CN113768639A

CN113768639A - Dental implant device, dental implant system, and dental implant robot

Info

Publication number: CN113768639A
Application number: CN202110996744.3A
Authority: CN
Inventors: 沈金理; 郭逸鹏
Original assignee: Suzhou Xiaowei Changxing Robot Co ltd
Current assignee: Suzhou Xiaowei Changxing Robot Co ltd
Priority date: 2021-08-27
Filing date: 2021-08-27
Publication date: 2021-12-10
Anticipated expiration: 2041-08-27
Also published as: CN113768639B

Abstract

The invention relates to a dental implant device, a dental implant system, and a dental implant robot. The dental implant device includes: a body having an interior cavity; the force output assembly is arranged in the inner cavity of the main body, and the force output end of the force output assembly is coaxially connected with the drill bit; the positioning light emitters are arranged on the main body respectively and are arrayed around the axis of the force output end; the positioning light beams respectively emitted by the plurality of positioning light emitters can jointly form a light beam set; the plurality of positioning light emitters are individually movable relative to the body so as to change the shape and/or size of the set of light beams. According to the requirements of different punching procedures, the size of the light spot can be adjusted to be matched with the aperture size of the surgical plan in real time, and the implant can be simulated through the light beam set to judge the expected position of the implant relative to the adjacent teeth, so that the drill bit can be guided in real time in the drilling process, the drilling precision and efficiency are improved, and the hand-eye coordination scheduling requirements of an operator are reduced.

Description

Dental implant device, dental implant system, and dental implant robot

Technical Field

The invention relates to the technical field of dental implantation equipment, in particular to a dental implantation device, a dental implantation system and a dental implantation robot.

Background

The dental implant technology refers to a tooth missing restoration method for supporting and retaining an upper dental restoration based on a lower structure implanted into bone tissue. It comprises a lower supporting implant and an upper dental prosthesis. It adopts artificial material (such as metal, ceramic, etc.) to make implant (generally similar to tooth root form), and adopts the operation method to implant into tissue (generally upper and lower jaws) and obtain firm retention support of bone tissue, and utilizes special device and mode to connect and support the dental prosthesis of upper portion. The implant can obtain the repairing effect which is very similar to the function, the structure and the beautiful effect of the natural tooth, and becomes the first-choice repairing mode of more and more patients with tooth deficiency.

When performing dental implant surgery, it is first necessary to drill a jawbone (maxilla or mandible) of a patient with a missing tooth, thereby providing an implant space for an implant. In traditional dental surgery, dentist removes dental implant device through manual operation for dental implant device's drill bit removes to planning the position, thereby carries out to missing tooth patient's jaw and drills. In the process that a dentist moves the dental implant device through manual operation, the requirement on hand-eye coordination of the dentist is high.

Disclosure of Invention

In view of the above, it is necessary to provide a dental implant device capable of reducing the requirement for hand-eye coordination of a dentist, and a dental implant system and a dental implant robot, in order to solve the above-mentioned technical problem that the requirement for hand-eye coordination of the dentist is high in the process of moving the dental implant device by manual operation.

The embodiment of the application provides a dental implant device, includes:

a body having an interior cavity;

the force output assembly is arranged in the inner cavity of the main body, and the force output end of the force output assembly is coaxially connected with the drill bit; and

a plurality of positioning light emitters respectively disposed on the body, the plurality of positioning light emitters being arranged around an axis of the force output end; the positioning light beams respectively emitted by the plurality of positioning light emitters can jointly form a light beam set; a plurality of the positioning light emitters are respectively movable relative to the body so as to change the shape and/or size of the set of light beams.

In an embodiment, a plurality of the positioning light emitters are respectively rotatable with respect to the body about respective first axes of rotation; the first axis of rotation is disposed at an angle to a radial direction of the force output end and an axial direction of the force output end, respectively.

In an embodiment, the first rotation axis is perpendicular to a radial direction of the force output end and an axial direction of the force output end, respectively, so that the positioning light beams emitted by the plurality of positioning light emitters, respectively, can be focused on a point to form the cone-shaped light beam set.

In one embodiment, the dental implant device further comprises: the first driving mechanism is used for driving the positioning light emitters to rotate around the corresponding first rotating axes respectively relative to the main body.

In one embodiment, the first drive mechanism comprises:

an elastic member, an elastic force of which is used for providing a power when the positioning light emitter rotates around the first rotation axis relative to the main body along a first clock hand direction;

the telescopic piece is matched with the positioning light emitter; and

the first driving piece is used for driving the telescopic piece to move along the axial direction of the force output end, so that the telescopic piece drives the positioning light emitter to overcome the elastic force of the elastic piece or release the elastic piece; when the telescopic piece drives the positioning light emitter to overcome the elastic force of the elastic piece, the positioning light emitter can rotate around the first rotating axis relative to the main body along a second hour hand direction, wherein the second hour hand direction is opposite to the first hour hand direction.

In one embodiment, an avoidance port which is recessed along the radial direction of the force output end is arranged at one end of the telescopic piece, and the avoidance port penetrates through the telescopic piece along the axial direction of the force output end;

the dodging port corresponds to the positioning light emitter, and one end of the positioning light emitter, which is close to the extensible member, is at least partially positioned in the corresponding dodging port and is surrounded to be abutted against the positioning light emitter on the surface of the dodging port.

In an embodiment, the aperture of the avoidance port gradually decreases along the radial direction of the force output end toward the recess direction of the avoidance port.

In one embodiment, the dental implant device further comprises a gear adjusting component arranged on the main body, wherein the gear adjusting component is provided with a plurality of different gears; when different gears are selected, the first driving mechanism can drive the positioning light emitter to rotate to different angles relative to the main body.

