CN109414308A - It is implanted into tooth robot system and its operating method - Google Patents
It is implanted into tooth robot system and its operating method Download PDFInfo
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- CN109414308A CN109414308A CN201780000445.1A CN201780000445A CN109414308A CN 109414308 A CN109414308 A CN 109414308A CN 201780000445 A CN201780000445 A CN 201780000445A CN 109414308 A CN109414308 A CN 109414308A
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- dummy
- tooth
- dental prosthesis
- implanted
- robot system
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
- A61C13/00—Dental prostheses; Making same
-
- 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
Abstract
A kind of implantation tooth robot system and its operating method are suitable for medicine technology field.Implantation tooth robot system includes the target tooth data to be repaired for automatically scanning and makes the dummy provisioned systems (1) of dental prosthesis (14) and the dummy implant system for dental prosthesis (14) to be implanted to position to be planted automatically automatically according to scan data, dummy provisioned systems (1) include data scanner and dummy preparation facilities, and dummy preparation facilities and dummy implant system are electrically connected with data scanner.Operating method is using implantation tooth robot system, including preparation step (S1) and implantation step (S2).A kind of implantation tooth robot system and its operating method, intelligence degree is high, and the preparation of dummy (14) and plantation precision are good, it is ensured that the success rate of Dental Erosion, while the labour cost of doctor is also saved, improve the efficiency of Dental Erosion.
Description
Denomination of invention: implantation tooth robot system and its operating method technical field
[0001] the invention belongs to medicine technology field more particularly to a kind of implantation tooth robot systems and its operating method.
Background technique
[0002] in Dental Erosion treatment operation, the dummy preparation for being implanted into tooth is its important link.And in clinical repair body preparation link, depending doctor's observation alone is difficult accurately to carry out the preparation of dummy, and accurately dummy preparation is successfully the important prerequisite of repairing and treating.But carry out dummy by hand is provisioned with its limitation.Because, because of human eye vision deviation, blind area, the reasons such as manpower error, doctor is difficult to be precisely controlled the preparation quality of dummy, and in fact, common people are almost impossible to be fully achieved textbook and Clinical Practice requirement in the small space of oral cavity.And during clinical dental implant, plant the preparation directions of cavities, angle, depth etc. with plant it is successfully closely related.Also, clinically although plantation cavity preparation also uses planting machine and carries out machine preparation at present, but is still to operate by " doctor's hand ", and error is larger.
Technical problem
[0003] it is an object of the invention to overcome above-mentioned the deficiencies in the prior art, provide a kind of implantation tooth robot system and its operating method, its intelligence degree is high, the preparation of dummy and plantation precision are good, ensure the success rate of Dental Erosion, the labour cost of doctor is also saved with inch, improves the efficiency of Dental Erosion.Solution to the problem
Technical solution
[0004] the present invention is implemented as follows: a kind of implantation tooth robot system, make the dummy provisioned systems of dental prosthesis and the dummy implant system for the dental prosthesis to be implanted to position to be planted automatically automatically including the target tooth data to be repaired for automatically scanning and according to scan data, the dummy provisioned systems include data scanner and dummy preparation facilities, and the dummy preparation facilities and the dummy implant system are electrically connected with the data scanner.
[0005] specifically, the data scanner includes and for scanning the scanner for obtaining the target tooth position and the locator for positioning the target tooth position, and the scanner is electrically connected with the dummy preparation facilities.
[0006] specifically, the dummy preparation facilities includes cutting machines people, laser generator and light-conducting arm, and the light-conducting arm is rotatably connected on the laser generator, and the cutting machines people is arranged on the light-conducting arm.
[0007] specifically, the shape of the dental prosthesis is identical as the shape of the target tooth.
[0008] specifically, the dental prosthesis includes planting body, base station and Full Crown, the planting body is arranged in the position to be planted of oral cavity, and the base station is connected in the planting body, and the Full Crown is connected on the end of the base station.
[0009] specifically, the dummy implant system includes planting arm and the planting machines people for controlling the plantation arm movement, and the plantation arm has the clamping hand for clamping the dental prosthesis.
[0010] the present invention also provides a kind of operating methods for being implanted into tooth robot system, using above-mentioned implantation tooth robot system, comprising the following steps:
[0011] preparation step: including carrying out the scanning of the target tooth data by dummy provisioned systems and carrying out the preparation of the dental prosthesis according to scan data；
[0012] dental prosthesis prepared implantation step: is implanted to by oral cavity position to be planted by the dummy implant system.
