CN111603257A - Oral cavity implantation safety auxiliary system and method based on sound signal - Google Patents
Oral cavity implantation safety auxiliary system and method based on sound signal Download PDFInfo
- Publication number
- CN111603257A CN111603257A CN202010456180.XA CN202010456180A CN111603257A CN 111603257 A CN111603257 A CN 111603257A CN 202010456180 A CN202010456180 A CN 202010456180A CN 111603257 A CN111603257 A CN 111603257A
- Authority
- CN
- China
- Prior art keywords
- drilling
- sound
- state
- personal computer
- industrial personal
- 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.)
- Pending
Links
Images
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
- A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
- A61C1/00—Dental machines for boring or cutting ; General features of dental machines or apparatus, e.g. hand-piece design
- A61C1/0007—Control devices or systems
- A61C1/0015—Electrical systems
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
- A61C19/00—Dental auxiliary appliances
- A61C19/04—Measuring instruments specially adapted for dentistry
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Dentistry (AREA)
- Epidemiology (AREA)
- Animal Behavior & Ethology (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Biophysics (AREA)
- Water Supply & Treatment (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Toys (AREA)
Abstract
The invention provides an oral cavity implanting safety auxiliary system and method based on sound signals, wherein an implanting mobile phone is installed at the tail end of a mechanical arm, and the oral cavity implanting drilling operation is completed under the driving of a robot controller; the miniature microphone is positioned at the tail end of the mechanical arm and used for converting drilling sound into an electric signal and transmitting the electric signal to the sound collector; the sound collector is used for converting the sound analog quantity into digital quantity and transmitting a signal to the industrial personal computer; the industrial personal computer carries out signal analysis to the sound that receives, judges whether safe the drilling state to send the instruction to the robot controller, whether control arm continues drilling. According to the invention, the safety monitoring is carried out on the drilling process according to the sound signals generated by drilling, so that the safety of robot drilling is ensured.
Description
Technical Field
The invention relates to the technical field of medical robots, in particular to an oral cavity implantation safety auxiliary system and method based on sound signals.
Background
The path of the drill hole in the oral implant is determined by the surgeon prior to surgery and is typically from the outer cortical bone of the bone, into the inner cancellous bone and then stopped. Thus, the normal drilling sequence is cortical bone, cancellous bone. In the automatic drilling process of the robot, the drill bit cannot be stopped in time, so that the drill bit runs through cancellous bone and lower cortical bone, and a drilling sequence of cortical bone, cancellous bone and cortical bone occurs. If the underlying cortical bone is penetrated, it may injure the patient's nerves or penetrate the maxillofacial surface, with serious surgical complications. In order to reduce this risk, it is necessary to provide a safety assistance system that ensures the safety of the drilling process.
Prior art patent document CN108938111A related to the present application provides an auxiliary dental implant system and method based on force feedback information, the system includes: the robot comprises a robot controller, mechanical arms, a force sensor, an oral planter, a force sensor collector and an industrial personal computer; the oral implanting machine is driven by the mechanical arm to perform tooth drilling operation; the force sensor is used for acquiring the drilling force of the oral planter in real time; the force sensor collector is used for reading the drilling force collected by the force sensor in real time and sending the drilling force to the industrial personal computer; and the industrial personal computer sends a corresponding instruction to the robot controller according to the drilling force acquired by the force sensor in real time so that the robot controller controls the mechanical arm to realize the adjustment of the drilling feeding speed. And the feeding speed of the mechanical arm is automatically controlled according to the feedback information of the force sensor so as to realize safe and reliable automatic drilling. The above patent documents have the defects that the force signal has obvious characteristics relative to the noise of the sound signal, and a filtering algorithm needs to be added in the processing process, so that the real-time performance of the control system is influenced. On the other hand, the force sensor needs to rely on self deformation to collect a force signal, so that when the tail end of the planting mobile phone is connected with the force sensor, deformation errors can be amplified to a drill bit at the front end of the planting mobile phone, and drilling precision is affected. The sound signal used by the invention can avoid the defect of contact measurement such as a force sensor in the aspect of collection, so that the tail ends of the mobile planting phone and the robot are directly and rigidly connected, the stability of a drill bit at the front end of the mobile planting phone is ensured, and the drilling precision can be further improved.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide an oral implant safety auxiliary system and method based on sound signals.
