CN108938111A - A kind of auxiliary species tooth system and method based on force feedback information - Google Patents
A kind of auxiliary species tooth system and method based on force feedback information Download PDFInfo
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- CN108938111A CN108938111A CN201810515422.0A CN201810515422A CN108938111A CN 108938111 A CN108938111 A CN 108938111A CN 201810515422 A CN201810515422 A CN 201810515422A CN 108938111 A CN108938111 A CN 108938111A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
- A61C8/00—Means to be fixed to the jaw-bone for consolidating natural teeth or for fixing dental prostheses thereon; Dental implants; Implanting tools
- A61C8/0089—Implanting tools or instruments
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- Oral & Maxillofacial Surgery (AREA)
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Abstract
The present invention provides a kind of auxiliary species tooth system and method based on force feedback information, system includes: robot controller, mechanical arm, force snesor, oral planter, force snesor collector and industrial personal computer；Oral planter carries out tooth drilling operation under the drive of mechanical arm；Force snesor for acquiring the drilling power of oral planter in real time；The force snesor collector is sent to the industrial personal computer for reading the drilling power that the force snesor acquires in real time；The drilling power that the industrial personal computer acquires in real time according to the force snesor sends corresponding instruction to the robot controller, so that the adjustment that the robot controller controls the mechanical arm to realize drilling feed speed.The present invention is according to the feed speed of the feedback information robotically controlled arm being of force snesor, to realize safe and reliable automatic drilling.
Description
Technical field
The present invention relates to medical robot technical fields, and in particular to a kind of auxiliary species tooth system based on force feedback information
And method.
Background technique
Conventional dental implant operation Chinese medicine green hand holds planting machine and artificially controls drilling feeding, veteran department of stomatology doctor
Life can according to when drilling hand feel determine the information such as feed speed and dynamics.
The sclerotin of people can be divided into compact bone substance and cancellous bone by relative density: the quality of compact bone substance is fine and close, anti-pressure anti-torsion song
It is very strong, it is distributed mainly on the surface of bone；The quality of cancellous bone is sparse, in spongy, is distributed mainly on the inside of bone.Different people's bones
Matter is different, and bone amount and bone structure have large change in growth period, keeps opposing stationary in the manhood, is moved back to the senescence phase
Change, thus in boring procedure bit force situation with its locating for bony structures it is closely related, the variation for the power that drills is substantially such as
Shown in Fig. 1:
(1) when electric drill feeding encounters first layer cortical wall (being mainly made of compact bone), become larger by resistance, drill power meeting
It is gradually increased, when breakthrough first layer cortical wall enters cancellous bone, since resistance becomes smaller, drilling power can rapid drawdown；
(2) drill bit enters resistance ratios after cancellous bone and bores small when first layer, and drilling power can maintain a more stable water
Flat fluctuation up and down；
(3) continuing resistance after feeding encounters second layer cortical wall to increase again, drilling power increases with it, when drilling, drilling
Power can rapid drawdown.
In the dentistry implant operation of robot assisted, due to there is department of stomatology doctor unlike in conventional dental implant operation
Raw manual intervention, it is therefore desirable to a kind of intelligence control system is provided, to guarantee the safety during robot assisted kind tooth
And reliability.
Summary of the invention
For force snesor feedback information is not used during kind of dental drill hole in the prior art, typically directly set
A constant feed speed is set, the not enough defect of safety and intelligence, the present invention provides a kind of auxiliary based on force feedback information
Kind tooth system and method, the present invention are pacified according to the feed speed of the feedback information robotically controlled arm being of force snesor with realizing
Complete reliable automatic drilling.
To achieve the above object, the present invention the following technical schemes are provided:
In a first aspect, the present invention provides a kind of auxiliary species tooth system based on force feedback information, comprising: robot control
Device, mechanical arm, force snesor, oral planter, force snesor collector and industrial personal computer；Wherein, the oral planter is in institute
State progress tooth drilling operation under the drive of mechanical arm；
The force snesor is arranged between the mechanical arm and the oral planter, in the oral planter
During carrying out tooth drilling operation, the drilling power of the oral planter is acquired in real time；
The force snesor collector is sent to the work for reading the drilling power that the force snesor acquires in real time
Control machine；
The drilling power that the industrial personal computer acquires in real time according to the force snesor sends corresponding to the robot controller
Instruction so that the robot controller to the mechanical arm controlled with realize drilling feed speed adjustment.