[0013] specifically, the scanning of the target tooth data includes being scanned by the scanner in the dummy provisioned systems, obtain the position of the target tooth, then the locator in the dummy provisioned systems is placed in the target tooth, obtains the three-dimensional data of the target tooth and the locator.
[0014] specifically, the preparation of the dental prosthesis controls the laser generator and carries out tooth processing, then obtain the dental prosthesis including the cutting machines people in the dummy implant system according to the design of system and the planning in path.
[0015] specifically, the concrete operations of the implantation step are as follows: the planting machines people in the dummy implant system controls according to the scan data of the data scanner, it operates plantation arm therein the dental prosthesis is implanted in the position to be planted of oral cavity, completes the plantation of the dental prosthesis.
Advantageous effect of the invention
Beneficial effect
[0016] a kind of implantation tooth robot system and its operating method provided by the present invention, in Dental Erosion inch, target tooth is scanned by dummy provisioned systems, obtain its shape and location information, and dental prosthesis to data information Automated Design and is prepared according to scanning, it ensure that the precision of dental prosthesis preparation.Same inch,
Carrying out the implantation of dental prosthesis automatically by dummy implant system, plantation accuracy is good, and it is high-efficient, save the labour cost of doctor.The present invention is by using digitalized data acquisition, the integrated application of artificial intelligence technology, robot assisted clinic application, realize the full-automation of Dental Erosion, intelligence, robotic, the various problems of manual tooth-implanting bring at present are made up, the working efficiency and quality of Dental Erosion are improved
, practicability is good.
To the brief description of accompanying drawing
Detailed description of the invention
[0017] Fig. 1 is the schematic diagram of dummy provisioned systems in implantation tooth robot system provided in an embodiment of the present invention；[0018] Fig. 2 is the structural schematic diagram of implantation tooth robot system Tooth dummy provided in an embodiment of the present invention；[0019] Fig. 3 is the operating process schematic diagram of dummy implant system in implantation tooth robot system provided in an embodiment of the present invention.
Embodiments of the present invention
[0020] in order to make the objectives, technical solutions, and advantages of the present invention clearer, the present invention is further described in detail below with reference to the accompanying drawings and embodiments.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not intended to limit the present invention.
[0021] specific implementation of the invention is described in detail below in conjunction with specific embodiment:
[0022] as shown in Figure 1, a kind of implantation tooth robot system provided in the embodiment of the present invention, for automating the reparation for carrying out dental caries tooth, so that it is guaranteed that the quality of Dental Erosion, it is poor to reduce existing repairing quality and manually reparation operation, low efficiency, the defect of doctor's large labor intensity.The implantation tooth robot system includes the data of the target tooth to be repaired for automatically scanning and makes the dummy provisioned systems 1 of dental prosthesis 14 automatically according to the scan data of acquisition and the dummy implant system (not shown) for dental prosthesis 14 to be implanted to position to be planted automatically, dummy provisioned systems 1 include data scanner (not shown) and dummy preparation facilities (not shown), and dummy preparation facilities and dummy implant system are electrically connected with data scanner.Setting in this way.Inch is treated carrying out Dental Erosion, it first passes through data scanner and is scanned acquisition come information such as shape, specific locations in the oral cavity to target tooth, then the design that dental prosthesis 14 is carried out further according to scanning to data information, then realizes the automatic preparation of dental prosthesis 14 by dummy preparation facilities.The dummy preparation facilities can be CAM (computer Aided
Manufacturing, Chinese meaning are as follows: computer-aided manufacturing)) device or 3D printer etc. are other relies on computers to realize the device of the manufacturing.And after the completion of prepared by dental prosthesis 14, the plantation of dental prosthesis 14 is carried out by dummy implant system again, i.e. dummy implant system according to data scanner obtain target tooth location coordinate information, it then will be in satisfactory 14 automatic planting of dental prosthesis of the correspondence position to be repaired into oral cavity, the implantation of dental prosthesis 14 is repaired in completion, and then realizes the reparation of tooth.Such implantation that dental prosthesis 14 is realized by dummy implant system, it is not only accurate high, and can satisfy the automatic implantation of dental prosthesis 14 of different shapes, manual type is overcome to reparation defect present in special-shaped Dental Erosion inch, is repaired applied widely.