In one embodiment, the dental implant device further comprises:

the image acquisition device is arranged on the main body and is used for acquiring an image of the drilling position of the drill bit;

and the light source is used for providing illumination for the work of the image acquisition device.

In one embodiment, the dental implant device further comprises:

the cooling liquid spray head is arranged on the main body and is connected with the output end of the cooling liquid pipe, and the cooling liquid spray head is used for spraying saline water to the drill bit; and

a coolant tube support for supporting the coolant tube.

In one embodiment, the main body comprises a handle and a machine head, one end of the handle is connected with the machine head, and an anti-skid structure is arranged on the handle.

In an embodiment, the plurality of positioning light emitters are each movable relative to the body in a respective first direction, wherein the first directions are arranged at an angle to an axis of the force output.

In an embodiment, the first direction corresponding to each of the positioning light emitters is respectively along a radial direction of the force output end.

In an embodiment, the dental implant device further comprises a second driving mechanism for driving the plurality of positioning light emitters to move along the respective first directions relative to the body.

When the dental implant device drills the jaw bone of the edentulous patient through the drill, the plurality of positioning light emitters are arranged around the axis of the force output end. The set of light beams formed by the positioning light beams emitted by the plurality of positioning light emitters can form a light spot when projected onto the gingival tissue of the jawbone of the edentulous patient, and the light spot surrounds the axis of the force output end. By moving the plurality of positioning light emitters relative to the body, respectively, the shape and/or size of the set of light beams can be changed, while the shape and/or size of the light spot formed when the set of light beams is projected onto the gingival tissue of the jawbone of the edentulous patient can be changed. Therefore, according to the requirements of different punching procedures, the size of the light spot can be adjusted to be matched with the aperture size of the surgical plan in real time, and the implant can be simulated through the light beam set to judge the expected position of the implant relative to the adjacent tooth, so that the drill bit can be guided in real time in the drilling process, the drilling precision and efficiency are improved, and the hand-eye coordination degree requirement of an operator (dentist) is reduced. The implant may also be simulated by a set of beams before drilling by the drill to judge the expected effect of the implant.

An embodiment of the present application further provides a dental implant system, including: a control device and the dental implant device of any of the above, the dental implant device further comprising a drive device; the control device is used for controlling the action of the driving device according to a surgical plan, so that the driving device drives the positioning light emitters to move relative to the main body respectively, and the shape and/or the size of the light beam set are/is changed.

When the dental implanting device of the dental implanting system drills the jaw bone of the edentulous patient through the drill, the plurality of positioning light emitters are arranged around the axis of the force output end. The set of light beams formed by the positioning light beams emitted by the plurality of positioning light emitters can form a light spot when projected onto the gingival tissue of the jawbone of the edentulous patient, and the light spot surrounds the axis of the force output end. By moving the plurality of positioning light emitters relative to the body, respectively, the shape and/or size of the set of light beams can be changed, while the shape and/or size of the light spot formed when the set of light beams is projected onto the gingival tissue of the jawbone of the edentulous patient can be changed. Therefore, according to the requirements of different punching procedures, the size of the light spot can be adjusted to be matched with the aperture size of the surgical plan in real time, and the implant can be simulated through the light beam set to judge the expected position of the implant relative to the adjacent tooth, so that the drill bit can be guided in real time in the drilling process, the drilling precision and efficiency are improved, and the hand-eye coordination degree requirement of an operator (dentist) is reduced. The implant may also be simulated by a set of beams before drilling by the drill to judge the expected effect of the implant.

An embodiment of the present application further provides a dental implant robot, including:

a mechanical arm;

the dental implant device of any of the preceding claims mounted to the robotic arm, the dental implant device further comprising a drive device;

a navigation device for guiding the movement of the robotic arm according to a surgical plan; and

the control device is used for controlling the mechanical arm to carry the dental implant device to move to a surgical position according to the guidance of the navigation device; the control device is further used for controlling the action of the driving device according to a surgical plan, so that the driving device drives the positioning light emitters to move relative to the main body respectively, and the shape and/or the size of the light beam set are/is changed.

In one embodiment, the dental implant robot further includes: a display device for displaying an image of a surgical site.

When the dental implanting device of the dental implanting robot drills the jaw bone of the edentulous patient through the drill bit, the plurality of positioning light emitters are arranged around the axis of the force output end. The set of light beams formed by the positioning light beams emitted by the plurality of positioning light emitters can form a light spot when projected onto the gingival tissue of the jawbone of the edentulous patient, and the light spot surrounds the axis of the force output end. By moving the plurality of positioning light emitters relative to the body, respectively, the shape and/or size of the set of light beams can be changed, while the shape and/or size of the light spot formed when the set of light beams is projected onto the gingival tissue of the jawbone of the edentulous patient can be changed. Therefore, according to the requirements of different punching procedures, the size of the light spot can be adjusted to be matched with the aperture size of the surgical plan in real time, and the implant can be simulated through the light beam set to judge the expected position of the implant relative to the adjacent tooth, so that the drill bit can be guided in real time in the drilling process, the drilling precision and efficiency are improved, and the hand-eye coordination degree requirement of an operator (dentist) is reduced. The implant may also be simulated by a set of beams before drilling by the drill to judge the expected effect of the implant.