Further, the drilling power that the industrial personal computer is acquired in real time according to the force snesor is to the robot controller
Corresponding instruction is sent, so that the tune that the robot controller controls the mechanical arm to realize drilling feed speed
It is whole, comprising:
The drilling power that the industrial personal computer acquires in real time according to the force snesor calculates the drilling power in each control period
Mean value f, and judge whether the drilling power mean value f meets first condition δ1< f < δ2, if so, to the robot controller
Send the first instruction for being used to indicate and reducing the mechanical arm drilling feed speed；Wherein, δ1For the first drilling force threshold, δ2For
Second drilling force threshold；Correspondingly, the robot controller controls the mechanical arm drop after receiving first instruction
Low drilling feed speed；
The industrial personal computer is also used to judging that the drilling power mean value f is unsatisfactory for first condition δ1< f < δ2When, continue to sentence
Whether the drilling power mean value f that breaks meets second condition f >=δ2, if so, being used to indicate to robot controller transmission
The mechanical arm carries out the second instruction for carrying out drilling feed after lifting operation again；Correspondingly, the robot controller exists
After receiving second instruction, controls after the mechanical arm carries out lifting operation and carry out drilling feed again.
Further, before starting to carry out tooth drilling operation, the industrial personal computer receive the initial bore hole of user's input into
It is sent to the robot controller to speed, and by the initial bore hole feed speed, so that the robot controller root
Controlling the mechanical arm according to the initial bore hole feed speed drives the oral planter to start to carry out tooth drilling operation.
Further, whether the industrial personal computer reaches target depth for real-time judge drilling depth, if so, to described
Robot controller, which is sent, is used to indicate the third instruction that the mechanical arm stops drilling；
The robot controller controls the mechanical arm and stops drilling operation after receiving the third instruction.
Further, the length in each control period is 30~50ms.
Second aspect, the automatic auxiliary species tooth method based on force feedback information that the present invention also provides a kind of, comprising:
Drilling power of the oral planter in tooth automatic drilling operating process is obtained in real time；
According to the drilling feed speed in the drilling power adjustment tooth automatic drilling operating process obtained in real time.
Further, the drilling feeding in the adjustment tooth automatic drilling operating process of drilling power that the basis obtains in real time
Speed, comprising:
According to the drilling power obtained in real time, the drilling power mean value f in each control period is calculated, and judges the drilling power
Whether mean value f meets first condition δ1< f < δ2, if so, control, which reduces the drilling in automatic drilling operating process, feeds speed
Degree；Wherein, δ1For the first drilling force threshold, δ2For the second drilling force threshold；
If judging, the drilling power mean value f is unsatisfactory for first condition δ1< f < δ2, then continue to judge the drilling power mean value f
Whether second condition f >=δ is met2, drilling behaviour is carried out again if so, controlling after the oral planter carries out lifting operation
Make.
Further, the method also includes:
Whether real-time judge drilling depth reaches target depth, if so, controlling the oral planter stops drilling behaviour
Make.
The third aspect, the present invention also provides a kind of electronic equipment, including memory, processor and storage are on a memory
And the computer program that can be run on a processor, it realizes when the processor executes described program and is based on as described in second aspect
The step of automatic auxiliary species tooth method of force feedback information.
Fourth aspect, the present invention also provides a kind of computer readable storage mediums, are stored thereon with computer program, should
Realizing the automatic auxiliary species tooth method as described in second aspect based on force feedback information when computer program is executed by processor
Step.
