CN108814740B - End clamping apparatus and end effector of robot localization method - Google Patents
End clamping apparatus and end effector of robot localization method Download PDFInfo
- Publication number
- CN108814740B CN108814740B CN201810651674.6A CN201810651674A CN108814740B CN 108814740 B CN108814740 B CN 108814740B CN 201810651674 A CN201810651674 A CN 201810651674A CN 108814740 B CN108814740 B CN 108814740B
- Authority
- CN
- China
- Prior art keywords
- mark point
- fixed
- point coordinate
- coordinate plane
- mobile phone
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
- A61C8/00—Means to be fixed to the jaw-bone for consolidating natural teeth or for fixing dental prostheses thereon; Dental implants; Implanting tools
- A61C8/0089—Implanting tools or instruments
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
Abstract
The present invention provides a kind of end clamping apparatus and end effector of robot localization method, the end clamping apparatus in the operation of machine ethnic group tooth includes: fixed structure and space framework；The inner surface of the fixed structure is bonded completely with the appearance curved surface of dentistry plantation mobile phone to be held, for fixing the dentistry plantation mobile phone；One end of the space framework is connect with the fixed structure, and the other end is connect with robot arm end.Provided by the present invention for the end clamping apparatus in the operation of machine ethnic group tooth, dentistry can be planted mobile phone and be firmly secured to robot arm end, carry out the operation of robot assisted kind tooth to facilitate.
Description
Technical field
The present invention relates to medical robot technical fields, and in particular to a kind of end folder in the operation of machine ethnic group tooth
Hold device and end effector of robot localization method.
Background technique
Kind tooth operation in oral cavity is the accurate operation in small space under local anaesthesia, and doctor needs hand-held plantation mobile phone will
In the alveolar bone of the planting body implantation edentulous region compatible with human body bone.After a period of time, when artificial tooth root and alveolar bone are close
After conjunction, then corona is made on artificial tooth root.
The key for influencing surgical effect is the implantation precision of planting body, and due to the non-direct-view atmosphere in oral cavity, operating space
Narrow and doctor such as lacks experience at the factors, causes the failure rate of operation higher.Therefore, high-precision robot assisted kind tooth hand
Art becomes current research hotspot.Robot motion is steady, positioning accuracy is high, then cooperates accurate vision navigation system, quite
In " trick combination ", the limit of power of dentistry plantation doctor is extended.
Currently, generally will use ready-made dentistry plantation mobile phone in the operation of robot assisted kind tooth, however this dentistry
Plantation mobile phone designs originally to be used to doctor is hand-held, and geometric shape is irregularly difficult to be mounted on the end of robot.Machine
Qi Ren integrator designed, designed and process plantation mobile phone cost again it is too high, lack a kind of suitable solution at present.
Summary of the invention
For the defects in the prior art, the present invention provides a kind of end clamping dress in the operation of machine ethnic group tooth
It sets.
Specifically, the present invention the following technical schemes are provided:
In a first aspect, the present invention provides a kind of end clamping apparatus in the operation of machine ethnic group tooth, comprising: fixed
Structure and space framework；
The inner surface of the fixed structure is bonded completely with the appearance curved surface of dentistry plantation mobile phone to be held, for fixing
The dentistry plants mobile phone；
One end of the space framework is connect with the fixed structure, and the other end is connect with robot arm end.
Further, the fixed structure includes the first fixed block and the second fixed block；
First fixed block and second fixed block are for cooperating the fixed dentistry plantation mobile phone；Described first is solid
The inner surface for determining block and second fixed block is bonded completely with the appearance curved surface of dentistry plantation mobile phone.
Further, the space framework includes: groove structure, attachment beam, supporting beam, ring flange and mark point coordinate
It is planar structure；
The attachment beam is for connecting the groove structure and the ring flange；
The supporting beam is used to support the mark point coordinate plane structure and connect with the ring flange；
For connecting with the fixed structure, the ring flange is used for and the robot arm end groove structure
End connection.
Further, the groove structure matches with the fixed structure, the fixed structure is embedded be fixed on it is described
In groove structure.
Further, the fixed structure is embedded by way of clamping and is fixed in the groove structure.
