CN114795540A - Mobile phone drill bit calibration device and method - Google Patents
Mobile phone drill bit calibration device and method Download PDFInfo
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- CN114795540A CN114795540A CN202210448269.0A CN202210448269A CN114795540A CN 114795540 A CN114795540 A CN 114795540A CN 202210448269 A CN202210448269 A CN 202210448269A CN 114795540 A CN114795540 A CN 114795540A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
- A61C8/00—Means to be fixed to the jaw-bone for consolidating natural teeth or for fixing dental prostheses thereon; Dental implants; Implanting tools
- A61C8/0089—Implanting tools or instruments
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
- A61C3/00—Dental tools or instruments
- A61C3/02—Tooth drilling or cutting instruments; Instruments acting like a sandblast machine
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
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- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
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Abstract
The invention relates to the technical field of medical treatment, in particular to a mobile phone drill bit calibration device and a mobile phone drill bit calibration method. According to the invention, the spatial position of the bottom point at the center of the top groove is determined by combining the camera and the calibration probe through the top groove of the calibration device, the top groove is associated with the position of the tail end array, and the spatial position of the working tip of the planting drill bit is converted through the groove depth, so that the spatial position of the tip of the planting drill bit is associated with the tail end array, and the processing error and the assembly error of a middle structural member for fixing the mobile phone head and the tail end array are eliminated. In addition, the axial line space position of the drill bit after assembly can be actually detected through the calibration device, the camera and the calibration probe, so that the deflection angle of the planting drill bit when the whole mobile phone head and the tail end are driven by the subsequent mechanical arm to move is calculated.
Description
Technical Field
The invention relates to the technical field of medical treatment, in particular to a mobile phone drill bit calibration device and method.
Background
The loss of teeth can affect the chewing, pronunciation and appearance of people and seriously reduce the life quality of patients, and the dental implant is an important means for repairing the loss of teeth. The dental implant operation needs to use the implant hand machine to drill holes on the dental alveolus to meet the requirement of subsequent implant implantation, and is an important part in the oral dental implant operation.
Precision control is very important for dental implant surgery, and it is likely that a minor error will cause the surgery to fail, so calibration of the surgical instruments is a critical step. The dental implant handpiece has an irregular shape, errors exist in the machining and assembling processes, the position of the tail end of the surgical instrument is determined according to the size in the drawing possibly not accurate, and the accurate position relation is difficult to obtain by using the traditional measuring method.
Patent No. CN 109077822B discloses a dental implant handpiece calibration system and method based on visual measurement, the system and method can obtain a more accurate position calibration result of a drill bit at the tail end of the dental implant handpiece in an optical marking coordinate system of the dental implant handpiece, but the system and method are complex in structure and the calibration method is more complicated.
Disclosure of Invention
The invention aims to overcome the defects of the conventional mobile phone drill bit calibration device and method described in the background art, and provides the mobile phone drill bit calibration device and method which are simple and practical in device and simple and accurate in calibration method.
In order to realize the purpose, the invention adopts the following technical scheme to realize the purpose: a mobile phone drill calibration device comprises a calibration device, a camera, a mobile phone head, a mobile phone fixing device, a drill, a tail end array and a calibration probe.
The top of the calibration device can be inserted into the mobile phone head and fixed;
the mobile phone fixing device is used for fixing the mobile phone drill bit calibration device on the mechanical arm;
the camera can calculate a spatial position relationship between the camera and the tip array by detecting the tip array;
the upper end of the calibration probe is provided with an array feature, and the camera can calculate the spatial position relationship between the camera and the array on the calibration probe by detecting the array;
the length of the calibration device and the drill bit is known.
Furthermore, the top structure of the calibration device is a standard interface structure for planting a mobile phone drill bit, and the top of the calibration device can be inserted into the mobile phone head through a standard interface and fixed by a clamping groove in the mobile phone head.
Further, the top, the bottom and the side of the bottom of the calibration device are provided with tapered groove features, and the depth of the tapered grooves is known.
Further, a connecting line between a bottom surface point of the groove at the top of the calibration device and a bottom surface point of the groove at the bottom of the calibration device is a central axis of the calibration device.
Further, the distance from the bottom of the conical groove on the bottom side of the calibration device to the central axis is known.