As shown from the above technical solution, the auxiliary species tooth system provided by the invention based on force feedback information, including machine
People's controller, mechanical arm, force snesor, oral planter, force snesor collector and industrial personal computer；The oral planter is in institute
State progress tooth drilling operation under the drive of mechanical arm；The force snesor is arranged in the mechanical arm and the oral planter
Between, for acquiring the brill of the oral planter in real time during the oral planter carries out tooth drilling operation
Kong Li；The force snesor collector is sent to the industry control for reading the drilling power that the force snesor acquires in real time
Machine；The industrial personal computer is sent according to the drilling power that the force snesor acquires in real time to the robot controller to be referred to accordingly
It enables, so that the adjustment that the robot controller controls the mechanical arm to realize drilling feed speed.As it can be seen that this hair
The feed speed of the bright feedback information robotically controlled arm being according to force snesor, may be implemented safe and reliable automatic drilling,
And then the reliability of operation can be improved.
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 relation schematic diagram of bit force situation and the bony structures locating for it in boring procedure；
Fig. 2 is the structural schematic diagram for the auxiliary species tooth system based on force feedback information that one embodiment of the invention provides；
Fig. 3 is the details enlarged drawing of force snesor setting position；
Fig. 4 be another embodiment of the present invention provides the automatic auxiliary species tooth method based on force feedback information a kind of process
Figure；
Fig. 5 be another embodiment of the present invention provides the automatic auxiliary species tooth method based on force feedback information entire flow
Figure；
Fig. 6 is the structural schematic diagram for the electronic equipment that further embodiment of this invention provides.
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 auxiliary species tooth system based on force feedback information, referring to fig. 2, the system packet
It includes: robot controller 1, mechanical arm 2, force snesor 3, oral planter 4, force snesor collector 6 and industrial personal computer 7；In figure
5 indicate patients；Wherein, the oral planter 4 carries out tooth drilling operation under the drive of the mechanical arm 2；
(for details, reference can be made to shown in Fig. 3 between the mechanical arm 2 and the oral planter 4 for the setting of force snesor 3
Details enlarged drawing), for the oral planter 4 carry out tooth drilling operation during, acquire the oral cavity in real time
The drilling power of planting machine 4；
The force snesor collector 6 is sent to described for reading the drilling power that the force snesor 3 acquires in real time
Industrial personal computer 7；
The industrial personal computer 7 sends phase to the robot controller 1 according to the drilling power that the force snesor 3 acquires in real time
The instruction answered, so that the adjustment that the robot controller 1 controls the mechanical arm 2 to realize drilling feed speed.
As seen from the above description, the auxiliary species tooth system provided in this embodiment based on force feedback information, including robot
Controller, mechanical arm, force snesor, oral planter, force snesor collector and industrial personal computer；The oral planter is described
Tooth drilling operation is carried out under the drive of mechanical arm；Force snesor setting the mechanical arm and the oral planter it
Between, for acquiring the drilling of the oral planter in real time during the oral planter carries out tooth drilling operation
Power；The force snesor collector is sent to the industrial personal computer for reading the drilling power that the force snesor acquires in real time；
The drilling power that the industrial personal computer acquires in real time according to the force snesor sends corresponding instruction to the robot controller, with
The robot controller is set to be controlled the mechanical arm adjustment to realize drilling feed speed.As it can be seen that the present embodiment
According to the feed speed of the feedback information robotically controlled arm being of force snesor, safe and reliable automatic drilling may be implemented, into
And the reliability of operation can be improved.
In a preferred embodiment, the drilling power that the industrial personal computer 7 is acquired in real time according to the force snesor 3 is to institute
It states robot controller 1 and sends corresponding instruction, so that the robot controller 1 controls with reality the mechanical arm 2
The adjustment for the feed speed that now drills, comprising:
Drilling power shown in Figure 5, that the industrial personal computer 7 acquires in real time according to the force snesor 3, calculates each control
Drilling power mean value f in period, and judge whether the drilling power mean value f meets first condition δ1< f < δ2, if so, to institute
It states robot controller 1 and sends the first instruction for being used to indicate and reducing the drilling of mechanical arm 2 feed speed；Wherein, δ1It is
One drilling force threshold, δ2For the second drilling force threshold；Correspondingly, the robot controller 1 is receiving first instruction
Afterwards, controlling the mechanical arm 2 reduces drilling feed speed；
The industrial personal computer 7 is also used to judging that the drilling power mean value f is unsatisfactory for first condition δ1< f < δ2When, continue to sentence
Whether the drilling power mean value f that breaks meets second condition f >=δ2, if so, being used to indicate to the robot controller 1 transmission
The mechanical arm 2 carries out the second instruction for carrying out drilling feed after lifting operation again；Correspondingly, the robot controller 1
After receiving second instruction, controls after the mechanical arm 2 carries out lifting operation and carry out drilling feed again.
