor speed is set to "VB".

The industrial personal computer 7 acquires a first drilling feeding speed corresponding to the first fuzzy drilling feeding speed grade according to the first fuzzy drilling feeding speed grade and acquires a first motor rotating speed corresponding to the first fuzzy motor rotating speed grade according to the first fuzzy motor rotating speed grade;

it will be appreciated that a certain amount must be used in the actual control procedure, and therefore the fuzzy amount (e.g. the first fuzzy drill feed speed level and the first fuzzy motor speed level) needs to be defuzzified.

It should be noted that the defuzzification process may be implemented by some defuzzification means commonly used in the prior art, and the present invention is not limited thereto.

After the defuzzification operation obtains the determined control quantity (the first drilling feed speed and the first motor rotation speed), the industrial personal computer 7 sends the obtained first drilling feed speed to the robot controller, so that the robot controller controls the mechanical arm in the corresponding control period to realize the adjustment of the drilling feed speed, and sends the obtained first motor rotation speed to the motor controller on the oral planter, so that the motor controller controls the motor on the oral planter in the corresponding control period to realize the adjustment of the motor rotation speed.

It will be appreciated that the fuzzification operation is preceded by a transformation of the actual input quantities into their domain, a process which typically uses a linear transformation. For example, if the actual input amount is x^*Within a range of variation of

If the required domain is [ x ]_min,x_max]The following linear transformation may be employed:

whereas discretizing or quantizing a continuous domain of discourse for a discrete domain of discourse may employ a rounding approach.

It will be appreciated that certain quantities in the fuzzy controller must be converted to a fuzzy quantity by the fuzzification process for fuzzy inference and control. Assuming that the membership function of each linguistic value is a triangular or trapezoidal function, a closer value to 1 indicates a higher degree of belonging to the element, and a closer value to 0 indicates a lower degree of not belonging to the element.

Referring to fig. 4, the range of variation of the drilling force mean f is defined as the domain on the fuzzy set: {0,1,2,3,4,5,6,7,8 }; the fuzzy is in five stages, the corresponding fuzzy quantity is expressed by fuzzy language, the fuzzy subset is { VS, S, M, B, VB }, wherein, the degree of relative magnitude of each element respectively expressing the value is: small, moderate, large, very large.

Referring to fig. 6, the range of variation of the drilling feed speed V is defined as the domain of argument on the fuzzy set: -4, -3, -2, -1,0,1,2,3,4 }; the blurring is in five stages, and the corresponding blurring amount is expressed by a blurring language, and the blurring subset is { NM, NS, ZO, PS, PM }, where each element respectively expresses the degree of relative magnitude of its value as: negative middle, negative small, zero, positive small, middle.

It can be understood that the key of the fuzzy controller is to propose a reasonable fuzzy control strategy based on experience, the fuzzy control strategy is formed by connecting a series of relation words, as shown in table 1 and table 2, and the form can be obtained as follows: if (F is VS) the (Vis PM) of (N is VB).

If (F is VS) the (V is PM) (N is VB) means: if the drilling force is "small", the drilling feed speed is set to "on-center" and the motor speed is set to "large". Here, large, small, and centered are all fuzzy concepts.

Here, the fuzzy control table of the feeding speed V is shown in table 1 below.

TABLE 1 fuzzy control table for first feeding speed

Here, the fuzzy control strategy for the motor speed N is shown in the following table.

TABLE 2 fuzzy control table for first motor speed

f	VS	S	M	B	VB
						N	VB	B	B	M	M

It can be understood that the fuzzy control strategy deduces the implied fuzzy relationship through fuzzy reasoning, carries out reasoning synthesis according to the fuzzy relationship and the input condition to obtain the output linguistic variable, and then converts the output linguistic variable into an accurate value which can be accepted by an execution mechanism through defuzzification operation.