Further, the mobile phone head is assembled with the tail end array through a structural member.
The invention also provides a mobile phone drill calibration method, which is characterized by comprising the following steps:
determining the specific position of the drill bit tip in the space by using the tip of the calibration probe and the bottom surface point of the conical groove on the top of the calibration device;
determining the deflection angle of the drill bit by using the point of the needle tip of the calibration probe and the bottom surface point of the conical groove at the bottom of the calibration device;
and (3) verifying whether the calibration is successful or not by using the needle tip of the calibration probe and the bottom surface point of the conical groove which is arranged on the side edge of the bottom of the calibration device.
As a pre-selection, the determining the specific position of the drill tip in the space by using the tip of the calibration probe and the bottom point of the conical groove on the top of the calibration device comprises:
using the needle tip of the calibration probe to point at the bottom surface of the conical groove at the top of the calibration device;
the camera calculates the spatial position relation between the camera and the array on the calibration probe by detecting the array on the calibration probe;
calculating the spatial position of the needle head of the calibration probe, namely the spatial position of the bottom surface point of the conical groove at the top of the calibration device in the field angle of the camera;
the camera calculates the spatial position of the end array in the camera view angle by detecting the end array;
calculating the relative spatial position of the tail end array and the bottom point of the conical groove at the top of the calibration device;
the drill bit is not provided with a groove and is a plane, so that after the drill bit is assembled on the mobile phone head instead of the calibration device, the center point of the top surface of the drill bit is the currently detected depth of the conical groove correspondingly raised from the bottom point of the conical groove at the top of the calibration device on the central axis of the calibration device;
knowing the length of the drill bit, the spatial position of the drill bit tip within the camera field of view when the drill bit is in use can be calculated, i.e. the specific position of the drill bit tip in space is determined by calibration.
Further, the determining the deflection angle of the drill bit by using the tip of the calibration probe and the bottom point of the conical groove at the bottom of the calibration device comprises:
using the needle tip of the calibration probe to point at the bottom surface point of the conical groove at the bottom of the calibration device;
the camera calculates the spatial position relation between the camera and the array on the calibration probe by detecting the array on the calibration probe;
calculating the spatial position of the needle head of the calibration probe, namely the spatial position of the bottom point of the conical groove at the bottom of the calibration device in the field angle of the camera;
calculating the spatial position of the central axis of the calibration device according to the positions of the bottom surface point of the groove at the top of the calibration device and the bottom surface point of the groove at the bottom of the calibration device;
the central axis of the drill bit after being assembled on the mobile phone head is superposed with the central axis of the calibration device, and the deflection angle of the drill bit can be calculated when the dental implant is subsequently carried out through the calibration.
Further, the verifying whether the calibration is successful by using the tip of the calibration probe and the bottom surface point of the tapered groove which is arranged on the side edge of the bottom of the calibration device comprises:
secondly, confirming the central axis of the calibration device by using the needle point of the calibration probe and the bottom surface point of the conical groove which is arranged on the side edge of the bottom of the calibration device;
because the distance between the bottom surface point of the conical groove on the side edge of the bottom of the calibration device and the central axis is known in design, the camera calculates and confirms whether the actually measured distance between the central axis of the calibration device and the central bottom of the conical groove on the side edge of the bottom of the calibration device is within an allowable error range, and if the actually measured distance is within the allowable error range, the calibration is successful; otherwise, the calibration fails and needs to be re-calibrated.
The invention provides a mobile phone drill bit calibration device and a mobile phone drill bit calibration method. According to the device and the method, the spatial position of the bottom point of the center of the top groove is determined by combining the camera and the calibration probe through the top groove of the calibration device, the top groove is associated with the position of the tail end array, and the spatial position of the working tip of the planting drill bit is converted through the groove depth, so that the spatial position of the tip of the planting drill bit is associated with the tail end array through the calibration device and the method, and the machining error and the assembling error of a middle structural member for fixing the mobile phone head and the tail end array are eliminated. In addition, the axial line space position of the assembled drill bit can be actually detected through the top groove, the bottom groove and the bottom side groove of the calibration device in combination with the camera and the calibration probe, so that the angle deflection of the implant drill bit when the whole mobile phone head and the tail end are driven by the subsequent mechanical arm is calculated.