It should be noted that the feeding rate that the mechanical arm 2 carried out when drilling is fed again after lifting operation can
The speed for slightly below lifting preoperative feeding rate can also be used using preoperative feeding rate is lifted.
It is understood that the first drilling force threshold δ1With the second drilling force threshold δ2For preset threshold, the preset threshold was both
It can be determined, can also be determined in such a way that other are calculated by way of experience or experiment.By the first drilling
Force threshold δ1With the second drilling force threshold δ2Determining drilling force threshold range is typicallyed represent to be drilled with current feeding rate
When be in relatively unsafe state, feeding rate should be turned down at this time.For example, if detecting the brill of the oral planter 4
Kong Li is in by the first drilling force threshold δ1With the second drilling force threshold δ2Within the scope of determining drilling force threshold, then show current
Resistance is larger, and the oral planter 4 is drilled with current feeding rate has been in opposite unsafe condition, should adjust at this time
Whole drilling feed speed, in order to avoid user is damaged.In addition, if detecting, the drilling power of the oral planter 4 is greater than the
Two drilling force threshold δ2, then show that current resistance is excessive, the oral planter 4 is drilled with current feeding rate have been located
In very unsafe condition, drilling feed is carried out again after lifting operation should be carried out at this time, in order to avoid user is damaged.
It should be noted that the above-mentioned control period mentioned when calculating and drilling power mean value f is unsuitable too long, otherwise it is easy to make
At security risk, meanwhile, the control period is also unsuitable too short, and otherwise one side calculation amount is excessive, on the other hand, if giving
The case where frequently adjusting into speed is experienced also not so good for patient.In addition, being also easy to out if the preset time period is too short
The case where existing noise spot erroneous judgement.For example, if the drilling power that the force snesor 3 acquires in real time occurs one at some time point
Noise spot, if if the preset time period is too short, it is easy to adjustment drilling feed speed is individually gone according to this noise spot, into
And it is whole to lead to that there is a situation where mistunings.Therefore, in a preferred embodiment, the length in each control period chooses 30
~50ms is more appropriate.
In a preferred embodiment, before starting to carry out tooth drilling operation, the industrial personal computer 7 receives user's input
Initial bore hole feed speed, and the initial bore hole feed speed is sent to the robot controller 1, so that the machine
Device people controller 1 controls the mechanical arm 2 according to the initial bore hole feed speed and the oral planter 4 is driven to start to carry out
Tooth drilling operation.
It should be noted that under normal circumstances, it, can be first to an initial feeding speed before starting to carry out tooth drilling operation
Degree (this initial feed speed is usually the safe feed speed after verifying), then makes the robot controller 1
Controlling the mechanical arm 2 according to this initial feed speed drives the oral planter 4 to start to carry out tooth drilling operation, subsequent
The drilling power acquired in real time further according to the force snesor 3 realizes that (particular content can be found in aforementioned for the adjustment of drilling feed speed
It introduces).For example, the resistance being subject to becomes larger when electric drill feeding encounters compact bone, drilling power can also be increased with it, industry control at this time
Machine 7 will know that drilling power is increasing according to the drilling power that the force snesor 3 acquires, if meeting above-mentioned first through judgement
Part or second condition will carry out corresponding speed adjustment or carry out drilling feed again after carrying out lifting operation, to guarantee patient
Safety.