The invention provides an oral cavity planting safety auxiliary system based on sound signals, which comprises a mechanical arm, a robot controller, a miniature microphone, a sound collector, a planting mobile phone and an industrial personal computer;
the miniature microphone is arranged at the tail end of the mechanical arm, and can convert drilling sound signals into electric signals and transmit the electric signals to the sound collector;
the planting mobile phone is arranged at the tail end of the mechanical arm, and the angle and the position of a drill bit at the planting mobile phone are adjusted by the mechanical arm so as to finish the drilling operation;
the sound collector can convert the electric signal transmitted by the miniature microphone into a digital signal and transmit the digital signal to the industrial personal computer;
the industrial personal computer judges the safety of the drilling state according to the sound signal transmitted by the sound collector and sends a command of whether to continue drilling to the robot controller;
the robot controller can control the mechanical arm to continue drilling or stop drilling.
Preferably, the industrial personal computer performs windowing processing on a frame of sound signal transmitted by the sound collector to form a windowed sound signal, and extracts frequency domain features from the windowed sound signal;
the industrial personal computer judges whether the drill bit is positioned in the cortical bone or the cancellous bone by utilizing the detection model according to the frequency domain characteristics and in combination with the drilling parameter characteristics, and if the drill bit is positioned in the cortical bone or the cancellous bone, the drilling state is judged to be a normal drilling state; if the drill hole is a cortical bone, judging whether cancellous bone appears in the historical drilling sequence, if so, judging that the drilling state is a dangerous state, otherwise, judging that the drilling state is a normal drilling state;
and if the drilling state is a normal bone drilling state, the industrial personal computer sends a drilling continuing instruction to the robot controller, and if the drilling state is a dangerous state, the industrial personal computer sends a drilling stopping instruction to the robot controller.
Preferably, the detection model is a drilling sound data set obtained by training through machine learning;
the drilling sound data set is a sound signal generated by the mechanical arm and the planting mobile phone in the process of drilling for multiple times under different drilling parameters.
Preferably, the sound signal features in the borehole sound data set are framed, a hamming window is added to the data at the frame level, frequency domain features are extracted by using fourier transform, and the frequency domain features and the borehole parameters are spliced to serve as final features of the frame data.
Preferably, the drilling parameter characteristic parameters comprise drilling speed and feed speed, and are received by the industrial personal computer in the form of input parameters before the oral implant drilling operation.
The invention provides an oral implant safety assisting method based on sound signals, which comprises the following steps:
acquiring a sound signal in the oral implant drilling process in real time;
and judging whether the current drilling state is safe or not according to the obtained sound signal, and controlling whether the mobile phone is planted to continue drilling or not.
Preferably, each frame of signal in the obtained sound signal is subjected to windowing processing to form a windowed sound signal;
extracting frequency domain features from the windowed sound signal;
according to the frequency domain characteristics and the drilling parameter characteristics, judging whether the drill bit is positioned in the cortical bone or the cancellous bone by using the detection model, and if the drill bit is positioned in the cortical bone or the cancellous bone, judging that the drilling state is a normal drilling state; if the drill hole is a cortical bone, judging whether cancellous bone appears in the historical drilling sequence, if so, judging that the drilling state is a dangerous state, otherwise, judging that the drilling state is a normal drilling state;
and if the drilling state is a normal bone drilling state, continuing drilling, and if the drilling state is a dangerous state, stopping drilling.
Compared with the prior art, the invention has the following beneficial effects:
1. according to the invention, the safety monitoring is carried out on the drilling process according to the sound signals generated by drilling, so that the safety of robot drilling is ensured.
2. According to the invention, by acquiring each frame of sound signal in the drilling process, whether the current drilling is safe or not is judged for each frame of sound, so that the drilling sensitivity of the robot is improved.
3. The method comprises the steps of performing frame processing on the sound signals, windowing the signals, converting each frame of signal into a frequency domain, and splicing the frequency domain characteristics and the drilling parameter characteristics to obtain the frame data characteristic expression.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a schematic diagram of the change in energy during a drilling process;
FIG. 2 is a schematic diagram of a system according to an embodiment of the present invention;
FIG. 3 is a partially enlarged view of the details of the plant mobile phone and the miniature microphone;
FIG. 4 is a schematic view of a sound collection process according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a data feature extraction process according to an embodiment of the present invention;
FIG. 6 is a flowchart illustrating a method according to an embodiment of the present invention.