Further, the first threaded hole is set on the fixed structure, is provided on the groove structure and described first
Matched second threaded hole of threaded hole；Second threaded hole is passed through by holding screw and first threaded hole will be described solid
Determine that structure is embedded to be fixed in the groove structure.
Further, a location hole and several threaded holes are provided on the ring flange, the location hole is used for will
The ring flange and the robot arm end carry out positioning alignment；The threaded hole be used for by the ring flange with it is described
Robot arm end is fixed.
Further, the mark point coordinate plane structure includes the first mark point coordinate plane, first mark
It is pasted with the first mark point of at least three on note point coordinate plane, first mark point of at least three is for determining described first
Space coordinates where mark point.
Further, the mark point coordinate plane structure include be mutually predetermined angle the first mark point coordinate system it is flat
Face and the second mark point coordinate plane are pasted with the first mark point of at least three, institute on the first mark point coordinate plane
It states and is pasted with the second mark point of at least three on the second mark point coordinate plane, first mark point of at least three is for determining
Space coordinates where first mark point, second mark point of at least three is for determining the second mark point institute
Space coordinates.
Second aspect, the present invention also provides it is a kind of utilize as described in relation to the first aspect for machine ethnic group tooth operation in
The method of end clamping apparatus progress end effector of robot positioning, comprising:
In machine ethnic group tooth surgical procedure, vision navigation system is tracked on the space framework by visual sensor
Optical markings on first mark point coordinate plane and the second mark point coordinate plane are to carry out end effector of robot
Positioning；
Specifically, in machine ethnic group tooth surgical procedure, the first mark point coordinate plane and the second label are calculated in real time
The size of the angle theta of the normal vector and visual sensor Z axis of point coordinate plane, and according to the corresponding mark point of maximum angle
The position of coordinate plane calculating robot's end effector and posture；Wherein, the visual sensor Z-direction is sight side
To.
As shown from the above technical solution, provided by the present invention for the end clamping apparatus in the operation of machine ethnic group tooth, packet
It includes: fixed structure and space framework；The inner surface of the fixed structure and the appearance curved surface of dentistry plantation mobile phone to be held are complete
Full fitting, for fixing the dentistry plantation mobile phone；One end of the space framework is connect with the fixed structure, the other end with
The connection of robot arm end.As it can be seen that provided by the present invention for the end clamping apparatus in the operation of machine ethnic group tooth, it can
Dentistry plantation mobile phone is firmly secured to robot arm end, carries out the operation of robot assisted kind tooth to facilitate.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is the present invention
Some embodiments for those of ordinary skill in the art without creative efforts, can also basis
These attached drawings obtain other attached drawings.
Fig. 1 is the structural frames for the end clamping apparatus in the operation of machine ethnic group tooth that one embodiment of the invention provides
Figure；
Fig. 2 is the concrete structure schematic diagram for the fixed structure 11 that one embodiment of the invention provides；
Fig. 3 is the structural representation for the end clamping apparatus in the operation of machine ethnic group tooth that one embodiment of the invention provides
Figure；
Fig. 4 is the schematic illustration that end effector of robot positioning is carried out using two mark point coordinate planes.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, the technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.
One embodiment of the invention provides a kind of end clamping apparatus in the operation of machine ethnic group tooth, referring to Fig. 1, packet
It includes: fixed structure 11 and space framework 12；
The inner surface of the fixed structure 11 is bonded completely with the appearance curved surface of dentistry plantation mobile phone to be held, for solid
The fixed dentistry plants mobile phone；
One end of the space framework 12 is connect with the fixed structure 11, and the other end and robot arm end connect
It connects.
As seen from the above description, the end clamping apparatus provided in this embodiment in the operation of machine ethnic group tooth, comprising:
Fixed structure and space framework；The inner surface of the fixed structure and the appearance curved surface of dentistry plantation mobile phone to be held paste completely
It closes, for fixing the dentistry plantation mobile phone；One end of the space framework is connect with the fixed structure, the other end and machine
The connection of people's mechanical arm tail end.As it can be seen that the end clamping apparatus provided in this embodiment in the operation of machine ethnic group tooth, can incite somebody to action
Dentistry plantation mobile phone is firmly secured to robot arm end, carries out the operation of robot assisted kind tooth to facilitate.