In a preferred embodiment, whether the industrial personal computer 7 reaches target depth for real-time judge drilling depth,
The third instruction that the mechanical arm 2 stops drilling being used to indicate if so, sending to the robot controller 1；
The robot controller 1 controls the mechanical arm 2 and stops drilling operation after receiving the third instruction.
It is understood that drilling behaviour may be implemented by judging automatically whether Present Borehole depth reaches target depth
That makees is automatically stopped, and then ensure that the accuracy and automation of drilling.
Based on identical inventive concept, another embodiment of the present invention provides a kind of based on force feedback information from dynamic auxiliary
Kind tooth method, referring to fig. 4, this method comprises the following steps:
Step 101: obtaining drilling power of the oral planter in tooth automatic drilling operating process in real time.
In this step, it should be noted that obtaining oral planter in real time in tooth automatic drilling operating process
Drilling power when, may refer to above-described embodiment and situation shown in Fig. 2, using being mounted on mechanical arm 2 and oral planter 4
Between force snesor 3 acquire the drilling power of the oral planter 4 in real time.It is of course also possible to use other modes obtain oral cavity
Drilling power of the planting machine in tooth automatic drilling operating process.For example, being passed by being mounted on the vibration inside oral planter
The drilling power of oral planter 4 described in sensor indirect gain, also can use the force snesor being arranged in inside oral planter
Directly acquire the drilling power of the oral planter 4.Acquisition side about the drilling power in tooth automatic drilling operating process
Formula, the present invention is without limitation.
Step 102: according to the drilling feed speed in the drilling power adjustment tooth automatic drilling operating process obtained in real time.
In this step, speed is fed according to the drilling in the drilling power adjustment tooth automatic drilling operating process obtained in real time
Degree.For example, indicating that current resistance is larger when the power that drills is larger, drilling feed speed should be turned down.
In a preferred embodiment, referring to Fig. 5, above-mentioned steps 102 are accomplished in that
According to the drilling power obtained in real time, the drilling power mean value f in each control period is calculated, and judges the drilling power
Whether mean value f meets first condition δ1< f < δ2, if so, control, which reduces the drilling in automatic drilling operating process, feeds speed
Degree；Wherein, δ1For the first drilling force threshold, δ2For the second drilling force threshold；
If judging, the drilling power mean value f is unsatisfactory for first condition δ1< f < δ2, then continue to judge the drilling power mean value f
Whether second condition f >=δ is met2, drilling behaviour is carried out again if so, controlling after the oral planter carries out lifting operation
Make.
It is understood that the first drilling force threshold δ1With the second drilling force threshold δ2For preset threshold, the preset threshold was both
It can be determined, can also be determined in such a way that other are calculated by way of experience or experiment.By the first drilling
Force threshold δ1With the second drilling force threshold δ2Determining drilling force threshold range is typicallyed represent to be drilled with current feeding rate
When be in relatively unsafe state, feeding rate should be turned down at this time.For example, if detecting the drilling of the oral planter
Power is in by the first drilling force threshold δ1With the second drilling force threshold δ2Within the scope of determining drilling force threshold, then show currently to hinder
Power is larger, and the oral planter is drilled with current feeding rate has been in opposite unsafe condition, should adjust at this time
Drill feed speed, in order to avoid user is damaged.In addition, if detecting, the drilling power of the oral planter is greater than second and bores
Hole force threshold δ2, then show that current resistance is excessive, the oral planter is drilled with current feeding rate has been in non-
Normal unsafe condition carries out drilling feed after should carrying out lifting operation at this time again, in order to avoid user is damaged.
In the present embodiment, the whether excessive side of power that drills is judged according to the drilling power mean value f in each control period
Formula more can accurately and effectively realize the adjustment of drilling feeding rate.