The figures show that: a robot controller 1; a mechanical arm 2; planting the mobile phone 3; a miniature microphone 4; a sound collector 5; an industrial personal computer 6; patient 7.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
During drilling, different acoustic signals are generated at different locations due to the different densities of cortical and cancellous bone. Cortical bone has high density, high hardness and large sound energy. The cancellous bone has small density, low hardness, loose tissue and small sound energy. In one drilling process, the change of sound energy is shown in figure 1, so that the oral cavity implantation safety assistance can be carried out based on the sound signal.
Example 1
As shown in fig. 2, an embodiment of the present invention provides an oral implant safety assistance system based on a sound signal, the system including: the system comprises a robot controller 1, a mechanical arm 2, a planting mobile phone 3, a miniature microphone 4, a sound collector 5 and an industrial personal computer 6; in figure 7 the patient is shown.
As shown in fig. 3, the miniature microphone 4 is mounted at the end of the mechanical arm 2, and is used for converting a drilling sound signal into an electric signal and transmitting the electric signal to the sound collector 5. The planting mobile phone 3 is arranged at the tail end of the mechanical arm 2, and the angle and the position of a drill bit at the planting mobile phone are adjusted by the mechanical arm 2 to finish the drilling operation.
And the sound collector 5 is used for converting the electric signal transmitted by the miniature microphone 4 into a digital signal and transmitting the digital signal to the industrial personal computer 6. The industrial personal computer 6 judges the safety of the drilling state according to the sound signal transmitted by the sound collector 5 and sends a command of whether to continue drilling to the robot controller 1.
In a preferred embodiment, the industrial personal computer 6 determines the safety of the drilling state according to the sound signal transmitted by the sound collector 5, and sends a command whether to continue drilling to the robot controller 1, as shown in fig. 6, including:
the industrial personal computer 6 performs windowing processing on a frame of sound signal transmitted by the sound collector 5, and extracts the characteristics of a frequency domain from the processed signal. And judging whether the current drill bit is positioned in the cortical bone or the cancellous bone by utilizing the detection model according to the frequency domain characteristics and the drilling parameter characteristics. And if the current drilling state is the cancellous bone, judging that the current drilling state is a safe state, and recording the current drilling state. And the industrial personal computer 6 sends a continuous instruction to the robot controller 1 to control the mechanical arm 2 to continue drilling operation.
And if the industrial personal computer 6 judges that the current state is the cortical bone, further judging whether the cancellous bone appears before according to the recorded drilling state, and if the cancellous bone appears in the previous drilling sequence, judging that the current drilling state is a dangerous state. And the industrial personal computer 6 sends a stop instruction to the robot controller 1 to control the mechanical arm 2 to stop drilling operation. And if the spongy bone does not appear in the previous drilling sequence, judging that the current drilling state is a safe state, and sending a continuous instruction to the robot controller 1 by the industrial personal computer 6 to control the mechanical arm 2 to continue drilling operation.
In a preferred embodiment, drilling parameter characteristics such as drilling speed and feeding speed are input by a user through the industrial personal computer 6 before oral implantation drilling operation, and the industrial personal computer 6 sends an instruction to the robot controller 1 according to the input drilling speed and feeding speed to drive the mechanical arm 2 and the implanting mobile phone 3 to move so as to complete the drilling operation.
It should be noted that before the oral implantation drilling operation starts, a user can input the drilling speed and the feeding speed through the industrial personal computer 6, and the industrial personal computer 6 sends an instruction to the robot controller 1 according to the input drilling speed and the input feeding speed to drive the mechanical arm 2 and the implanting mobile phone 3 to move so as to perform the drilling operation. Since different drilling speeds and feeding speeds generate different sounds, the characteristics input into the detection model comprise two drilling parameters of the drilling speed and the feeding speed. On the other hand, the cortical bone has high density and hardness, the cancellous bone has low density and hardness, and different sound signals can be generated at the same drilling speed and feeding speed. Therefore, by combining the drilling parameter characteristics and the frequency domain characteristics of the extracted sound, the detection model obtained through machine learning can distinguish cortical bone from cancellous bone. In addition, the normal drilling path is cortical bone and cancellous bone, and when an accident of penetrating the cancellous bone into the cortical bone occurs, the drilling sequence detected by the detection model is the cortical bone, the cancellous bone and the cortical bone. Therefore, the cortical bone and the cancellous bone can be distinguished in real time by using the detection model, and whether the current drilling is safe or not can be judged by combining the recorded drilling state sequence. The detection model is obtained by extracting sound features from a collected training data set and then training a machine learning algorithm. The training data set records sound signals generated by the mechanical arm and the planting mobile phone in multiple drilling processes under different drilling parameters.