Drawings

FIG. 1 is a schematic view of a dental implant device according to a first embodiment;

FIG. 2 is a schematic view of the dental implant device of FIG. 1 in assembled relation with a bur;

FIG. 3 is a schematic view of the dental implant device of FIG. 1 in assembled relation with a drive motor;

FIG. 4 is a longitudinal cross-sectional view of the dental implant device of FIG. 1;

FIG. 5 is a partial enlarged view of area A in FIG. 4;

FIG. 6 is a schematic view of the connection between the mounting bracket and the positioning light emitter in FIG. 5;

FIG. 7 is a schematic view of the positioning light emitter of the dental implant device of FIG. 1 emitting a cylindrical set of light beams;

FIG. 8 is a top view of FIG. 6;

FIG. 9 is a cross-sectional view E-E of FIG. 8;

FIG. 10 is a schematic view of the positioning light emitter of the dental implant device of FIG. 1 emitting a conical set of light beams;

FIG. 11 is a schematic view of the connection of the first driving mechanism with the positioning light emitter and the mounting bracket in FIG. 5;

FIG. 12 is an enlarged view of a portion of the area B in FIG. 11;

FIG. 13 is a top view of the telescoping member of FIG. 11 in connection with a positioning light emitter and a mounting bracket;

FIG. 14 is a schematic view of the telescoping member of FIG. 13;

FIG. 15 is a top view of the dental implant device of FIG. 1;

FIG. 16 is an enlarged view of a portion of the area C in FIG. 15;

FIG. 17 is a schematic structural view of the gear adjustment assembly of FIG. 15;

FIG. 18 is a bottom view of the dental implant device of FIG. 1;

FIG. 19 is an enlarged view of a portion of FIG. 18 taken along line D;

FIG. 20 is a schematic view of the planetary gear assembly of the force output assembly of the dental implant device of FIG. 1 coupled to the body;

fig. 21 is a schematic view of the connection between the handle and the plug in fig. 4.

Description of reference numerals:

a drill bit 200; a driving device 300;

a dental implant device 100;

a main body 110; a head 111; a handle 112; an inner cavity 101; a harness passage 103; an anti-slip structure 113; a switch button 114; a plug 115; a jack 104;

a force input end 121; an inner gear ring 122; a center wheel 123; a planet wheel 124; a tie bar 127; a drive shaft 125; a force output end 126; axis S1;

positioning the light emitter 130; a mounting bracket 131; positioning light beam 132 a; a set of light beams 132; a shaft extension 133; a fitting portion 134;

a first drive mechanism 140; an elastic member 141; a telescoping member 142; an avoidance port 102; a first driving member 143; a bearing 144;

a gear adjustment assembly 150; an adjustment ring 151; a gear adjustment flag 152; shift position alignment marks 153;

an image capture device 160; an illumination lamp 161; a flash lamp 162; an image capture button 163; a positioning block 164;

a coolant spray head 171; a coolant tube holder 172; a card slot 173.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.

Referring to fig. 1, a dental implant device 100 is provided according to a first embodiment of the present application. Referring to fig. 2 and 3, the dental implant device 100 is adapted to be assembled with a bur 200 and a driver 300, respectively. The driving force provided by the driving device 300 can be transmitted to the drill 200 through the force output assembly, and then the drill 200 can be driven to drill the jawbone of the edentulous patient. Referring again to fig. 4 and 5, the dental implant device 100 includes: a body 110, a force output assembly, and a plurality of positioning light emitters 130.

Referring to fig. 4, the main body 110 has an inner cavity 101. Specifically, in the present embodiment, the main body 110 includes a handpiece 111 and a handle 112. One end of the handle 112 is connected to the handpiece 111.

Mounted to the interior cavity 101 is a force output assembly having a force input end 121 and a force output end 126. Specifically, in the present embodiment, the force input end 121 is an input shaft, and is located inside the handle 112. The force output end 126 is an output shaft that is located inside the handpiece 111. Referring to fig. 19, the drill 200 can be connected to the force output end 126 by inserting the drill 200 into the insertion hole 104 at one end of the handpiece 111, so that the drill 200 can be mounted on the handpiece 111, and the driving force provided by the driving device 300 can be transmitted to the drill 200 through the force output assembly, so that the drill 200 can be driven to drill the jawbone of the edentulous patient, with reference to fig. 2 and 3, wherein the force input end 121 is used for being connected to the driving device 300, and the force output end 126 of the force output assembly is used for being coaxially connected to the drill 200.

Referring to fig. 5 and 6, a plurality of positioning light emitters 130 are respectively disposed on the body 110, and the plurality of positioning light emitters 130 are arranged around the axis S1 of the force output end 126. Specifically, in this embodiment, the dental implant device 100 further includes a mounting bracket 131. Referring to fig. 1 and 5, a mounting bracket 131 is fixedly connected to an end of the handpiece 111 where the drill bit 200 is mounted, the mounting bracket 131 surrounds an axis S1 of the force output end 126, and a plurality of positioning light emitters 130 are mounted to the mounting bracket 131 and arranged in sequence in a circumferential direction around the axis S1 of the force output end 126.

In other embodiments, the mounting bracket 131 may not be provided, and the positioning light emitter 130 may be directly mounted on the main body 110.

The positioning light emitter 130 may be a laser emitter, or other light emitter. Referring to fig. 7, each positioning light emitter 130 can emit a positioning light beam 132a, so that the positioning light beams 132a respectively emitted by the plurality of positioning light emitters 130 can collectively form a light beam set 132. When the dental implant device 100 drills the jaw bone of the edentulous patient through the drill 200, the positioning light beam 132a emitted from the positioning light emitter 130 is emitted in a direction toward the jaw bone of the edentulous patient, so that the light beam set 132 is projected onto the gum tissue of the jaw bone of the edentulous patient and forms a light spot. With reference to fig. 5-7, in the present embodiment, since the plurality of positioning light emitters 130 are arranged in sequence along the circumferential direction around the axis S1 of the force output end 126, when the positioning light beam 132a emitted by each positioning light emitter 130 is respectively parallel to the axis S1 of the force output end 126, the light beam set 132 formed by the positioning light beams 132a emitted by the plurality of positioning light emitters 130 together is substantially cylindrical, and thus the light spot projected by the cylindrical light beam set 132 onto the gingival tissue of the jawbone of the edentulous patient substantially encloses a ring shape.