A certain amount must be used in an actual control program, and thus the blur amount needs to be defuzzified. The deblurring adopts a common gravity center method, namely a weighted average method, and the value of each element is used as a weighting coefficient of the membership degree to calculate a weighted average value. The weighted average is the result obtained after defuzzification. Finally, the scaling is needed to be converted into actual control quantity to adapt to the control requirement. If the output z varies within a range of [ z ]_min,z_max]The actual controlled variable is varied within a range of [ u ]_min,u_max]If linear transformation is used, then

Where k is the scale factor of the linear transformation.

Referring to the schematic structural diagram of the fuzzy control system shown in FIG. 8, k in FIG. 8₁、k₂、k₃、k₄Scale factors for scaling; the function of the quantization in fig. 8 is to round the scaled continuous values to an integer number. Actual control quantity u_vControlling the mechanical arm to drill at a specified feeding speed; actual control quantity u_nThe rotational speed of the motor on the planter will be controlled.

It can be understood that, in order to save the overhead of program computation time and storage space and enhance the real-time performance of the system in practical applications, the fuzzification operation, the fuzzy inference and the sharpening operation are usually performed offline to obtain a fuzzy control output quantity lookup table (the online lookup table calculated by the fuzzy control system is shown in tables 3 and 4). In the control process, the output quantity is obtained by inquiring the output quantity table according to the fuzzified drilling force, and then the output quantity is converted into the actual control quantity through scaling.

Therefore, in a preferred embodiment, the industrial personal computer 7 calculates a first drilling feed speed and a first motor rotation speed according to the drilling force acquired by the force sensor in real time, and sends the obtained first drilling feed speed to the robot controller, so that the robot controller controls the mechanical arm to adjust the drilling feed speed, and sends the obtained first motor rotation speed to the motor controller on the oral implanter, so that the motor controller controls the motor on the oral implanter to adjust the motor rotation speed, including:

the industrial personal computer 7 calculates a drilling force mean value f in each control period according to the drilling force acquired by the force sensor in real time, and determines fuzzy strength corresponding to the drilling force mean value f;

the industrial personal computer 7 queries a first feeding speed fuzzy lookup table calculated off-line according to the fuzzy dynamics corresponding to the drilling force mean value f to obtain the drilling feeding speed corresponding to the fuzzy dynamics;

for example, referring to fig. 4, the range of variation of the drilling force mean f is defined as the domain of discourse on the fuzzy set: {0,1,2,3,4,5,6,7,8 }; the domain of contention described herein is understood to mean the ambiguity strength corresponding to the drilling force mean f, i.e., there are 9 ambiguity strengths corresponding to the drilling force mean f, which are {0}, {1}, {2}, {3}, {4}, {5}, {6}, {7}, and {8}, respectively.

Then, referring to the first feeding speed fuzzy lookup table shown in table 3, the drilling feeding speed corresponding to the fuzzy strength is obtained according to the first feeding speed fuzzy lookup table shown in table 3 corresponding to the drilling force mean value f. For example, if the drilling force mean f corresponds to a fuzzy strength of {0}, the first drilling feed speed corresponding to the fuzzy strength is 3.

The industrial personal computer 7 queries a motor rotating speed fuzzy lookup table calculated in an off-line mode according to the fuzzy strength of the drilling force mean value f to obtain a motor rotating speed corresponding to the fuzzy strength;

Then, referring to a first motor rotating speed N fuzzy lookup table shown in table 4, the motor rotating speed corresponding to the fuzzy strength is obtained according to the first motor rotating speed N fuzzy lookup table shown in table 4 corresponding to the drilling force mean value f. For example, if the drilling force mean value f corresponds to a fuzzy strength of {0}, the first motor speed corresponding to the fuzzy strength is 7.5.

The industrial personal computer 7 sends the obtained first drilling feed speed to the robot controller so that the robot controller controls the mechanical arm in a corresponding control period to realize the adjustment of the drilling feed speed, and sends the obtained first motor rotating speed to the motor controller on the oral cavity implanter so that the motor controller controls the motor on the oral cavity implanter in the corresponding control period to realize the adjustment of the motor rotating speed.