[0023] implantation tooth robot system provided in the embodiment of the present invention, the data scanning of target tooth is carried out by using data scanner, the automatic preparation of dental prosthesis 14 is carried out according to the data information that scanning obtains with post-prosthesis preparation facilities, it is ensured that accuracy and efficiency prepared by dental prosthesis 14.And the automatic planting of dental prosthesis 14 is carried out by dummy implant system, plantation accuracy is high.Such reparation that tooth is carried out by way of digitizing, automating, not only accuracy is good, high-efficient for the preparation of dental prosthesis 14, and can be realized the preparation that heteromorphosis dental prosthesis 14 is realized according to any individuation data, it overcomes to prepare by manual type and prepares that precision is poor, defect of low efficiency present in inch.And the automatic planting of dental prosthesis 14 is carried out by using dummy implant system, it can not only ensure the accuracy of planting location, and the dynamics of plantation can be accurately controlled, comfort of the patient in Dental Erosion process is improved, overcomes plantation poor accuracy present in manual operation, dynamics controls improper and existing reparation defect.
[0024] specifically, as shown in Figure 1, in embodiments of the present invention, the data scanner includes for scanning the scanner 121 for obtaining target tooth position and the locator (not shown) for positioning target tooth position, and scanner 121 is electrically connected with dummy preparation facilities.Locator is an individual component, can also be in such a way that data line transmits by way of wirelessly transmitting data.And it is arranged in this way, scanner 121 is first passed through to obtain the position of target tooth in oral cavity, then locator is located on target tooth (refer to needs repair tooth), the position for needing to repair so as to precise positioning, then the coordinate of target tooth and locator is matched, the coordinate of the two is incorporated into the same coordinate system, the three-dimensional data of target tooth and locator is then generated by scanner 121, and two three-dimensional datas are registrated, then dummy preparation facilities carries out 14 form Design of dental prosthesis and path planning using the standard repaired in existing industry, finally realize that corresponding tooth is repaired
The automatic preparation of complex 14, it is good to prepare accuracy.Also, according to the control of system, designing and preparing for dental prosthesis 14 can synchronize progress, and preparation efficiency is high.
[0025] specifically, as shown in Figure 1, the dummy preparation facilities for the preparation of dental prosthesis 14 can be 3D printer or numerical control processing etc. and can accurately be processed according to computer system control.And in embodiments of the present invention, processing method is carried out using laser, thus 14 preparation facilities of dental prosthesis includes cutting machines people 131, laser generator 132 and light-conducting arm 133, light-conducting arm 133 is rotatably connected on laser generator 132, and cutting machines people 131 is arranged on light-conducting arm 133.In this way, controlling laser generator 132 by cutting machines people 131 generates laser, and by the transmission of light-conducting arm 133 and the variation of Working position adjustment, it can be realized the function of being precisely accomplished the preparation of dental prosthesis 14.And the material for being used to prepare dental prosthesis 14 can be ceramics or particulate metal (pure titanium or titanium alloy) etc., specifically material selection can be selected according to the requirement and the Dental Erosion situation of itself of patient, and repair mode is versatile and flexible.And the laser for being used to process is femtosecond laser, laser generator 132 is then femtosecond laser generator 132, is had.
[0026] specifically, the shape for carrying out the preparation of dental prosthesis 14 according to scan data and obtaining need to be identical as the shape holding of target tooth, after just can ensure that plantation so good compatible degree can be kept with other teeth around, it does not interfere with each other, tooth is enable to realize that it uses function well.Certainly, understandably, according to the professional standard of Dental Erosion technology, when the shape of target tooth has defect inch, after completing data scanning, defect existing for tooth can be compensated automatically according to industry to teeth patterning required standard, so that the dental prosthesis 14 obtained after preparation is met the requirements in shape, promotes the health of patient teeth.
[0027] specifically, as depicted in figs. 1 and 2, function is used to meet the normal of tooth, in embodiments of the present invention, the dental prosthesis 14 includes planting body 141, base station 142 and Full Crown 143, planting body 141 is arranged in the position to be planted of oral cavity, and base station 142 is connected in planting body 141, and Full Crown 143 is connected on the end of base station 142.In this way, in practical planting process, it first passes through Minimally Invasive Surgery planting body 141 is implanted in alveolar bone, and after making planting body 141 and bon e formation synosteosis between one section of inch, then base station 142 is connected on planting body 141, and that observes base station 142 and tooth elements agrees with degree, after compatible degree meets the requirements, Full Crown 143 is connected on base station 142, function identical with natural tooth and aesthetics are achieved.In the actual operation process, planting body 141 is implanted to by inch in alveolar bone by dummy implant system and is implanted into torsion general control within the scope of 30-50N*cm, it is ensured that the comfort in implantation process.Moreover, the outer surface of planting body 141 is arranged to helicitic texture to ensure the stability planted, so as to increase and alveolar bone
The area of contact, it is ensured that the stability after plantation.Equally, it can also be connected by way of helicitic texture between base station 142 and planting body 141, i.e., be provided with threaded hole in planting body 141, then setting and external screw thread on one end of base station 142, the two is cooperatively connected by way of screw thread, and stability is good.And the connection of base station 142 other end and Full Crown 143, it can be engagement thread, be also possible to that trapezoidal joinery and its construction is arranged to realize connection, same stable connection is reliable.