In a preferred embodiment, the detection model is obtained by extracting sound features in a training data set acquired and then training by a Boosting-based GBDT algorithm.
The training data set records sound signals generated by the mechanical arm and the planting mobile phone in the process of drilling for multiple times at different drilling speeds and different feeding speeds. The extraction process of the sound features in the training data set comprises the steps of firstly carrying out frame division processing, then windowing the data at the frame level, and finally combining the frequency domain features extracted from the data at the frame level with the drilling parameter features to obtain the sound features for training.
As shown in fig. 5, regarding the flow of extracting the sound signal features in the data set: firstly, framing sound signal characteristics in a data set, then adding a Hamming window into data at a frame level, extracting frequency domain characteristics from the frame data by using Fourier change, and finally splicing the frequency domain characteristics and drilling parameter characteristics to serve as final characteristics of the frame data.
Example 2
Based on the same inventive concept, another embodiment of the present invention provides a safety auxiliary method for oral implantation based on sound signals, as shown in fig. 4, the method includes the following steps:
step 101: and acquiring sound signals generated in the drilling process in real time.
Step 102: and judging whether the current drilling state is safe or not according to the drilling sound signals acquired in real time.
Step 103: and if the current state is safe, controlling the mechanical arm and the planting mobile phone to continue drilling. And if the current state is judged to be dangerous, controlling the mechanical arm and the planter phone to stop drilling operation.
In a preferred embodiment, referring to fig. 6, the step 102 is implemented as follows:
and windowing the transmitted frame of sound signal, and extracting the characteristics of a frequency domain from the processed signal. And judging whether the current drill bit is positioned in the cortical bone or the cancellous bone by utilizing the detection model according to the frequency domain characteristics and the drilling parameter characteristics. And if the current drilling state is the cancellous bone, judging that the current drilling state is a safe state, and recording the current drilling state.
And if the current state is the cortical bone, further judging whether the cancellous bone appears before according to the recorded drilling state, and if the cancellous bone appears in the previous drilling sequence, judging that the current drilling state is a dangerous state. And if the spongy bone does not appear in the previous drilling sequence, judging that the current drilling state is a safe state.
Specifically, in order to make the attenuation at both ends of the frame signal smooth and improve the quality of the frequency spectrum, a hamming window is used, and the function is as follows:
where N is the width of the window, in this example, N2200
Specifically, the frequency domain features are extracted from the windowed sound signal using fourier transform. Plus the drill rate and feed rate, the final characteristic dimension is 2202.
The detection model is obtained by extracting sound features in a collected training data set and then training the sound features through a Boosting-based GBDT algorithm before oral implantation drilling operation is carried out. For example: two classification experiments: for a certain frame of sound signal, the detection model outputs [0.3,0.7 ]. The first data is represented as the probability of cortical bone and the second data is represented as the probability of cancellous bone. The sum of both is 1. The current output indicates that the frame of sound signal is cancellous bone.
The training data set records sound signals generated in a plurality of drilling processes at different drilling speeds and different feeding speeds. The specific drilling rate and feed rate profiles used are shown in table 1:
TABLE 1 distribution table of drilling speed and feed speed values
It should be noted that the method for assisting dental implantation safety based on sound signals provided in the embodiment of the present invention may be implemented alone, or may be implemented based on the system described in the above embodiment, which is not limited in this respect.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (10)
1. An oral cavity planting safety auxiliary system based on sound signals is characterized by comprising a mechanical arm, a robot controller, a miniature microphone, a sound collector, a planting mobile phone and an industrial personal computer;
the miniature microphone is arranged at the tail end of the mechanical arm, and can convert drilling sound signals into electric signals and transmit the electric signals to the sound collector;
the planting mobile phone is arranged at the tail end of the mechanical arm, and the angle and the position of a drill bit at the planting mobile phone are adjusted by the mechanical arm so as to finish the drilling operation;
the sound collector can convert the electric signal transmitted by the miniature microphone into a digital signal and transmit the digital signal to the industrial personal computer;
the industrial personal computer judges the safety of the drilling state according to the sound signal transmitted by the sound collector and sends a command of whether to continue drilling to the robot controller;
the robot controller can control the mechanical arm to continue drilling or stop drilling.