TABLE 3 fuzzy look-up table for first feed rate

f	0	1	2	3	4	5	6	7	8
										V	3.0	2.5	2.5	2.5	2.5	2.5	1.0	-1.0	-2.5

TABLE 4 fuzzy look-up table for first motor speed

f	0	1	2	3	4	5	6	7	8
										N	7.5	7.5	6.0	6.0	6.0	6.0	4.0	4.0	4.0

In a preferred embodiment, before the start of the tooth drilling operation, the industrial personal computer is used for receiving input of an initial drilling feed speed and an initial motor rotating speed;

the industrial computer will initial drilling feed speed send for the robot controller, and will initial motor speed sends for motor controller, so that the robot controller according to initial drilling feed speed control the arm drives the mouth planting machine begins to carry out kind of tooth drilling operation, wherein, when beginning to carry out kind of tooth drilling operation, the last motor of mouth planting machine with initial motor speed begins to operate.

It should be noted that, in general, before starting a tooth planting drilling operation, an initial feeding speed and an initial motor rotation speed are given (the initial feeding speed and the initial motor rotation speed are generally a verified safe feeding speed and a verified safe motor rotation speed), then the robot controller 1 controls the mechanical arm 2 to drive the oral cavity implanting machine 4 to start the tooth planting drilling operation according to the initial feeding speed (when starting the tooth planting drilling operation, a motor on the oral cavity implanting machine starts to operate at the initial motor rotation speed), and then, the adjustment of the drilling feeding speed and the motor rotation speed is realized according to the drilling force acquired by the force sensor 3 in real time (for specific content, see the foregoing description). For example, when the electric drill feed meets compact bone, the received resistance is increased, the drilling force is increased, the industrial personal computer 7 knows that the drilling force is increasing according to the drilling force acquired by the force sensor 3, and then the feeding speed is adjusted to a proper degree according to the specific drilling force, so that the safety of a patient is ensured.

In a preferred embodiment, the industrial personal computer 7 is further configured to receive patient age information;

correspondingly, industrial computer 7 specifically is used for calculating second drilling feed rate and second motor speed according to patient age information and the drilling power that the real-time collection of force sensor to give the second drilling feed rate that will obtain robot controller 1, so that robot controller 1 is right arm 2 controls in order to realize the adjustment of drilling feed rate, and sends the second motor speed that obtains for motor controller on the oral cavity planter 4, so that motor controller is right motor on the oral cavity planter 4 controls in order to realize the adjustment of motor speed.

Because the embodiment comprehensively considers the drilling feedback force and the age information of the patient, the method is safer and more reasonable compared with the scheme only considering the drilling feedback force.

In a preferred embodiment, the industrial personal computer 7 calculates a second drilling feeding speed and a second motor speed according to the drilling force acquired by the force sensor 3 in real time and the age information of the patient, and sends the obtained second drilling feeding speed to the robot controller 1, so that the robot controller 1 controls the mechanical arm 2 to adjust the drilling feeding speed, and sends the obtained second motor speed to the motor controller on the oral planter 4, so that the motor controller controls the motor on the oral planter 4 to adjust the motor speed, including:

The industrial personal computer 7 determines a fuzzy age level corresponding to the age of the patient according to the age information of the patient;

for example, referring to FIG. 5, patients are 20-90 years of age, with the largest number of people between 30-50 years of age. The range of patient age a was defined as the domain of discourse on the fuzzy set: {0,1,2,3,4,5,6,7,8 }; the blurring is represented by four levels, and the corresponding blurring amount is represented by a blurring language, and the blurring subset is { S, M, B, VB }, wherein the elements respectively represent the degree of the relative magnitude of the values: small, moderate, large, very large.