[0028] specifically, in embodiments of the present invention, the dummy implant system includes planting arm (not shown) and planting machines people's (not shown) for controlling plantation arm movement, and plantation arm has the clamping hand for clamping dental prosthesis 14.In this way, in the process planted, planting machines people is according to data information, issue control instruction, make to plant arm work, clamping hand thereon clamps dental prosthesis 14, is then further continued for moving to oral cavity position to be planted, by 14 automatic planting of dental prosthesis at accurate position, the function of automation plantation is realized.
[0029] operating method of implantation tooth robot system is additionally provided in the embodiment of the present invention, using above-mentioned implantation tooth robot system, comprising the following steps:
[0030] preparation step S1: including carrying out the scanning S11 of target tooth data by dummy provisioned systems and carrying out the preparation S12 of dental prosthesis according to scan data.I.e. by dummy provisioned systems 1 realize target tooth data acquisition and dental prosthesis 14 preparation, so as to obtain satisfactory dental prosthesis 14 so as to carry out the plantation reparation of subsequent tooth operation.
[0031] implantation step S2: the dental prosthesis 14 prepared is implanted to by oral cavity position to be planted by dummy implant system, realizes the automatic planting of dental prosthesis 14, it is ensured that the precision and efficiency of plantation.
[0032] specifically, the scanning SI 1 of target tooth data includes being scanned by the scanner 121 in dummy provisioned systems 1, obtain the position of target tooth, then the locator in dummy provisioned systems 1 is placed in target tooth, the three-dimensional data of target tooth and locator is then obtained by the scanning of scanner 121, and by two three-dimensional data integration registrations, data are provided for the subsequent preparation for carrying out dental prosthesis 14 and are supported.
[0033] specifically, the S12 for preparing of dental prosthesis includes cutting machines people 131 in dummy implant system according to the design of system and the planning of machining path, it controls laser generator 132 and carries out tooth processing, then obtain dental prosthesis 14.Cutting machines people 131, which controls laser generator 132 and carries out the process of tooth processing, to be carried out on the basis of with the foundation of scan data, accordingly ensure that processing obtains the accuracy of dental prosthesis 14.Moreover, by laser processing, it is high in machining efficiency.Also, by laser processing, it can be realized various heteromorphosis teeth
Prepared by the processing of tooth dummy 14, so as to meet the needs of different situations lower teeth reparation.
[0034] specifically, in the actual operation process, when needing the tooth to abnormity to carry out reparation inch, need to carry out the preparation of heteromorphosis plantation cavities, to meet the implantation of 14 body of dental prosthesis of respective shapes.I.e. cutting machines people 131 can accurately prepare, be formed personalized plantation cavities according to any personalized root data or special-shaped volume data, meet the plantation demand of different shape tooth, and the diameter of practical plantation cavities is made to be slightly less than the size for designing inch, so as to ensure the stability planted.And cutting machines people 131 carries out the preparation of plantation cavities using femtosecond laser, have it is thermally conductive low, the advantages of to surrounding tissue cells without thermal damage.It needs to inquire into from feasibility, art Qu Wendu, the influence of art area bleeding, plantation cavity preparation precision etc. in addition, dummy implant system carries out automation planting technology.And the automation planting technology of dummy provided in the embodiment of the present invention is, it can be achieved that automate plantation cavity preparation, and art area temperature, in 60 degrees centigrades, the influence of art area amount of bleeding is smaller, good reliability.
[0035] specifically, the concrete operations of implantation step are as follows: the planting machines people in dummy implant system controls according to the scan data of data scanner, determine position S21 to be planted, then it operates plantation arm therein dental prosthesis 14 is implanted in the position to be planted of oral cavity, completes the plantation S22 of dental prosthesis 14.And, in the process of practical operation, it needs to first pass through Minimally Invasive Surgery planting body 141 is implanted in alveolar bone, and after making planting body 141 and bon e formation synosteosis between one section of inch, form the plantation basis of early period, then base station 142 is connected on planting body 141, and that observes base station 142 and tooth elements agrees with degree, and after compatible degree meets the requirements, Full Crown 143 is connected on base station 142, function identical with natural tooth and aesthetics are achieved, achievees the purpose that Dental Erosion.