It should be noted that the length in the above-mentioned control period mentioned when calculating and drilling power mean value f is unsuitable too long, otherwise
It is be easy to cause security risk, meanwhile, the length in the control period is also unsuitable too short, and otherwise one side calculation amount is excessive, another
Aspect is experienced also poorly if there is the case where feeding rate frequently adjusts for patient.In addition, if control period
Length is too short, is also easy to the case where noise spot erroneous judgement occur.For example, occurring at some time point when power if acquisition in real time drills
One noise spot, if it is described control the period length it is too short if, it is easy to individually according to this noise spot go adjustment drill into
To speed, and then it is whole to lead to that there is a situation where mistunings.Therefore, in a preferred embodiment, the length in the control period
It is more appropriate to choose 30~50ms.
In a preferred embodiment, referring to Fig. 5, the method also includes:
Whether real-time judge drilling depth reaches target depth, if so, controlling the oral planter stops drilling behaviour
Make.
It is understood that drilling behaviour may be implemented by judging automatically whether Present Borehole depth reaches target depth
That makees is automatically stopped, and then ensure that the accuracy and automation of drilling.
It should be noted that the automatic auxiliary species tooth method provided in an embodiment of the present invention based on force feedback information can be single
It solely realizes, the system can also realize which is not limited by the present invention based on the above embodiment.
Based on identical inventive concept, further embodiment of this invention provides a kind of electronic equipment, referring to Fig. 6, the electricity
Sub- equipment specifically includes following content: processor 701, memory 702, communication interface 703 and bus 704；
Wherein, the processor 701, memory 702, communication interface 703 complete mutual lead to by the bus 704
Letter；The communication interface 703 is for realizing the information between the relevant devices such as each modeling software and intelligent manufacturing equipment module library
Transmission；
The processor 701 is used to call the computer program in the memory 702, and the processor executes the meter
The Overall Steps in the automatic auxiliary species tooth method described in above-described embodiment based on force feedback information, example are realized when calculation machine program
Such as, following step is realized when the processor executes the computer program:
Step 101: obtaining drilling power of the oral planter in tooth automatic drilling operating process in real time.
Step 102: according to the drilling feed speed in the drilling power adjustment tooth automatic drilling operating process obtained in real time.
Based on identical inventive concept, further embodiment of this invention provides a kind of computer readable storage medium, the meter
It is stored with computer program on calculation machine readable storage medium storing program for executing, which realizes above-described embodiment institute when being executed by processor
The Overall Steps in the automatic auxiliary species tooth method based on force feedback information stated, for example, the processor executes the calculating
Following step is realized when machine program:
Step 101: obtaining drilling power of the oral planter in tooth automatic drilling operating process in real time.
Step 102: according to the drilling feed speed in the drilling power adjustment tooth automatic drilling operating process obtained in real time.
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 a ...", it is not excluded that
There is also other identical elements in process, method, article or equipment including 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 (10)
1. a kind of auxiliary species tooth system based on force feedback information characterized by comprising robot controller, mechanical arm, power
Sensor, oral planter, force snesor collector and industrial personal computer；Wherein, band of the oral planter in the mechanical arm
Dynamic lower progress tooth drilling operation；
The force snesor is arranged between the mechanical arm and the oral planter, for carrying out in the oral planter
During tooth drilling operation, the drilling power of the oral planter is acquired in real time；
The force snesor collector is sent to the industry control for reading the drilling power that the force snesor acquires in real time
Machine；
The industrial personal computer is sent according to the drilling power that the force snesor acquires in real time to the robot controller to be referred to accordingly
It enables, so that the adjustment that the robot controller controls the mechanical arm to realize drilling feed speed.
2. system according to claim 1, which is characterized in that the industrial personal computer acquires in real time according to the force snesor
The power that drills sends corresponding instruction to the robot controller, so that the robot controller controls the mechanical arm
Make the adjustment to realize drilling feed speed, comprising:
The drilling power that the industrial personal computer acquires in real time according to the force snesor calculates the drilling power mean value in each control period
F, and judge whether the drilling power mean value f meets first condition δ1< f < δ2, if so, being sent to the robot controller
It is used to indicate the first instruction for reducing the mechanical arm drilling feed speed；Wherein, δ1For the first drilling force threshold, δ2It is second
Drill force threshold；Correspondingly, for the robot controller after receiving first instruction, controlling the mechanical arm reduces brill
Hole feed speed；
The industrial personal computer is also used to judging that the drilling power mean value f is unsatisfactory for first condition δ1< f < δ2When, continue to judge institute
State whether drilling power mean value f meets second condition f >=δ2, if so, being used to indicate to robot controller transmission described
Mechanical arm carries out the second instruction for carrying out drilling feed after lifting operation again；Correspondingly, the robot controller is receiving
To after second instruction, controls after the mechanical arm carries out lifting operation and carry out drilling feed again.