In a preferred embodiment, referring to fig. 2, the fixed structure 11 includes that the first fixed block 111 and second is solid
Determine block 112；
First fixed block 111 and second fixed block 112 are for cooperating the fixed dentistry plantation mobile phone；It is described
The inner surface of first fixed block 111 and second fixed block 112 is bonded completely with the appearance curved surface of dentistry plantation mobile phone.
It is understood that first fixed block 111 and the second fixed block 112 are used due to special surface structure
Conventional machining process is difficult to process the structure for meeting demand, it is therefore preferred that 3D printing technique can be used quickly and accurately
Molding.In addition, PA (nylon powder) may be selected in 3D printing material, PA is a kind of very high engineering material of intensity, powder diameter
Small, production model accuracy is high, and has good heat resistance.It is unlikely to deform with the structure that PA is printed and is easy to disinfect.
If it is required that intensity, rigidity it is higher can choose metal material (aluminium alloy, titanium alloy) printing.
It should be noted that since the outer surface of dentistry plantation mobile phone is highlighted, anti-by the general smoother of processing polishing
Degree of penetrating is high, directly using the outer surface of 3D scanner scanning plantation mobile phone it is possible that the abnormal problems such as loss of data.Therefore
Preferably it can determine with the following method 11 inner surface configuration of fixed structure:
A, the dentistry to be sampled plantation mobile phone outer surface is wrapped with medical grade silicon rubber, clutching not interspace.
Etc. b, silicon rubber are splitted with knife along central axes after being hardened, and then sweep the inner surface that modulus obtains by medical 3D
It retouches instrument to be scanned, obtains the grid model comprising inner surface.
C, above-mentioned model is handled using three-dimensional grid software for editing, generates the grid model of fixed block, is sent to 3D printing
Machine is printed.
In a preferred embodiment, referring to Fig. 3, the space framework 12 includes: groove structure 121, attachment beam
122, supporting beam 123, ring flange 124 and mark point coordinate plane structure 125；
The attachment beam 122 is for connecting the groove structure and the ring flange；
The supporting beam 123 is used to support the mark point coordinate plane structure 125 and connects with the ring flange 124
It connects；
For connecting with the fixed structure, the ring flange 124 is used for man-machine with the machine groove structure 121
The connection of tool arm end.
It is understood that mark point coordinate plane structure 125 is provided with optical markings attachment position, in corresponding light
Corresponding optical markings can be attached by learning label attachment position.For example, mark point coordinate plane structure 125 is provided with 3 light
Label attachment position is learned, therefore 3 optical markings can be attached in the mark point coordinate plane structure 125, this 3 optics
Label can determine a space coordinates, for describing spatial position and the posture of dentistry plantation mobile phone.
It is understood that due to special surface structure, it is difficult to process using conventional machining process and meets demand
Frame quickly and accurately prints space framework integrated molding it is therefore preferred that 3D printing technique can be used.
In addition, PA (nylon powder) may be selected in 3D printing material, PA is a kind of very high engineering material of intensity, and powder diameter is small, system
Make model accuracy height, and there is good heat resistance.It is unlikely to deform with the frame that PA is printed and is easy to disinfect.If
It is required that intensity, rigidity it is higher can choose metal material (aluminium alloy, titanium alloy) printing.
In a preferred embodiment, referring to Fig. 3, the groove structure 121 matches with the fixed structure 11, institute
State that fixed structure 11 is embedded to be fixed in the groove structure 121.
In a preferred embodiment, the fixed structure 11 is embedded by way of clamping and is fixed on the groove knot
In structure 121.
In a preferred embodiment, the first threaded hole is set on the fixed structure 11, on the groove structure 121
It is provided with and matched second threaded hole of first threaded hole；Second threaded hole and described the are passed through by holding screw
The fixed structure 11 is embedded and is fixed in the groove structure 121 by one threaded hole.
In a preferred embodiment, a location hole and several threaded holes, institute are provided on the ring flange 124
Location hole is stated for the ring flange and the robot arm end to be carried out positioning alignment；The threaded hole is used for institute
Ring flange is stated to be fixed with the robot arm end.For example, be provided on the ring flange 124 location hole and
4 threaded holes.