[0036] it is implanted into the operating method of tooth robot system provided in the embodiment of the present invention, by the operating method, can be realized by using robot the preparation for replacing doctor to complete kind of dental prosthesis 14 and the repair process planted in oral cavity.Entire repair process automation, can not only improve the accuracy and efficiency of the preparation of dental prosthesis 14, and can be improved the accuracy of 14 kinds of dental prosthesis plants.The present invention passes through CAD/CAM/3D printing technique, digitalized data acquisition, the integrated application of artificial intelligence technology, robot assisted clinic application, realize the full-automation, intelligence, robotic of Dental Erosion treatment, the various problems of manual tooth-implanting bring at present are made up, reliably, conveniently.
[0037] the foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention, should be included in guarantor of the invention
Within the scope of shield.
Claims (1)
- ClaimsA kind of [claim 1] implantation tooth robot system, it is characterized in that, make the dummy provisioned systems of dental prosthesis and the dummy implant system for the dental prosthesis to be implanted to position to be planted automatically automatically including the target tooth data to be repaired for automatically scanning and according to scan data, the dummy provisioned systems include data scanner and dummy preparation facilities, and the dummy preparation facilities and the dummy implant system are electrically connected with the data scanner.[claim 2] is implanted into tooth robot system as described in claim 1, it is characterized in that, the data scanner includes and for scanning the scanner for obtaining the target tooth position and the locator for positioning the target tooth position, and the scanner is electrically connected with the dummy preparation facilities.[claim 3] is implanted into tooth robot system as claimed in claim 2, it is characterized in that, the dummy preparation facilities includes cutting machines people, laser generator and light-conducting arm, the light-conducting arm is rotatably connected on the laser generator, and the cutting machines people is arranged on the light-conducting arm.[claim 4] is implanted into tooth robot system as claimed in claim 2, which is characterized in that the shape of the dental prosthesis is identical as the shape of the target tooth.[claim 5] is implanted into tooth robot system according to any one of claims 1 to 4, it is characterized in that, the dental prosthesis includes planting body, base station and Full Crown, the planting body is arranged in the position to be planted of oral cavity, the base station is connected in the planting body, and the Full Crown is connected on the end of the base station.[claim 6] is implanted into tooth robot system as described in any of claims 5, it is characterized in that, the dummy implant system includes planting arm and the planting machines people for controlling the plantation arm movement, and the plantation arm has the clamping hand for clamping the dental prosthesis.The operating method of [claim 7]-kind of implantation tooth robot system, which is characterized in that using the implantation tooth robot system as described in any one of claim 1 to 6, comprising the following steps:Preparation step: including carrying out the scanning of the target tooth data by dummy provisioned systems and carrying out the preparation of the dental prosthesis according to scan data；Implantation step: the dental prosthesis prepared is implanted to by oral cavity position to be planted by the dummy implant system.[claim 8] is implanted into the operating method of tooth robot system as claimed in claim 7, which is characterized in that institute The scanning for stating target tooth data includes being scanned by the scanner in the dummy provisioned systems, obtain the position of the target tooth, then the locator in the dummy provisioned systems is placed in the target tooth, obtains the three-dimensional data of the target tooth and the locator.[claim 9] is implanted into the operating method of tooth robot system as claimed in claim 7, it is characterized in that, the preparation of the dental prosthesis is including the cutting machines people in the dummy implant system according to the design of system and the planning in path, it controls the laser generator and carries out tooth processing, then obtain the dental prosthesis.[claim 10] is implanted into the operating method of tooth robot system as claimed in claim 7, it is characterized in that, the concrete operations of the implantation step are as follows: the planting machines people in the dummy implant system controls according to the scan data of the data scanner, it operates plantation arm therein the dental prosthesis is implanted in the position to be planted of oral cavity, completes the plantation of the dental prosthesis.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2017/081202 WO2018191903A1 (en) | 2017-04-20 | 2017-04-20 | Dental implantation robot system and operating method therefor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109414308A true CN109414308A (en) | 2019-03-01 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201780000445.1A Pending CN109414308A (en) | 2017-04-20 | 2017-04-20 | It is implanted into tooth robot system and its operating method |
Country Status (2)
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| CN (1) | CN109414308A (en) |
| WO (1) | WO2018191903A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112972047A (en) * | 2021-02-05 | 2021-06-18 | 深圳美聚和医疗科技有限公司 | Tooth preparation method, device and system for prepared tooth |
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| Publication number | Publication date |
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| WO2018191903A1 (en) | 2018-10-25 |
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Application publication date: 20190301 |