Drawings
Features, advantages and technical effects of exemplary embodiments of the present invention will be described below with reference to the accompanying drawings.
FIG. 1 is a schematic bottom structure diagram of a calibration apparatus according to an embodiment of the present invention;
FIG. 2 is a schematic top view of a calibration apparatus according to an embodiment of the present invention;
FIG. 3 is a side cross-sectional view of an exemplary calibration arrangement of the present invention at an angle;
FIG. 4 is a side cross-sectional view of an exemplary calibration device of the present invention at another angle;
FIG. 5 is a schematic diagram of a drill bit according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a calibration probe according to an embodiment of the present invention;
FIG. 7 is a schematic view of a calibration probe tip point to a top conical recess bottom surface point of a calibration apparatus according to an embodiment of the present invention;
FIG. 8 is a schematic view of a calibration probe tip point to a bottom conical recess bottom surface point of a calibration apparatus according to an embodiment of the present invention;
FIG. 9 is a schematic view of a calibration probe tip point to a bottom point of a tapered recess in the bottom side of a calibration apparatus according to an embodiment of the present invention;
description of the reference numerals: 1. a calibration device; 2. a camera; 3. a mobile phone head; 4. a mobile phone fixing device; 5. a drill bit; 6. an end array; 7. calibrating the probe; 101. a bottom tapered recess; 102. a top tapered recess; 103. a bottom side surface tapered groove; 701. and (3) array.
Detailed Description
The following detailed description of embodiments of the invention, taken in conjunction with the accompanying drawings and examples, illustrate by way of example the principles of the invention, but are not intended to limit the scope of the invention, which is not limited to the embodiments described.
In the description of the present invention, it is to be noted that, unless otherwise specified, "a plurality" means two or more; the terms "upper," "lower," "left," "right," "inner," "outer," and the like, as used herein, refer to an orientation or positional relationship indicated for convenience in describing the invention and to simplify description, but do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the invention. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it is also to be noted that, unless otherwise explicitly specified or limited, the terms "mounted", "connected" and "assembled" are to be construed broadly, e.g., as meaning either a fixed connection, a detachable connection, or an integral connection; may be directly connected or indirectly connected through an intermediate. The specific meaning of the above terms in the present invention can be understood as appropriate to those of ordinary skill in the art.
For a better understanding of the present invention, the calibration apparatus and method of the present invention are described in detail below with reference to the accompanying drawings.
As shown in fig. 1 to 9, the invention provides a mobile phone drill calibration device, which comprises a calibration device 1, a camera 2, a mobile phone head 3, a mobile phone fixing device 4, a drill 5, a terminal array 6 and a calibration probe 7.
The top of the calibration device 1 can be inserted into the mobile phone head 3 and fixed;
the mobile phone fixing device 4 is used for fixing the mobile phone drill bit calibration device on the mechanical arm;
the camera 2 can calculate a spatial positional relationship between the camera 2 and the tip array 6 by detecting the tip array 6;
the upper end of the calibration probe 7 is provided with an array feature, and the camera 2 can calculate the spatial position relationship between the camera 2 and the array on the calibration probe 7 by detecting the array;
the length of the calibration device 1 and the drill bit 5 is known.
As an alternative embodiment, the top structure of the calibration device 1 is a standard interface structure for planting mobile phone drill bits.
As an optional implementation manner, the top of the calibration apparatus 1 may be inserted into the mobile phone head 3 through a standard interface, and fixed by using a card slot inside the mobile phone head 3.
Fig. 1 is a schematic bottom structure diagram of the calibration device 1 of the present invention, and fig. 2 is a schematic top structure diagram of the calibration device 1 of the present invention.
As shown in fig. 1 and 2, the bottom of the calibration device 1 has a tapered groove 101, the bottom point of which is marked as E, the top of the calibration device has a tapered groove 102, the bottom point of which is marked as F, and the bottom side of the calibration device is provided with a tapered groove 103, the bottom point of which is marked as G.
Fig. 3 is a side sectional view of the inventive calibration device 1 at an angle.
As shown in fig. 3, the total length of the calibration device 1 is C, and the depth of the tapered groove of the calibration device 1 is a.
As an alternative embodiment, a connecting line between the bottom point E of the top conical groove 101 and the bottom point F of the bottom conical groove 102 of the calibration device 1 is a central axis of the calibration device 1.