In a preferred embodiment, referring to Fig. 3, the mark point coordinate plane structure 125 includes the first label
Point coordinate plane 125p1, the first mark point coordinate plane 125p1On be provided at least three mark point attach place S, often
A mark point attaches place S for attaching a mark point.Such as in Fig. 3, the first mark point coordinate plane 125p1Upper patch
With the first mark point of at least three, the space where first mark point of at least three is used to determine first mark point is sat
Mark system.
As it can be seen that end clamping apparatus provided in this embodiment in addition to can will plantation mobile phone be connected to robot end other than,
Mark point coordinate plane can also be provided, so that vision navigation system is passed by vision in machine ethnic group tooth surgical procedure
Sensor tracks the optical markings on the first mark point coordinate plane on the space framework to carry out robot end's execution
Device positioning.
In a preferred embodiment, referring to fig. 4, the mark point coordinate plane structure 125 is default including being mutually
First mark point coordinate plane 125p of angle1With the second mark point coordinate plane 125p2, the first mark point coordinate
It is plane 125p1On be pasted with the first mark point of at least three, the second mark point coordinate plane 125p2On be pasted at least
3 the second mark points, first mark point of at least three are used to determine the space coordinates where first mark point, institute
The second mark point of at least three is stated for determining the space coordinates where second mark point.
Preferably, the predetermined angle can be greater than 40 less than the arbitrary value between 150 °, it is, of course, also possible to be other
Angle value, which is not limited by the present invention.
As it can be seen that end clamping apparatus provided in this embodiment in addition to can will plantation mobile phone be connected to robot end other than,
Two mark point coordinate planes can also be provided, so that vision navigation system passes through view in machine ethnic group tooth surgical procedure
Feel that sensor tracks the light on the first mark point coordinate plane and the second mark point coordinate plane on the space framework
Label is learned to carry out end effector of robot positioning.
It should be noted that since the visual sensor position in vision navigation system is fixed and end effector is with machine
Device people movement, it is thus possible to the phenomenon that optical markings are blocked occur, and then lead to the missing of information in image procossing, to system
Safety impact.To solve the problems, such as that sight is covered, industry spot constitutes multisensor frequently with multiple video cameras and fixes
Formula vision measurement system, the image for obtaining same mark point jointly block to eliminate, however this method cost of implementation is high, and
It needs to carry out global calibration, by under the unification to a measurement coordinate system of multiple measurement results, increases workload and system complex
Degree.
To solve this problem, the present embodiment proposes a kind of space framework comprising two coordinate planes, referring to fig. 4, stands
Body Frame Design has the first mark point coordinate plane 125p for being mutually predetermined angle1With the second mark point coordinate plane
125p2.In machine ethnic group tooth surgical procedure, the first mark point coordinate plane and the second mark point coordinate can be calculated in real time
It is the normal vector and the size of the angle theta of visual sensor Z axis of plane, and according to the corresponding mark point coordinate system of maximum angle
The position of plane computations machine people's end effector and posture；Wherein, the visual sensor Z-direction is direction of visual lines.Its
In, the range of θ is 0 °~180 °, and when θ=180 °, mark point coordinate system faces visual sensor, at this time sensor field of view
Image information expression in range is the most accurate；When θ=0 °, mark point coordinate system facing away from visual sensor, image information
It loses completely.
As it can be seen that the present embodiment utilizes visual redundancy information by way of additionally increasing a mark point coordinate plane
Solve the problems, such as that single marking point coordinate plane lower part minute mark point is blocked, the design of the structure can be to avoid a certain label
Image information caused by point coordinate plane over-tilting is lost；Due to increasing the visual information of redundancy, in a certain mark point
When coordinate plane is sheltered from by other objects, remaining mark point coordinate plane can provide effective position and attitude letter
Breath, so as to improve the safety of robotic assisted surgery.