The plurality of positioning light emitters 130 can be individually movable relative to the body 110 such that the angle and/or position of each positioning light beam 132a can be varied so as to change the shape and/or size of the light beam set 132. In the present embodiment, the plurality of positioning light emitters 130 are rotatable with respect to the body 110 about respective first rotation axes. The first axis of rotation is disposed at an angle to a radial direction of the force output end 126 and an axial direction of the force output end 126, respectively. Specifically, referring to fig. 8 and 9, both ends in the radial direction of each positioning light emitter 130 are respectively provided with a shaft extension 133, and are rotatably connected with the mounting bracket 131 through the shaft extensions 133, so that the axis of the shaft extension 133 is the first rotation axis.

In the present embodiment, the first rotation axis is perpendicular to the radial direction of the force output end 126 (i.e. the radial direction of the mounting bracket 131) and the axial direction of the force output end 126 (i.e. the axial direction of the mounting bracket 131), i.e. the direction of the first rotation axis is along the tangential direction of the mounting bracket 131 at the position of the corresponding positioning light emitter 130, and then the directions of the corresponding first rotation axes of each positioning light emitter 130 are different from each other. Therefore, when the plurality of positioning light emitters 130 simultaneously rotate around the corresponding first rotation axes relative to the main body 110, the positioning light beams 132a emitted by the plurality of positioning light emitters 130 can be respectively inclined to the axis S1 of the force output end 126, so that the shape of the light beam set 132 can be changed from a cylindrical shape to a truncated cone shape or a conical shape with a certain taper. As can be understood from fig. 10, when the plurality of positioning light beams 132a are inclined at the same angle relative to the axis S1 of the force output end 126, the light spots projected by the light beam set 132 onto the gum tissue of the jawbone of the edentulous patient are still annular. And, as the rotation angle of the positioning light emitter 130 is gradually increased, the inclination angle of the positioning light beam 132a with respect to the axis S1 of the force output end 126 is gradually increased, so that the taper of the light beam set 132 is gradually increased, and the annular light spot projected by the light beam set 132 on the gingival tissue of the jawbone of the edentulous patient is gradually decreased. When the light spots projected by the positioning light beams 132a onto the gum tissue of the jawbone of the edentulous patient are converged at one point, the annular light spot is focused into a point-like light spot. In this case, the shape of the light beam set 132 is conical, as shown in fig. 10.

When the dental implant device 100 drills the jaw bone of the edentulous patient through the drill 200, since the plurality of positioning light emitters 130 are arranged in the circumferential direction around the axis S1 of the force output end 126, the light beam set 132 forms an annular light spot when projected onto the gingival tissue of the jaw bone of the edentulous patient. By rotating the positioning light emitters 130 about the corresponding first rotation axes relative to the main body 110, the inclination angles of the positioning light beams 132a relative to the axis S1 of the force output end 126 can be adjusted, so that the size of the annular light spot and the taper of the light beam set 132 can be adjusted in real time. Therefore, according to the requirements of different drilling procedures, the size of the annular light spot can be adjusted to match the aperture size of the surgical plan in real time, and the implant can be simulated through the light beam set 132 to judge the expected position of the implant relative to the adjacent tooth, so that the drill 200 can be guided in real time during the drilling process, the drilling precision and efficiency are improved, and the hand-eye coordination requirement of an operator (dentist) is reduced. Particularly, when the drill 200 (positioning drill) is used for making a positioning hole, the inclination angles of the positioning light beams 132a relative to the axis S1 of the force output end 126 can be adjusted, so that the light spots projected by the positioning light beams 132a on the gingival tissues of the jawbone of the edentulous patient are converged to form a point-like light spot, thereby accurately guiding the drill 200 (positioning drill) to aim at the preoperative planned position of the positioning hole, improving the accuracy and efficiency of drilling, and reducing the hand-eye coordination requirement of an operator (dentist). Further, the implant can be simulated by the set of beams 132 prior to drilling by the drill bit 200 to determine the expected effect of the implant, which can provide a reference for preoperative planning.

In other embodiments, when the plurality of positioning light emitters 130 are arranged around the axis S1 of the force output end 126, they may not be arranged along the circumferential direction, for example, they may be arranged along other directions such as the rectangular circumferential direction, the triangular circumferential direction, and the regular hexagonal circumferential direction, and the arrangement manner is not particularly limited in this embodiment. Accordingly, when arranged in these other arrangements, the shape of the light beam set 132 formed by the positioning light beams 132a emitted by the plurality of positioning light emitters 130 may be a shape corresponding to a rectangular parallelepiped (rectangular frustum, rectangular pyramid), a triangular prism (triangular frustum, triangular pyramid), a hexagonal prism (hexagonal frustum, hexagonal pyramid), or the like. Accordingly, the light beam set 132 can form a rectangular, triangular, hexagonal, etc. shaped light spot when projected onto the gingival tissue of the jawbone of the edentulous patient. Accordingly, mounting bracket 131 may be shaped to accommodate the arrangement of multiple positioning light emitters 130. In addition, when the positioning light emitters 130 are arranged in the other arrangement manners, when the drill 200 (positioning drill) is used to form the positioning hole, the light spots projected by the positioning light beams 132a onto the gingival tissues of the jaw bone of the edentulous patient can still converge to achieve the aiming function.

Referring to fig. 5, in an embodiment, the dental implant device 100 further includes: the first driving mechanism 140 is used to drive the plurality of positioning light emitters 130 to rotate around the first rotation axes respectively corresponding to the plurality of positioning light emitters with respect to the main body 110.