The industrial personal computer 7 queries a preset second fuzzy control table of feeding speed according to the fuzzy strength level corresponding to the drilling force mean value f and the fuzzy age level corresponding to the patient age so as to obtain a second fuzzy drilling feeding speed level corresponding to the fuzzy strength level and the fuzzy age level;

it can be understood that the preset second feeding speed fuzzy control table stores therein more suitable and safe fuzzy drilling feeding speed levels which are obtained in advance through experiments or fuzzy operation and reasoning and respectively correspond to each fuzzy strength level and each fuzzy age level.

For example, referring to the second fuzzy control table of the feeding speed shown in table 5, the second fuzzy control table of the feeding speed shown in table 5 is queried according to the fuzzy dynamics level corresponding to the drilling force mean f and the fuzzy age level corresponding to the patient age to obtain the second fuzzy feeding speed level corresponding to the fuzzy dynamics level and the fuzzy age level. For example, if the patient age is "S" and the drilling force is "VS", the drilling feed speed is set to "PM".

The industrial personal computer 7 queries a preset second motor rotating speed fuzzy control table according to the fuzzy strength level corresponding to the drilling force mean value f and the fuzzy age level corresponding to the patient age so as to obtain a second fuzzy motor rotating speed level corresponding to the fuzzy strength level and the fuzzy age level;

it can be understood that, the preset second motor rotation speed fuzzy control table stores therein more suitable and safe fuzzy motor rotation speed levels which are obtained in advance through experiments or fuzzy operations and reasoning and respectively correspond to each fuzzy dynamics level and each fuzzy age level.

For example, referring to the second fuzzy control table of the motor rotation speed shown in table 6, the second fuzzy control table of the motor rotation speed shown in table 6 is queried according to the fuzzy strength level corresponding to the drilling force mean value f and the fuzzy age level corresponding to the patient age to obtain the second fuzzy motor rotation speed level corresponding to the fuzzy strength level and the fuzzy age level. For example, if the patient age is "S" and the drilling force is "VS", then the motor speed is "B".

The industrial personal computer 7 acquires a second drilling feeding speed corresponding to the second fuzzy drilling feeding speed grade according to the second fuzzy drilling feeding speed grade and acquires a second motor rotating speed corresponding to the second fuzzy motor rotating speed grade according to the second fuzzy motor rotating speed grade;

it will be appreciated that in a practical control program a certain amount must be used, and therefore the fuzzy amount (e.g. fuzzy drill feed speed level and fuzzy motor speed level) needs to be defuzzified.

After the defuzzification operation obtains the determined control quantity (the drilling feeding speed and the motor rotating speed), the industrial personal computer 7 sends the obtained second drilling feeding speed to the robot controller, so that the robot controller controls the mechanical arm in the corresponding control period to realize the adjustment of the drilling feeding speed, and sends the obtained second motor rotating speed to the motor controller on the oral planter, so that the motor controller controls the motor on the oral planter in the corresponding control period to realize the adjustment of the motor rotating speed.

It will be appreciated that fuzzy control is an empirical strategy based control method that does not require the prior acquisition of an accurate mathematical model of the system. The schematic diagram of the fuzzy control system is shown in fig. 3, and the fuzzy processing process is generally divided into fuzzification operation, fuzzy inference and sharpening calculation. Corresponding to the requirement of dental implant drilling, the fuzzy controller adopts the drilling force mean value f and the age of the patient A as input, and the drilling feeding speed V and the motor rotating speed N as output. Because the embodiment comprehensively considers the drilling feedback force and the age information of the patient, the method is safer and more reasonable compared with the scheme only considering the drilling feedback force.

Referring to fig. 5, patients are 20-90 years old, with the 30-50 years old being the most. The range of patient age a was defined as the domain of discourse on the fuzzy set: {0,1,2,3,4,5,6,7,8 }; the blurring is represented by four levels, and the corresponding blurring amount is represented by a blurring language, and the blurring subset is { S, M, B, VB }, wherein the elements respectively represent the degree of the relative magnitude of the values: small, moderate, large, very large.

It will be appreciated that the key to the fuzzy controller is to empirically develop a reasonable fuzzy control strategy, which is formed by a series of relation words, as shown in tables 5 and 6, and can be obtained in the form: if (F is VS) and (Ais S) the (V is PM) (N is B) 20 fuzzy control strategies.