2. The oral implantation safety auxiliary system based on the sound signal as claimed in claim 1, wherein the industrial personal computer performs windowing processing on a frame of sound signal transmitted by the sound collector to form a windowed sound signal, and extracts frequency domain features from the windowed sound signal;
the industrial personal computer judges whether the drill bit is positioned in the cortical bone or the cancellous bone by utilizing the detection model according to the frequency domain characteristics and in combination with the drilling parameter characteristics, and if the drill bit is positioned in the cortical bone or the cancellous bone, the drilling state is judged to be a normal drilling state; if the drill hole is a cortical bone, judging whether cancellous bone appears in the historical drilling sequence, if so, judging that the drilling state is a dangerous state, otherwise, judging that the drilling state is a normal drilling state;
and if the drilling state is a normal bone drilling state, the industrial personal computer sends a drilling continuing instruction to the robot controller, and if the drilling state is a dangerous state, the industrial personal computer sends a drilling stopping instruction to the robot controller.
3. The sound signal-based oral implant safety assistance system of claim 2, wherein the detection model is a drill sound data set acquired by machine learning training;
the drilling sound data set is a sound signal generated by the mechanical arm and the planting mobile phone in the process of drilling for multiple times under different drilling parameters.
4. The system of claim 3, wherein the sound signal features in the drilling sound data set are framed, a Hamming window is added to the data at frame level, frequency domain features are extracted using Fourier transform, and the frequency domain features and the drilling parameters are combined to form the final features of the frame data.
5. The oral implant safety assistance system based on sound signals of claim 2, wherein the drilling parameter characteristic parameters comprise a drilling speed and a feeding speed, and are received by the industrial personal computer in the form of input parameters before the oral implant drilling operation.
6. An oral implant safety assisting method based on sound signals is characterized by comprising the following steps:
acquiring a sound signal in the oral implant drilling process in real time;
and judging whether the current drilling state is safe or not according to the obtained sound signal, and controlling whether the mobile phone is planted to continue drilling or not.
7. The oral implant safety assistance method based on sound signals according to claim 6,
windowing each frame signal in the obtained sound signals to form windowed sound signals;
extracting frequency domain features from the windowed sound signal;
according to the frequency domain characteristics and the drilling parameter characteristics, judging whether the drill bit is positioned in the cortical bone or the cancellous bone by using the detection model, and if the drill bit is positioned in the cortical bone or the cancellous bone, judging that the drilling state is a normal drilling state; if the drill hole is a cortical bone, judging whether cancellous bone appears in the historical drilling sequence, if so, judging that the drilling state is a dangerous state, otherwise, judging that the drilling state is a normal drilling state;
and if the drilling state is a normal bone drilling state, continuing drilling, and if the drilling state is a dangerous state, stopping drilling.
8. The oral implant safety assistance method based on sound signals as claimed in claim 7, wherein the detection model is a drilling sound data set obtained by training through machine learning;
the borehole acoustic data set is an acoustic signal generated during a plurality of boreholes at different borehole parameters.
9. The method as claimed in claim 8, wherein the sound signal features in the drilling sound data set are framed, hamming windows are added to the data at the frame level, frequency domain features are extracted using fourier transform, and the frequency domain features and the drilling parameters are combined to obtain the final features of the frame data.