With reference to fig. 5, 9, and 11 to 13, in the present embodiment, the first driving mechanism 140 includes: an elastic member 141, a telescopic member 142 and a first driving member 143. The elastic force of the elastic member 141 is used to drive the positioning light emitter 130 to rotate around the first rotation axis relative to the main body 110 in the first clock direction. The elastic member 141 is, for example, a torsion spring. Each positioning light emitter 130 is configured with at least one torsion spring. The torsion spring is sleeved on the shaft extension 133 of the corresponding positioning light emitter 130, and two ends of the torsion spring are respectively connected with the mounting bracket 131 and the shaft extension 133 of the corresponding positioning light emitter 130, so that the elastic force of the torsion spring can provide power for the positioning light emitter 130 to rotate along the first time direction. The first clock direction may be clockwise or counterclockwise.

Referring to fig. 5, 11-13, the telescoping member 142 cooperates with the positioning light emitter 130. The first driving member 143 is used to drive the telescopic member 142 to move along the axial direction of the force output end 126, so that the telescopic member 142 can overcome the elastic force of the elastic member 141 or release the elastic member 141. In particular, referring to fig. 5, in this embodiment, the first drive member 143 can be mounted between the inner wall of the handpiece 111 and the force output end 126 by a bearing 144. The telescoping member 142 is a telescoping plate. The telescopic member 142 is located on one side (upper side in fig. 5, 11, and 12) of the positioning light emitter 130 in the axial direction of the force output end 126, and the first driving member 143 is located on one side of the telescopic member 142 away from the positioning light emitter 130. The first driving member 143 is, for example, an electric push rod, a hydraulic rod, an air cylinder, or the like. When the first driving member 143 drives the telescopic member 142 to move along the axial direction of the force output end 126 toward the drilling direction of the drill bit 200 (i.e., downward in fig. 5, 11 and 12), the telescopic member 142 can gradually press the positioning light emitter 130.

As shown in fig. 13 and 14, in the present embodiment, the telescopic member 142 is annular as a whole, and the outer contour edge of the telescopic member 142 is substantially circular. The inner bore of the telescoping member 142 is used to pass the force output end 126. The end of the positioning light emitter 130 is provided with a mating portion 134. The outer surface of the fitting portion 134 is spherical. The outer contour edge of the telescopic member 142 simultaneously presses the matching portions 134 of the plurality of positioning light emitters 130, so that the pressing force applied to each positioning light emitter 130 has a component radially outward along the force output end 126, and further, the plurality of positioning light emitters 130 respectively overcome the elastic force of the corresponding torsion springs and rotate in the second clockwise direction around the corresponding first rotation axes. The second hour hand direction is opposite to the first hour hand direction. When the positioning light emitters 130 rotate in the second clockwise direction, the included angles between the positioning light beams 132a and the axis S1 gradually increase, and the taper of the light beam set 132 gradually increases.

Conversely, it will be appreciated that as the first drive member 143 drives the telescoping member 142 axially of the force output end 126 in a direction opposite the drilling direction, the telescoping member 142 gradually releases the positioned light emitter 130. At this time, the elastic force of the torsion spring can make the positioning light emitter 130 rotate along the first direction of the clock hand, so that the included angles between the positioning light beams 132a and the axis S1 gradually decrease, and the taper of the light beam set 132 gradually decreases until the light beam set 132 is cylindrical. In this embodiment, the first driving element 143 drives the telescopic element 142 to drive the positioning light emitters 130 to rotate around the corresponding first rotation axis in the first clockwise direction or the second clockwise direction, so as to synchronize the changing angles of the positioning light beams 132a, thereby facilitating the shape of the light beam set 132 to be in line with the expectation in the process of taper change, so that the light spots projected by the light beam set 132 can be kept in a ring shape or focused on a point.

In other embodiments, the first driving mechanism 140 can be designed in other structures, and the embodiment is not particularly limited. Of course, in other embodiments, not limited to driving a plurality of positioning light emitters 130 to move simultaneously through one telescopic member 142, a separate first driving mechanism may be configured for each positioning light emitter 130, and each positioning light emitter 130 is driven by a corresponding first driving mechanism to rotate around a corresponding first rotation axis.

Referring to fig. 13 and 14, in one embodiment, one end of the telescoping member 142 is provided with an escape opening 102 that is recessed radially of the force output end 126. Specifically, in the present embodiment, the escape opening 102 is recessed inward from the outer contour edge of the telescopic member 142. Avoiding opening 102 extends through telescoping member 142 in the axial direction of force output end 126. The avoidance port 102 corresponds to the positioning light emitter 130, and one end of the positioning light emitter 130 close to the telescopic member 142 is at least partially positioned in the corresponding avoidance port 102.

Specifically, in the present embodiment, one end of the positioning light emitter 130 close to the telescopic member 142 is a fitting part 134, the surface of which is spherical, and the outer diameter of which gradually decreases from the middle to the two ends. Thus, as shown in fig. 12, an end of the fitting portion 134 remote from the mounting bracket 131 can pass through the avoidance port 102 and be partially located inside the avoidance port 102, while the fitting portion 134 is entirely located outside the avoidance port 102.

As shown in fig. 13, since the fitting portion 134 is partially located in the avoiding opening 102, and the telescopic member 142 presses the fitting portion 134, the edge enclosing the surface of the avoiding opening 102 abuts against the surface of the fitting portion 134, so that the surfaces of the telescopic member 142 and the fitting portion 134 have a larger contact surface, and the telescopic member 142 can apply force to the fitting portion 134 conveniently. Moreover, in the process that the telescopic member 142 drives the matching portion 134 to rotate the positioning light emitter 130, the matching portion 134 is always kept partially in the avoiding opening 102, so that the matching portion 134 and the telescopic portion 142 can be reliably matched, and the telescopic member 142 can apply force to the matching portion 134 conveniently. Here, the edge surrounding the surface of the avoidance line 102 is explained: it will be appreciated that the telescoping member 142 has a surface that circumscribes the area defined by the relief opening 102 and, thus, the edges of the surface that circumscribe the surface of the relief opening 102.