If (F is VS) and (A is S) the n (V is PM) (N is B) means: if the patient is "small" in age and the drilling force is "small", the drilling feed speed is set to "middle", and the motor rotation speed is set to "large". The terms large, small and centered are used herein to represent fuzzy concepts.

Here, the fuzzy control table of the feeding speed V is shown in table 5 below.

TABLE 5 second feed speed fuzzy control table

Here, the fuzzy control strategy for the motor speed N is shown in table 6 below.

TABLE 6 fuzzy control table for second motor speed

It can be understood that, in order to save the overhead of program computation time and storage space and enhance the real-time performance of the system in practical applications, the fuzzification operation, the fuzzy inference and the sharpening operation are usually performed offline to obtain a fuzzy control output quantity lookup table (the online lookup table calculated by the fuzzy control system is shown in tables 7 and 8). In the control process, the output quantity is directly inquired according to the fuzzified drilling force and the age of the patient to obtain the output quantity, and the output quantity is converted into the actual control quantity through scaling.

Therefore, in a preferred embodiment, the industrial personal computer 7 calculates a drilling feeding speed and a motor speed according to the drilling force acquired by the force sensor in real time and the age information of the patient, and sends the obtained drilling feeding speed to the robot controller, so that the robot controller controls the mechanical arm to realize the adjustment of the drilling feeding speed, and sends the obtained motor speed to the motor controller on the oral implanter, so that the motor controller controls the motor on the oral implanter to realize the adjustment of the motor speed, including:

the industrial personal computer 7 determines a fuzzy age corresponding to the patient age according to the patient age information;

the industrial personal computer 7 queries a feed speed fuzzy lookup table calculated in an off-line mode according to the fuzzy strength corresponding to the drilling force mean value f and the fuzzy age corresponding to the patient age so as to obtain the drilling feed speed corresponding to the fuzzy strength and the fuzzy age;

As another example, referring to FIG. 5, patients are between 20 and 90 years of age, with the largest number of people between 30 and 50 years of age. The range of patient age a was defined as the domain of discourse on the fuzzy set: {0,1,2,3,4,5,6,7,8 }; the domain of discourse described herein is to be understood as the fuzzy age associated with the patient's age, i.e. there are 9 fuzzy ages associated with the patient's age, respectively {0}, {1}, {2}, {3}, {4}, {5}, {6}, {7}, and {8 }.

Then, referring to a second feeding speed fuzzy lookup table calculated off-line shown in table 7, the drilling feeding speed corresponding to the fuzzy strength and the fuzzy age is obtained according to the fuzzy strength corresponding to the drilling force mean value f and the feeding speed fuzzy lookup table shown in the fuzzy age lookup table 7 corresponding to the patient age. For example, if the drilling force mean f corresponds to a blur strength of {0}, and the patient age corresponds to a blur age of {1}, the second drilling feed speed corresponding to the blur strength and the blur age is 2.64.

The industrial personal computer 7 queries a motor rotating speed fuzzy lookup table calculated in an off-line mode according to the fuzzy strength of the drilling force mean value f and the fuzzy age of the user to obtain a motor rotating speed corresponding to the fuzzy strength and the fuzzy age;

Then, referring to a second motor rotation speed fuzzy lookup table calculated off-line shown in table 8, obtaining a second motor rotation speed corresponding to the fuzzy strength and the fuzzy age according to the fuzzy strength corresponding to the drilling force mean value f and the motor rotation speed fuzzy lookup table shown in the fuzzy age lookup table 8 corresponding to the patient age. For example, if the drilling force mean f corresponds to a blur strength of {0}, and the age of the patient corresponds to a blur age of {1}, the second motor speed corresponding to the blur strength and the blur age is 6.