Here the use process of above-mentioned end clamping device provided in this embodiment is simply provided:
Referring to Fig. 3, dentistry plantation mobile phone is dismantled first, head is separated with rear end motor；Then by space framework 12 from
Back-end of machine head is inserted in, and then two fixed blocks 111 and 112 (the first fixed block and the second fixed block) in left and right are clipped on head,
The surfaces externally and internally for making two fixed blocks and dentistry plant mobile phone is bonded completely；Next two fixed blocks 111 and 112 are slowly past
It is pushed away in groove structure 121 on space framework 12, the spiral shell on two fixed blocks of threaded hole and left and right on groove structure 121
Line alignment；It is screwed in the internal thread hole at left and right sides of frame and fixed block followed by holding screw, makes the end of holding screw
It is pressed on the surface of dentistry plantation mobile phone, until relative motion cannot occur for dentistry plantation mobile phone with space framework；Most
Motor and head are loaded onto again afterwards.
In addition, dentistry can be planted the end that mobile phone is mounted on robot by the ring flange 124 on space framework 12
On.There are four threaded hole and a location holes for distribution on ring flange 124, this some holes is corresponding with the connecting hole of mechanical arm tail end,
Connection Shi Xianyong positioning pin is secured them to by the location hole in the two (ensures installation site and design position one together
Cause), it is then with screw that the two is fixed again.The optical markings coordinate system and dentistry kind on space framework 12 are finally demarcated
The relative position for planting mobile phone instrument tip can be used for robot navigation's operation later and suffer.
Based on identical inventive concept, another embodiment of the present invention provides a kind of packets using as described in above example
The end clamping apparatus of space framework containing fixed structure and two mark point coordinate planes carries out robot end's execution
The method of device positioning, this method comprises the following steps:
Step 101: in machine ethnic group tooth surgical procedure, vision navigation system tracks the solid by visual sensor
The optical markings on the first mark point coordinate plane and the second mark point coordinate plane on frame are to carry out robot end
Hold actuator positioning；
Specifically, in machine ethnic group tooth surgical procedure, the first mark point coordinate plane and the second label are calculated in real time
The size of the angle theta of the normal vector and visual sensor Z axis of point coordinate plane, and according to the corresponding mark point of maximum angle
The position of coordinate plane calculating robot's end effector and posture；Wherein, the visual sensor Z-direction is sight side
To.
It should be noted that since the visual sensor position in vision navigation system is fixed and end effector is with machine
Device people movement, it is thus possible to the phenomenon that optical markings are blocked occur, and then lead to the missing of information in image procossing, to system
Safety impact.To solve the problems, such as that sight is covered, industry spot constitutes multisensor frequently with multiple video cameras and fixes
Formula vision measurement system, the image for obtaining same mark point jointly block to eliminate, however this method cost of implementation is high, and
It needs to carry out global calibration, by under the unification to a measurement coordinate system of multiple measurement results, increases workload and system complex
Degree.
To solve this problem, the present embodiment proposes a kind of method for solving occlusion issue using visual redundancy information, referring to
Fig. 4, space framework design have the first mark point coordinate plane 125p for being mutually predetermined angle1It is flat with the second mark point coordinate system
Face 125p2.In machine ethnic group tooth surgical procedure, the first mark point coordinate plane and the second mark point coordinate system are calculated in real time
The size of the angle theta of the normal vector and visual sensor Z axis of plane, and it is flat according to the corresponding mark point coordinate system of maximum angle
The position of face calculating robot's end effector and posture；Wherein, the visual sensor Z-direction is direction of visual lines.Wherein,
The range of θ is 0 °~180 °, and when θ=180 °, mark point coordinate system faces visual sensor, at this time sensor field of view range
Interior image information expression is the most accurate；When θ=0 °, mark point coordinate system facing away from visual sensor, and image information is complete
It loses.
As shown in figure 4, if two surfaces of space framework (the first mark can be detected simultaneously by within sweep of the eye in visual sensor
Note point coordinate plane 125p1With the second mark point coordinate plane 125p2) on mark point coordinate system, then compare angle theta
Size.Under this relative attitude shown for Fig. 4, the Z axis vector (direction of visual lines) and right side mark point coordinate of visual sensor
It is plane (the second mark point coordinate plane 125p2) normal vector nRAngle than big on another coordinate plane, because
This selects right side mark point coordinate plane to calculate position and posture of the plantation mobile phone under visual coordinate system.