3. system according to claim 1, which is characterized in that before starting to carry out tooth drilling operation, the industrial personal computer
The initial bore hole feed speed of user's input is received, and the initial bore hole feed speed is sent to the robot and is controlled
Device, so that the robot controller, which controls the mechanical arm according to the initial bore hole feed speed, drives the tooth-planting
Machine starts to carry out tooth drilling operation.
4. described in any item systems according to claim 1~3, which is characterized in that the industrial personal computer drills for real-time judge
Whether depth reaches target depth, if so, being used to indicate the mechanical arm to robot controller transmission stops drilling
Third instruction；
The robot controller controls the mechanical arm and stops drilling operation after receiving the third instruction.
5. system according to claim 2 or 3, which is characterized in that the length in each control period is 30~50ms.
6. a kind of automatic auxiliary species tooth method based on force feedback information characterized by comprising
Drilling power of the oral planter in tooth automatic drilling operating process is obtained in real time；
According to the drilling feed speed in the drilling power adjustment tooth automatic drilling operating process obtained in real time.
7. according to the method described in claim 6, it is characterized in that, the basis obtain in real time drilling power adjustment tooth it is automatic
Drilling feed speed during drilling operation, comprising:
According to the drilling power obtained in real time, the drilling power mean value f in each control period is calculated, and judges the drilling power mean value
Whether f meets first condition δ1< f < δ2, if so, control reduces the drilling feed speed in automatic drilling operating process；Its
In, δ1For the first drilling force threshold, δ2For the second drilling force threshold；
If judging, the drilling power mean value f is unsatisfactory for first condition δ1< f < δ2, then continue whether to judge the drilling power mean value f
Meet second condition f >=δ2, drilling operation is carried out again if so, controlling after the oral planter carries out lifting operation.
8. according to the method described in claim 6, it is characterized in that, the method also includes:
Whether real-time judge drilling depth reaches target depth, if so, controlling the oral planter stops drilling operation.
9. a kind of electronic equipment including memory, processor and stores the calculating that can be run on a memory and on a processor
Machine program, which is characterized in that the processor is realized when executing described program is based on power as described in any one of claim 6 to 8
The step of automatic auxiliary species tooth method of feedback information.
10. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the computer program quilt
The step of the automatic auxiliary species tooth method as described in any one of claim 6 to 8 based on force feedback information is realized when processor executes
Suddenly.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810515422.0A CN108938111A (en) | 2018-05-25 | 2018-05-25 | A kind of auxiliary species tooth system and method based on force feedback information |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810515422.0A CN108938111A (en) | 2018-05-25 | 2018-05-25 | A kind of auxiliary species tooth system and method based on force feedback information |
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| Publication Number | Publication Date |
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| CN108938111A true CN108938111A (en) | 2018-12-07 |
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| CN110559095A (en) * | 2019-09-26 | 2019-12-13 | 雅客智慧（北京）科技有限公司 | dental implant robot system and dental implant method thereof |
| CN112220557A (en) * | 2019-06-30 | 2021-01-15 | 苏州理禾医疗技术有限公司 | Operation navigation and robot arm device for craniocerebral puncture and positioning method |
| CN113855249A (en) * | 2021-12-02 | 2021-12-31 | 极限人工智能有限公司 | Machine control method and device, surgical robot and readable storage medium |
| CN114748193A (en) * | 2022-04-18 | 2022-07-15 | 杭州柳叶刀机器人有限公司 | Control surface-based backup hole depth control method and device for drill bit |
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