The industrial personal computer 7 sends the obtained second drilling feed speed to the robot controller so that the robot controller controls the mechanical arm in a corresponding control period to realize the adjustment of the drilling feed speed, and sends the obtained second motor rotating speed to the motor controller on the oral cavity implanter so that the motor controller controls the motor on the oral cavity implanter in the corresponding control period to realize the adjustment of the motor rotating speed.

TABLE 7 second feed rate fuzzy look-up table

TABLE 8 fuzzy look-up table for second motor speed

It should be noted that, in general, before starting to perform a dental implantation drilling operation, an initial feeding speed and an initial motor rotation speed are given (the initial feeding speed and the initial motor rotation speed are generally a verified safe feeding speed and a verified safe motor rotation speed), then the robot controller 1 controls the mechanical arm 2 to drive the dental implantation machine 4 to start to perform the dental implantation drilling operation according to the initial feeding speed (where, when starting to perform the dental implantation drilling operation, a motor on the dental implantation machine starts to operate at the initial motor rotation speed), and then, according to the drilling force acquired by the force sensor 3 in real time and the age information of the patient, the adjustment of the drilling feeding speed and the motor rotation speed is realized (for details, see the foregoing description). For example, when the feeding of the electric drill meets compact bone, the received resistance is increased, the drilling force is also increased, the industrial personal computer 7 knows that the drilling force is increasing according to the drilling force collected by the force sensor 3, and then the feeding speed is adjusted to a proper degree by combining the age information of the patient.

In a preferred embodiment, the industrial personal computer is used for judging whether the drilling depth reaches a target depth in real time, and if so, sending a first instruction for instructing the mechanical arm to stop drilling to the robot controller and sending a second instruction for instructing the motor to stop rotating to the motor controller; after receiving the first instruction, the robot controller controls the mechanical arm to stop drilling operation; and the motor controller controls the motor to stop rotating after receiving the second instruction. It can be understood that the automatic stopping of the drilling operation can be realized by automatically judging whether the current drilling depth reaches the target depth, so that the accuracy and the automation of the drilling are ensured.

Based on the same inventive concept, another embodiment of the present invention provides a dental drilling control method, referring to fig. 9, including the steps of:

step 101: and collecting the drilling force in the drilling operation process of the dental implant in real time.

In this step, it should be noted that, when the drilling force of the dental implanter during the automatic drilling operation of the teeth is obtained in real time, referring to the above embodiment and the situation shown in fig. 2, the force sensor 3 installed between the mechanical arm 2 and the dental implanter 4 is used to collect the drilling force of the dental implanter 4 in real time. Of course, other ways of obtaining the drilling force of the dental implanter during the automatic drilling operation of the teeth may be used. For example, the drilling force of the dental implant 4 may be indirectly obtained by a vibration sensor installed inside the dental implant, or the drilling force of the dental implant 4 may be directly obtained by a force sensor installed inside the dental implant. The present invention is not limited with respect to the manner in which the drilling force is obtained during the automatic drilling operation of the teeth.

Step 102: and acquiring the drilling feeding speed and the motor rotating speed according to the drilling force acquired in real time, and adjusting the drilling feeding speed and the motor rotating speed according to the acquired drilling feeding speed and the motor rotating speed.

It will be appreciated that when the drilling force is greater, indicating that the current resistance is greater, the drilling feed rate should be adjusted lower. When the drilling force is small, the current resistance is small, and the drilling feed speed should be properly increased.

In a preferred embodiment, the method for obtaining the drilling feeding speed and the motor speed according to the drilling force collected in real time, and adjusting the drilling feeding speed and the motor speed according to the obtained drilling feeding speed and the motor speed includes:

according to the drilling force collected in real time, calculating a drilling force mean value f in each control period, and determining a fuzzy strength level corresponding to the drilling force mean value f;

inquiring a preset first feeding speed fuzzy control table according to the fuzzy strength grade corresponding to the drilling force mean value f to obtain a first fuzzy drilling feeding speed grade corresponding to the fuzzy strength grade;