The posture (γ, β, α) of available mark point coordinate system in visual pursuit program, it is with relative visual coordinate system
RPY angle describe.According to matrixing relationship, Z axis (the i.e. normal direction arrow of mark point coordinate plane of mark point coordinate system
Amount) direction vector under visual coordinate system are as follows:
The Z-direction vector of known visual coordinate system isThen there is calculation formula:
It is understood that this method avoid image informations caused by a certain mark point coordinate plane over-tilting to lose
It loses；Due to increasing the visual information of redundancy, when a certain mark point coordinate plane is sheltered from by other objects, remaining mark
Note point coordinate plane can provide effective position and attitude information, to improve the safety of robotic assisted surgery.
It should be noted that, in this document, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to
Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.In the absence of more restrictions, the element limited by sentence " including one ... ", it is not excluded that
There is also other identical elements in the process, method, article or apparatus that includes the element.
The above examples are only used to illustrate the technical scheme of the present invention, rather than its limitations；Although with reference to the foregoing embodiments
Invention is explained in detail, those skilled in the art should understand that: it still can be to aforementioned each implementation
Technical solution documented by example is modified or equivalent replacement of some of the technical features；And these are modified or replace
It changes, the spirit and scope for technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution.
Claims (8)
1. a kind of end clamping apparatus in the operation of machine ethnic group tooth characterized by comprising fixed structure and three-dimensional frame
Frame；
The inner surface of the fixed structure is bonded completely with the appearance curved surface of dentistry plantation mobile phone to be held, described in fixed
Dentistry plants mobile phone；
One end of the space framework is connect with the fixed structure, and the other end is connect with robot arm end；
Wherein, the space framework includes: groove structure, attachment beam, supporting beam, ring flange and mark point coordinate plane knot
Structure；
The attachment beam is for connecting the groove structure and the ring flange；
The supporting beam is used to support the mark point coordinate plane structure and connect with the ring flange；
For connecting with the fixed structure, the ring flange is used to connect with the robot arm end groove structure
It connects.
2. the apparatus according to claim 1, which is characterized in that the fixed structure includes that the first fixed block and second are fixed
Block；
First fixed block and second fixed block are for cooperating the fixed dentistry plantation mobile phone；First fixed block
It is bonded completely with the inner surface of second fixed block with the appearance curved surface of dentistry plantation mobile phone.
3. the apparatus according to claim 1, which is characterized in that the groove structure matches with the fixed structure, institute
State that fixed structure is embedded to be fixed in the groove structure.
4. device according to claim 3, which is characterized in that the fixed structure is embedded by way of clamping and is fixed on
In the groove structure.
5. device according to claim 3, which is characterized in that the first threaded hole is set on the fixed structure, it is described recessed
It is provided in slot structure and matched second threaded hole of first threaded hole；Second threaded hole is passed through by holding screw
The fixed structure is embedded with first threaded hole and is fixed in the groove structure.
6. the apparatus according to claim 1, which is characterized in that be provided with a location hole and several on the ring flange
Threaded hole, the location hole are used to the ring flange and the robot arm end carrying out positioning alignment；The screw thread
Hole is for the ring flange and the robot arm end to be fixed.
7. the apparatus according to claim 1, which is characterized in that the mark point coordinate plane structure includes the first label
Point coordinate plane, is pasted with the first mark point of at least three on the first mark point coordinate plane, described at least three the
One mark point is used to determine the space coordinates where first mark point.