10. The oral implant safety assistance method based on sound signals of claim 8, wherein the drilling parameter characteristic parameters comprise a drilling speed and a feeding speed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010456180.XA CN111603257A (en) | 2020-05-26 | 2020-05-26 | Oral cavity implantation safety auxiliary system and method based on sound signal |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010456180.XA CN111603257A (en) | 2020-05-26 | 2020-05-26 | Oral cavity implantation safety auxiliary system and method based on sound signal |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111603257A true CN111603257A (en) | 2020-09-01 |
Family
ID=72196014
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010456180.XA Pending CN111603257A (en) | 2020-05-26 | 2020-05-26 | Oral cavity implantation safety auxiliary system and method based on sound signal |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111603257A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1186378A (en) * | 1996-12-27 | 1998-07-01 | 株式会社森田制作所 | Motor controller for dental handpiece |
| CN102641155A (en) * | 2011-02-16 | 2012-08-22 | 中国康复研究中心 | Real-time positioning navigation instrument used in orthopedic operation |
| DE102011111671A1 (en) * | 2011-08-26 | 2013-02-28 | Roland-Klinik gGmbH | Drilling machine, in particular medical drilling machine, and drilling method, in particular medical drilling method |
| CN110200712A (en) * | 2018-02-28 | 2019-09-06 | 上海术凯机器人有限公司 | A kind of dentistry automatic planting system and method based on PLC control |
| 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 |
| CN209951391U (en) * | 2019-02-14 | 2020-01-17 | 北京水木天蓬医疗技术有限公司 | Robot-assisted ultrasonic bone power system |
-
2020
- 2020-05-26 CN CN202010456180.XA patent/CN111603257A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1186378A (en) * | 1996-12-27 | 1998-07-01 | 株式会社森田制作所 | Motor controller for dental handpiece |
| CN102641155A (en) * | 2011-02-16 | 2012-08-22 | 中国康复研究中心 | Real-time positioning navigation instrument used in orthopedic operation |
| DE102011111671A1 (en) * | 2011-08-26 | 2013-02-28 | Roland-Klinik gGmbH | Drilling machine, in particular medical drilling machine, and drilling method, in particular medical drilling method |
| CN110200712A (en) * | 2018-02-28 | 2019-09-06 | 上海术凯机器人有限公司 | A kind of dentistry automatic planting system and method based on PLC control |
| CN209951391U (en) * | 2019-02-14 | 2020-01-17 | 北京水木天蓬医疗技术有限公司 | Robot-assisted ultrasonic bone power system |
| 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 |
Non-Patent Citations (1)
| Title |
|---|
| YU SUN, HAIYANG JIN, YING HU*, PENG ZHANG, JIANWEI ZHANG: "State Recognition of Bone DrillingWith Audio Signal", 《2014 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS》 * |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP1744589B2 (en) | Hearing device and corresponding method for ownvoices detection | |
| US6865424B2 (en) | Implantable medical device with voice responding and recording capacity | |
| AU2009294312B2 (en) | Stimulus artifact removal for neuronal recordings | |
| EP1765459B1 (en) | Automatic determination of the threshold of an evoked neural response | |
| US8190268B2 (en) | Automatic measurement of an evoked neural response concurrent with an indication of a psychophysics reaction | |
| WO2002043802A3 (en) | Automated template generation | |
| EP0783902A2 (en) | Extracorporal control device for an implantable medical device | |
| WO2001039662A2 (en) | System and method for detecting an action of the head and generating an output in response thereto | |
| EP2491728B1 (en) | Remote audio processor module for auditory prosthesis systems | |
| CN111603257A (en) | Oral cavity implantation safety auxiliary system and method based on sound signal | |
| Accini et al. | Using an admittance algorithm for bone drilling procedures | |
| Xia et al. | Sound feedback fuzzy control for optimizing bone milling operation during robot-assisted laminectomy | |
| AU2019239968C9 (en) | Semiautomated robotic cochlear implant surgery | |
| CN115645063A (en) | Vertebral plate cutting control method and surgical robot | |
| Nasibov | Aggregation of fuzzy values in linear programming problems | |
| Dillier et al. | Digital speech processing for cochlear implants | |
| CN106798553B (en) | Time domain self-adaptive windowing fetal heart sound noise reduction technology | |
| CN117815552A (en) | Electrode minimally invasive implantation self-adaptive system and method based on multidimensional data feedback | |
| CN113663216B (en) | Artificial cochlea debugging auxiliary system and auxiliary debugging method | |
| CN202776608U (en) | Rotation speed control device for jackhammer in dental surgery | |
| JP2001165716A (en) | Bedrock behavior data processing system | |
| CN116158877A (en) | Maxillary sinus bone wall breakthrough method, maxillary sinus bone wall breakthrough device, electronic equipment and storage medium | |
| US9451368B2 (en) | Feedback scan for hearing aid | |
| WO2024002459A1 (en) | System and method for inserting an electrode lead into a cochlea | |
| CN116807404A (en) | Auscultation signal intelligent identification method and equipment based on inspection robot |
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 | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200901 |
|
| RJ01 | Rejection of invention patent application after publication |