Referring to fig. 13 and 14, the diameter of the avoidance opening 102 gradually decreases in a radial direction of the force output end 126 toward the recess of the avoidance opening 102.

Specifically, in the present embodiment, the bypass opening 102 is recessed inward from the outer edge of the telescopic member 142, so that the diameter of the bypass opening 102 gradually decreases inward along the radial direction of the telescopic member 142, and conversely, the diameter of the bypass opening 102 gradually increases. In this embodiment, since the surface of the engaging portion 134 is spherical, the telescopic element 142 drives the engaging portion 134 such that the outer diameter of the portion of the engaging portion 134 entering the avoiding opening 102 gradually increases during the rotation of the positioning light emitter 130 along the second clockwise direction. However, since the diameter of the escape opening 102 gradually increases outward in the radial direction of the extensible member 142, it is possible to accommodate a case where the outer diameter of the portion of the fitting portion 134 entering the escape opening 102 gradually increases.

In other embodiments, the telescopic member 142 may be located on the side of the positioning light emitter 130 along the drilling direction of the drill bit 200, so that the telescopic member 142 may also press the positioning light emitter 130 through the inner edge, in which case the avoidance opening may be provided at the inner edge of the telescopic member 142. In other embodiments, the surface of the fitting portion 134 is not limited to be a spherical surface, and may be a plane surface, such as other curved surfaces or irregular curved surfaces.

Referring to fig. 15 to 17, in an embodiment, the dental implant device 100 further includes a gear adjustment assembly 150. The gear adjustment assembly 150 is disposed on the body 110, and the gear adjustment assembly 150 has a plurality of different gears. When different gear positions are selected, the first driving mechanism 140 can drive the positioning light emitter 130 to rotate to different angles relative to the main body 110.

Specifically, in the present embodiment, the gear adjustment assembly 150 includes an adjustment ring 151. The adjusting ring 151 is disposed on the handle 112 of the main body 110 and can rotate relative to the handle 112. The adjustment ring 151 is provided with a plurality of shift position adjustment marks 152 arranged at intervals in the circumferential direction. In the present embodiment, the shift position adjustment flag 152 is a flag line. Different gear adjustment flags 152 correspond to different gears. Different gears may correspond to different shapes and/or sizes of the set of beams 132, for example, to different outer diameters of the annular spots. For example, Φ 4.5 corresponds to an outer diameter of the annular spot of 4.5 mm.

A shift position alignment mark 153 may be provided on the outer surface of the handle 112. The shift position alignment mark 153 may be, for example, a triangle, a circle, or a line. When a certain shift position needs to be selected, the positioning light emitter 130 can be adjusted to the shift position by rotating the adjustment ring 151 so that the shift position adjustment mark 152 (mark line) corresponding to the shift position is aligned with the shift position alignment mark 153.

Gear adjustment assembly 150 may be in signal communication with first drive mechanism 140, and when a gear is selected, first drive mechanism 140 receives a signal indicating that the gear is selected, so that first drive mechanism 140 drives positioning light emitters 130 to rotate about their respective first axes of rotation to a corresponding angle, such that the outer diameter of the annular light spot projected by light beam set 132 corresponds to the gear.

Specifically, a sensing contact (not shown) may be provided at the position of the shift position alignment mark 153 of the handle 112, and a corresponding sensing contact (not shown) may be provided at each shift position adjustment mark 152 on the adjustment ring 151, respectively, so that when any one shift position adjustment mark 152 is aligned with the shift position alignment mark 153, the sensing contact corresponding to the shift position adjustment mark 152 can be connected with the sensing contact, and the other sensing contacts are disconnected with the sensing contact. A control device and a regulating circuit can be additionally provided, the input of which cooperates with the inductive contacts, each of which cooperates with the output of the regulating circuit. Different voltages are output for different induction contacts through the matching of the additionally configured control device and the adjusting circuit, and the induction contacts correspond to the voltages one to one, so that when different induction contacts are matched with the induction contacts, the control device can receive different voltage signals, and further can receive signals for selecting different gears. At this time, the operation of the first drive mechanism 140 can be controlled by the control device according to the selected gear signal.

Of course, in other embodiments, the gear adjustment assembly 150 is not limited to the above-mentioned structure, and may be provided in other structures.

Referring to fig. 18 and 19, in an embodiment, the dental implant device 100 further includes: an image capture device 160 and a light source. The image pickup device 160 is provided to the body 110 and is used to pick up an image of a position where the drill bit 200 drills a hole. The light source is used to provide illumination for the operation of the image capture device 160.

Specifically, in the present embodiment, the image capturing device 160 is, for example, a camera. The image capturing device 160 is disposed at an end of the handle 112 near the handpiece 111. In the present embodiment, the light source includes a flash 162 and an illumination lamp 161. When dental implant device 100 drills the jawbone of the edentulous patient through drill bit 200, image acquisition device 160 can gather the image of art district (drilling position), not only makes things convenient for the doctor to observe the fine condition in art district in real time, still can be equipped with the form of bottom outlet after the hole is accomplished in each step under navigation's assistance and take down to provide the input for quantitative analysis, and then provide the basis for the next procedure is rectified. The light source is used for enhancing the exposure rate of the operation area and providing guarantee for image acquisition. Referring to fig. 1 and 2, in an embodiment, the dental implant device 100 further includes: an image capture button 163. The image capturing button 163 may be disposed at a holding position of the handle 112 for easy operation. The image capture button 163 may be used to control the on and off of the image capture device 160 and the light source and operating parameters, such as the magnification of the camera.