8. the apparatus according to claim 1, which is characterized in that the mark point coordinate plane structure is default including being mutually
The the first mark point coordinate plane and the second mark point coordinate plane of angle paste on the first mark point coordinate plane
With the first mark point of at least three, the second mark point of at least three is pasted on the second mark point coordinate plane, it is described
The first mark point of at least three is used to determine the space coordinates where first mark point, second mark point of at least three
For determining the space coordinates where second mark point.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810651674.6A CN108814740B (en) | 2018-06-22 | 2018-06-22 | End clamping apparatus and end effector of robot localization method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810651674.6A CN108814740B (en) | 2018-06-22 | 2018-06-22 | End clamping apparatus and end effector of robot localization method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108814740A CN108814740A (en) | 2018-11-16 |
| CN108814740B true CN108814740B (en) | 2019-09-06 |
Family
ID=64137673
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810651674.6A Active CN108814740B (en) | 2018-06-22 | 2018-06-22 | End clamping apparatus and end effector of robot localization method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108814740B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110236713B (en) * | 2019-06-26 | 2021-04-20 | 湖北中医药高等专科学校 | Oral implant positioner |
| CN110313989B (en) * | 2019-07-05 | 2020-11-17 | 上海交通大学 | Clamping device suitable for dental robot implants cell-phone |
| CN110448385B (en) * | 2019-09-06 | 2024-03-29 | 雅客智慧（北京）科技有限公司 | Clamping device for planting mobile phone |
| CN112515770A (en) * | 2020-12-08 | 2021-03-19 | 北京信息科技大学 | Fixer for combination of UR tail end and flexible gymnastic device |
| CN112754659B (en) * | 2020-12-11 | 2023-03-03 | 北京信息科技大学 | Converter for combination of UR robot and software operator |
| CN113693751B (en) * | 2021-10-26 | 2022-01-18 | 极限人工智能(北京)有限公司 | Plant cell-phone centre gripping positioning system and robot |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101373066B1 (en) * | 2012-05-02 | 2014-03-11 | 조선대학교산학협력단 | Robot system for dental implantology and dental implantology procedure using the same |
| CN107582193B (en) * | 2017-09-15 | 2024-02-09 | 雅客智慧（北京）科技有限公司 | Intelligent robot system for oral implantation surgery |
| CN107595418A (en) * | 2017-09-15 | 2018-01-19 | 杭州术康医疗科技有限公司 | A kind of automatic planting dentistry robot |
-
2018
- 2018-06-22 CN CN201810651674.6A patent/CN108814740B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN108814740A (en) | 2018-11-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108814740B (en) | End clamping apparatus and end effector of robot localization method | |
| CN105910535B (en) | A kind of single binocular pose bias measurement method for bay section automatic butt | |
| EP3254621B1 (en) | 3d image special calibrator, surgical localizing system and method | |
| CN104802173B (en) | The data generating device of vision sensor and detection analog systems | |
| EP2981397B1 (en) | A robot system and method for calibration | |
| CN105411678B (en) | It is used to determine the system with tracing movement during medical procedure | |
| US8908023B2 (en) | Method and device for the recording of body movements | |
| CN106920261B (en) | A kind of Robot Hand-eye static demarcating method | |
| CN105157567B (en) | The tool coordinates system scaling method and system of a kind of robot measurement | |
| US20060072810A1 (en) | Registration of 3-D imaging of 3-D objects | |
| CN107405170A (en) | For positioning the method with trace tool axis | |
| US11612461B2 (en) | Tracked dental measurement device | |
| CN110000790A (en) | A kind of scaling method of SCARA robot eye-to-hand hand-eye system | |
| WO2020024638A1 (en) | Surgical navigation device | |
| CN113633408A (en) | Optical navigation dental implantation robot system and calibration method thereof | |
| WO2017133756A1 (en) | Robot system calibration | |
| JP2023502759A (en) | Osteotomy calibration method, calibration tool, readable storage medium, and orthopedic surgical system | |
| CN114668534B (en) | Intraoperative implantation precision detection system and method for dental implant surgery | |
| CN114224489B (en) | Track tracking system for surgical robot and tracking method using same | |
| CN113208731A (en) | Binocular vision system-based hand and eye calibration method for surgical puncture robot | |
| CN114098968B (en) | Quick positioning and tracking device of auxiliary robot | |
| CN113349939B (en) | Performance test method and system for passive active hand type master-slave control surgical robot | |
| US20190380789A1 (en) | System and method for positioning a surgical tool | |
| CN208974134U (en) | A kind of surgical instrument of active tracking | |
| JP6974492B2 (en) | Alignment and identification tools and methods for dental and / or craniofacial surgical instruments and / or common surgical instruments |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CB03 | Change of inventor or designer information | ||
| CB03 | Change of inventor or designer information |
Inventor after: Wang Lifeng Inventor after: Shen Chen Inventor after: Liu Hongpeng Inventor before: Wang Lifeng Inventor before: Bai Shizhu Inventor before: Shen Chen Inventor before: Liu Hongpeng |