inquiring a preset first motor rotating speed fuzzy control table according to the fuzzy strength grade corresponding to the drilling force mean value f to obtain a first fuzzy motor rotating speed grade corresponding to the fuzzy strength grade;

acquiring a first drilling feeding speed corresponding to the first fuzzy drilling feeding speed grade according to the first fuzzy drilling feeding speed grade and acquiring a first motor rotating speed corresponding to the first fuzzy motor rotating speed grade according to the first fuzzy motor rotating speed grade;

sending the obtained first drilling feeding speed to the robot controller so that the robot controller controls the mechanical arm in a corresponding control period to realize adjustment of the drilling feeding speed, and sending the obtained first motor rotating speed to the motor controller on the oral cavity implanter so that the motor controller controls the motor on the oral cavity implanter in the corresponding control period to realize adjustment of the motor rotating speed.

according to the drilling force collected in real time, calculating a drilling force mean value f in each control period, and determining fuzzy strength corresponding to the drilling force mean value f;

inquiring a first feeding speed fuzzy inquiry table calculated in an off-line mode according to the fuzzy dynamics corresponding to the drilling force mean value f to obtain a first drilling feeding speed corresponding to the fuzzy dynamics;

inquiring a first motor rotating speed fuzzy inquiry table calculated in an off-line mode according to the fuzzy strength of the drilling force mean value f to obtain a first motor rotating speed corresponding to the fuzzy strength;

In a preferred embodiment, the method further comprises:

receiving patient age information;

It will be appreciated that when the drilling force is greater, indicating that the current resistance is greater, the drilling feed rate should be adjusted lower. When the drilling force is small, the current resistance is small, and the drilling feed speed should be properly increased. In addition, the bone mass and bone structure of patients of different ages are different, and the difference between the bone mass and the bone structure also influences the adjustment of the drilling feed speed and the motor rotating speed. For example, the bone mass and the bone structure greatly change in the growth period, remain relatively static in the adult period, and are degraded to the old age, so that the drilling feeding speed and the motor rotating speed are controlled by combining the drilling force acquired in real time and the age information of the patient in the drilling process, and a safer and more reasonable control result can be obtained.

In a preferred embodiment, the obtaining a second drilling feed rate and a second motor rotation speed according to the drilling force collected in real time and the patient age information, and implementing the adjustment of the drilling feed rate and the adjustment of the motor rotation speed according to the obtained second drilling feed rate and the second motor rotation speed includes:

determining a fuzzy age level corresponding to the age of the patient according to the age information of the patient;

inquiring a preset second fuzzy control table of feeding speed according to the fuzzy strength level corresponding to the drilling force mean value f and the fuzzy age level corresponding to the patient age to obtain a second fuzzy drilling feeding speed level corresponding to the fuzzy strength level and the fuzzy age level;

inquiring a preset second motor rotating speed fuzzy control table according to the fuzzy strength grade corresponding to the drilling force mean value f and the fuzzy age grade corresponding to the patient age to acquire a second fuzzy motor rotating speed grade corresponding to the fuzzy strength grade and the fuzzy age grade;

acquiring a second drilling feeding speed corresponding to the second fuzzy drilling feeding speed grade according to the second fuzzy drilling feeding speed grade and acquiring a second motor rotating speed corresponding to the second fuzzy motor rotating speed grade according to the second fuzzy motor rotating speed grade;

and sending the obtained second drilling feeding speed to the robot controller so that the robot controller controls the mechanical arm in a corresponding control period to realize the adjustment of the drilling feeding speed, and sending the obtained second motor rotating speed to the motor controller on the oral cavity implanter so that the motor controller controls the motor on the oral cavity implanter in the corresponding control period to realize the adjustment of the motor rotating speed.

determining a fuzzy age corresponding to the patient age according to the patient age information;

inquiring a second feeding speed fuzzy inquiry table calculated in an off-line mode according to the fuzzy strength corresponding to the drilling force mean value f and the fuzzy age corresponding to the patient age so as to obtain a second drilling feeding speed corresponding to the fuzzy strength and the fuzzy age;

inquiring a second motor rotating speed fuzzy inquiry table calculated in an off-line mode according to the fuzzy strength of the drilling force mean value f and the fuzzy age of the user to obtain a second motor rotating speed corresponding to the fuzzy strength and the fuzzy age;

It should be noted that, the tooth drilling control method provided by the embodiment of the present invention is similar to the control process of the control system, and the specific content can be referred to the description of the above embodiment, and will not be described in detail here.