Referring to fig. 1, 3 and 19, in an embodiment, the dental implant device 100 further includes: a coolant spray head 171 and a coolant tube holder 172. The cooling liquid spray head 171 is provided to the body 110 and connected to a cooling liquid pipe for spraying the cooling liquid to the drill 200. The coolant is, for example, saline, purified water, or the like. The coolant tube holder 172 is used to support the coolant tubes.

Specifically, the output end of the cooling liquid pipe may be connected to the cooling liquid spray head 171, so that the brine output from the cooling liquid pipe may be sprayed to the drill bit 200 through the cooling liquid spray head 171, thereby dissipating heat from the drill bit 200. In this embodiment, the cooling liquid pipe bracket 172 is provided with a locking groove 173, and the cooling liquid pipe can be locked in the locking groove 173, so that the cooling liquid pipe can be managed and stored conveniently.

Referring to fig. 4 and 20, in one embodiment, the force output assembly further includes a planetary gear assembly, a drive shaft, and a bevel gear assembly. One end of the planetary gear assembly is connected to the force input 121 and the other end is connected to the drive shaft 125. The end of the drive shaft 125 remote from the planetary gear assembly is connected to a bevel gear assembly which is connected to a force output 126.

Specifically, the planetary gear assembly includes an inner gear ring 122, a center wheel 123, planet wheels 124, and tie bars 127. The connection relationship between the inner gear ring 122, the central gear 123, the planet gears 124 and the tie bars 127 is conventional and will not be described herein. The ring gear 122 is fixed to the inner wall of the handle 112. The central wheel 123 is coaxially connected with the force input 121. The tie rod 127 is coaxially connected with the transmission shaft 125. The bevel gear assembly comprises a driving bevel gear and a driven bevel gear meshed with the driving bevel gear. The axial direction of the driving bevel gear is vertical to the axial direction of the driven bevel gear. The drive bevel gear is coaxially connected to the drive shaft 125, and the driven bevel gear is coaxially connected to the force output end 126.

It will be appreciated that the force output assembly may take other configurations known in the art.

Referring to fig. 15 and 16, in one embodiment, the handle 112 is provided with a slip-preventing structure 113. The anti-slip structure 113 is disposed at the holding position of the handle 112 for improving friction and hand feeling during holding. The anti-slip structure 113 is, for example, anti-slip bumps or other anti-slip patterns.

Referring to fig. 15, in an embodiment, a locking switch (not shown) is disposed in the head 111, and a switch button 114 is disposed at an end of the head 111 facing away from the drill 200. The locking mechanism, when locked, securely connects the drill bit 200 to the force output end 126. When the latch switch is unlocked, the drill bit 200 may be removed from the force output 126. Unlocking and locking of the latch switch is facilitated by pressing the switch button 114, thereby facilitating removal and installation of the drill bit 200.

Referring to fig. 15, in an embodiment, a positioning block 164 is disposed at an end of the handle 112 away from the handpiece 111. The positioning block 164 is used to cooperate with a positioning hole (not shown) of the driving device 300, so as to facilitate the reliable connection between the dental implant device 100 and the driving device 300.

Referring to fig. 4, in an embodiment, a wire harness passage 103 is further disposed in the handle 112. Harness pass 103 is a routing path for the wiring harness of image capture device 160 and the wiring harness of positioning light emitter 130. Referring to fig. 20, in an embodiment, a plug 115 is disposed at an end of the handle 112 away from the handpiece 111, and the plug 115 is used for blocking the wiring harness channel 103, so as to protect the wiring harness when the dental implant device 100 is sterilized.

The second embodiment of the present application also provides a dental implant device (not shown). The dental implant device of the second embodiment has substantially the same structure as the dental implant device 100 of the first embodiment, and the description of the same parts is omitted. The following focuses on the differences between the dental implant device of the second embodiment and the dental implant device 100 of the first embodiment.

In this embodiment, the plurality of positioning light emitters are each movable relative to the body in a respective first direction, wherein the first direction is disposed at an angle to the axis of the force output end. The first direction may be a direction perpendicular to an axis of the force output end. For example, the first direction is radial to the force output end. Since the plurality of positioning light emitters are sequentially arranged around the axis of the force output end in the embodiment, the first directions corresponding to the positioning light emitters are different from each other. Each positioning light emitter is movable in a respective first direction. When the plurality of positioning light emitters are arranged in the circumferential direction around the axis of the force output end, the light beam set formed by the positioning light beams respectively emitted by the plurality of positioning light emitters can form a cylindrical shape. When the plurality of positioning light emitters synchronously move along the corresponding first direction (radial direction of the force output end), the size of the outer diameter of the cylinder formed by the light beam set can be changed. By adjusting the outer diameter of the light beam set, the size of the annular light spot projected by the light beam set on the gingival tissue of the edentulous patient can be adjusted.

In an embodiment, the dental implant device further comprises a second driving mechanism for driving the plurality of positioning light emitters to move relative to the body along respective corresponding first directions.

For example, the second driving mechanism may include a second driving member (e.g., a motor) and a slider corresponding to the second driving member. Each positioning light emitter can be connected with a corresponding sliding block, the sliding block is connected with the mounting bracket in a sliding mode along the first direction, and therefore the sliding block is connected with the main body in a sliding mode along the first direction. The corresponding sliding blocks are driven to move along the first direction through the corresponding first driving pieces, so that the corresponding positioning light emitters can be driven to move along the first direction relative to the main body.