In addition, it should be noted that the tooth drilling control method provided in the embodiment of the present invention may be implemented alone, or may be implemented based on the system described in the above embodiment, and the present invention is not limited to this.

Based on the same inventive concept, another embodiment of the present invention provides an electronic device, which specifically includes the following components, with reference to fig. 10: a processor 701, a memory 702, a communication interface 703 and a bus 704;

the processor 701, the memory 702 and the communication interface 703 complete mutual communication through the bus 704; the communication interface 703 is used for realizing information transmission between related devices such as modeling software, an intelligent manufacturing equipment module library and the like;

the processor 701 is configured to call a computer program in the memory 702, and the processor implements all the steps of the dental drilling control method according to the above embodiment when executing the computer program, for example, the processor implements the following steps when executing the computer program:

Based on the same inventive concept, yet another embodiment of the present invention provides a computer-readable storage medium, having a computer program stored thereon, which when executed by a processor implements all the steps of the dental drilling control method according to the above-mentioned embodiment, for example, the processor implements the following steps when executing the computer program:

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

The above examples are only for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims

1. A dental drilling control system, comprising: the robot comprises a robot controller, mechanical arms, a force sensor, an oral planter, a force sensor collector and an industrial personal computer; wherein, the oral planter is driven by the mechanical arm to perform tooth drilling operation;

the industrial personal computer calculates a first drilling feeding speed and a first motor rotating speed according to the drilling force acquired by the force sensor in real time, and sends the obtained first drilling feeding speed to the robot controller so that the robot controller controls the mechanical arm to realize adjustment of the drilling feeding speed, and sends the obtained first motor rotating speed to the motor controller on the oral cavity implanter so that the motor controller controls the motor on the oral cavity implanter to realize adjustment of the motor rotating speed;

the industrial personal computer is also used for receiving the age information of the patient;

correspondingly, the industrial personal computer is specifically used for calculating a second drilling feeding speed and a second motor rotating speed according to the age information of the patient and the drilling force acquired by the force sensor in real time, and sending the obtained second drilling feeding speed to the robot controller, so that the robot controller controls the mechanical arm to realize the adjustment of the drilling feeding speed, and sending the obtained second motor rotating speed to the motor controller on the oral cavity implanter, so that the motor controller controls the motor on the oral cavity implanter to realize the adjustment of the motor rotating speed;

2. A dental drilling control system, comprising: the robot comprises a robot controller, mechanical arms, a force sensor, an oral planter, a force sensor collector and an industrial personal computer; wherein, the oral planter is driven by the mechanical arm to perform tooth drilling operation;

the industrial personal computer determines fuzzy age corresponding to the age of the patient according to the age information of the patient;

3. A method of controlling drilling of a tooth, comprising:

acquiring a first drilling feeding speed and a first motor rotating speed according to the drilling force acquired in real time, and adjusting the drilling feeding speed and the motor rotating speed according to the acquired first drilling feeding speed and the acquired first motor rotating speed;

4. A method for controlling drilling of a dental implant, comprising

the industrial personal computer sends the obtained second drilling feeding speed to the robot controller so that the robot controller controls the mechanical arm in the corresponding control period to realize adjustment of the drilling feeding speed, and sends the obtained second motor rotating speed to the motor controller on the oral cavity implanter so that the motor controller controls the motor on the oral cavity implanter in the corresponding control period to realize adjustment of the motor rotating speed.

5. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the program implements the steps of a dental drill control method according to claim 3 or 4.

6. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the dental drill control method according to claim 3 or 4.