When the dental implant device drills the jaw bone of the edentulous patient through the drill, the size of the light spot projected on the gum tissue of the edentulous patient by the light beam set and the outer diameter of the light beam set can be changed by moving the plurality of positioning light emitters relative to the main body along the corresponding first directions. Therefore, according to the requirements of different punching procedures, the size of the light spot can be adjusted to be matched with the aperture size of the surgical plan in real time, and the implant can be simulated through the light beam set to judge the expected position of the implant relative to the adjacent tooth, so that the drill bit can be guided in real time in the drilling process, the drilling precision and efficiency are improved, and the hand-eye coordination degree requirement of an operator (dentist) is reduced. In addition, the implant can be simulated by the light beam set before drilling by the drill to judge the expected effect of the implant, so that reference can be provided for preoperative planning.

Of course, in other embodiments, the first direction is not limited to being radial to the force output end, but may be any direction that is at an angle to the axis of the force output end. Furthermore, the first direction can be flexibly set for each positioning light emitter so as to respectively adjust the position of each positioning light emitter along the corresponding first direction, so that the shape of the implant can be simulated more accurately by a light beam set formed by the positioning light beams emitted by each positioning light emitter, the expected planting effect of the implant can be simulated more accurately, and better reference can be provided for preoperative planning.

In another embodiment, the second embodiment may be combined with the first embodiment, for example, each positioning light emitter is connected to the corresponding first driving mechanism corresponding to the second driving mechanism, and the first driving mechanism is connected to the corresponding positioning light emitter, so that the second driving mechanism can drive the corresponding first driving mechanism and the corresponding positioning light emitter to move together along the corresponding first direction; meanwhile, the first driving mechanism can also drive the corresponding positioning light emitters to rotate around the corresponding first rotating axes relative to the main body, and further, the shape and size of a light beam set formed by the positioning light beams emitted by the positioning light emitters can be changed more flexibly. In particular, in the present embodiment, the corresponding slider of each positioning light emitter is slidably connected to the mounting bracket along a corresponding first direction, so that the positioning light emitter can move along the first direction relative to the main body. And the shaft extensions of the positioning light emitters are rotatably connected with the corresponding slide blocks, so that the positioning light emitters can rotate around the corresponding first rotation axes relative to the main body.

The drive means may comprise either or a combination of the first and second drive mechanisms of the previous embodiments.

a mechanical arm;

the dental implant device of any of the preceding claims mounted to the robotic arm, the dental implant device further comprising a drive device; the drive means may comprise either or a combination of the first and second drive mechanisms of the previous embodiments;

In one embodiment, the dental implant robot further includes: a display device, which can communicate with the image acquisition device 160 of the dental implant device, for displaying an image of the surgical site.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. A dental implant device, comprising:

a body having an interior cavity;

2. The dental implant device of claim 1, wherein a plurality of the positioning light emitters are each rotatable relative to the body about a respective first axis of rotation; the first axis of rotation is disposed at an angle to a radial direction of the force output end and an axial direction of the force output end, respectively.

3. The dental implant device of claim 2, wherein the first axis of rotation is perpendicular to a radial direction of the force output end and an axial direction of the force output end, respectively, such that positioning light beams emitted by the plurality of positioning light emitters, respectively, can be focused at a point, forming the cone-shaped set of light beams.

4. The dental implant device of claim 2, further comprising: the first driving mechanism is used for driving the positioning light emitters to rotate around the corresponding first rotating axes respectively relative to the main body.

5. The dental implant device of claim 4, wherein the first drive mechanism comprises:

the telescopic piece is matched with the positioning light emitter; and

6. Dental implant device according to claim 5,

an avoidance port which is recessed along the radial direction of the force output end is arranged at one end of the telescopic piece, and the avoidance port penetrates through the telescopic piece along the axial direction of the force output end;

the dodging port corresponds to the positioning light emitter, and one end of the positioning light emitter, which is close to the extensible member, is at least partially positioned in the corresponding dodging port and is surrounded to form the edge of the surface of the dodging port and the positioning light emitter are abutted.

7. The dental implant device of claim 6, wherein the aperture of the avoidance opening is tapered in a radial direction of the force output end toward the recess of the avoidance opening.

8. The dental implant device of claim 4, further comprising a gear adjustment assembly disposed on the body, the gear adjustment assembly providing a plurality of different gears; when different gears are selected, the first driving mechanism can drive the positioning light emitter to rotate to different angles relative to the main body.

9. The dental implant device of claim 1, further comprising:

10. The dental implant device of claim 1, further comprising:

a coolant tube support for supporting the coolant tube.

11. The dental implant device of claim 1, wherein the body comprises a handle and a handpiece, one end of the handle is connected to the handpiece, and the handle is provided with an anti-slip structure.

12. The dental implant device of any one of claims 1-11, wherein each of the plurality of positioning light emitters is movable relative to the body in a respective first direction, wherein the first directions are disposed at an angle to an axis of the force output end.

13. The dental implant device of claim 12, wherein the first direction corresponding to each of the positioning light emitters is respectively along a radial direction of the force output end.

14. The dental implant device of claim 12, further comprising a second drive mechanism for driving the plurality of positioning light emitters to move relative to the body in respective first directions.

15. An implant system, comprising: a control device and a dental implant device as claimed in any one of claims 1 to 14, further comprising a drive device; the control device is used for controlling the action of the driving device according to a surgical plan, so that the driving device drives the positioning light emitters to move relative to the main body respectively, and the shape and/or the size of the light beam set are/is changed.

16. A dental implant robot, comprising:

a mechanical arm;

the dental implant device of any one of claims 1-14, the dental implant device mounted to the robotic arm, the dental implant device further comprising a drive device;

17. The dental implant robot of claim 16, further comprising: a display device for displaying an image of a surgical site.