Fig. 4 is a side sectional view of the calibration device 1 of the present invention at another angle.
As shown in fig. 4, the distance D from the bottom point G of the bottom side conical groove 103 of the calibration device 1 to the central axis is shown.
Fig. 5 is a schematic view of the structure of the drill bit 5 of the present invention, and as shown in fig. 5, the drill bit 5 is shown as having a length B.
FIG. 6 is a schematic structural diagram of a calibration probe 7 according to an embodiment of the present invention.
As shown in FIG. 6, the calibration probe 7 has a tip feature at the bottom end and an array 701 feature at the top end, and the relative position of the tip to the array 701 is known.
As an alternative embodiment, the mobile phone head 3 is assembled with the end array 6 by a structural member.
As an alternative embodiment, the whole handset drill calibration device is fixed on the mechanical arm through the handset fixing device 4.
The invention also provides a mobile phone drill calibration method, which comprises the following steps:
determining the specific position of the tip of the drill bit 5 in the space by using the tip of the calibration probe 7 and the bottom surface point E of the conical groove 101 at the top of the calibration device 1;
determining the deflection angle of the drill bit 5 by using the tip of the calibration probe 7 and the bottom surface point F of the conical groove 102 at the bottom of the calibration device 1;
and (3) verifying whether the calibration is successful or not by using the tip of the calibration probe 7 and the bottom point G of the conical groove 103 on the bottom side of the calibration device 1.
As shown in fig. 7, the determining the specific position of the tip of the drill bit 5 in the space by the tip of the calibration probe 7, which is pointed at the bottom point E of the top conical groove 101 of the calibration device 1, includes:
the point of the needle tip of the calibration probe 7 is positioned at the bottom surface point E of the conical groove 101 at the top of the calibration device 1;
the camera 2 calculates the spatial position relationship between the camera 2 and the array 701 on the calibration probe 7 by probing the array 701 on the calibration probe 7;
calculating the space position of the needle head of the calibration probe 7, namely the space position of the bottom point of the conical groove 101 at the top of the calibration device 1 in the field angle of the camera 2;
the camera 2 detects the end array 6 to calculate the spatial position of the end array 6 in the field angle of the camera 2;
calculating the relative spatial position of the end array 6 and the bottom surface point E of the top conical groove 101 of the calibration device 1;
the drill bit 5 has no groove and is a plane, so that after the drill bit 5 is assembled to the mobile phone head 3 instead of the calibration device 1, the center point of the top surface of the drill bit 5 is the currently detected bottom surface point of the top conical groove 101 of the calibration device 1, and the bottom surface point is correspondingly raised by the conical groove depth A on the central axis of the calibration device 1;
knowing the length of the drill bit 5 as B, the spatial position of the tip of the drill bit 5 in the field of view of the camera 2 when the drill bit 5 is used can be calculated, i.e. the specific position of the tip of the drill bit 5 in space is determined by calibration.
As shown in fig. 8, said determining the angle of deflection of said drill bit 5 with the tip of said calibration probe 7, point at the bottom point F of the bottom conical recess 102 of said calibration device 1, comprises:
the point of the needle tip of the calibration probe 7 is pointed at the bottom surface point F of the conical groove 102 at the bottom of the calibration device 1;
the camera 2 calculates the spatial position relationship between the camera 2 and the array 701 on the calibration probe by probing the array 701 on the calibration probe 7;
calculating the space position of the needle head of the calibration probe 7, namely the space position of the bottom point of the conical groove 102 at the bottom of the calibration device 1 in the field angle of the camera 2;
the spatial position of the central axis of the calibration device 1 can be calculated according to the positions of the bottom surface point of the top conical groove 101 and the bottom surface point F of the bottom conical groove 102 of the calibration device 1;
the central axis of the drill bit 5 assembled on the mobile phone head 3 coincides with the central axis of the calibration device 1, and the deflection angle of the drill bit 5 can be calculated during subsequent tooth implantation through the calibration.
As shown in FIG. 9, the verification of the successful calibration with the tip of the calibration probe 7 pointed at the bottom point G of the conical recess 103 on the bottom side of the calibration device 1 comprises:
secondly, confirming the central axis of the calibration device 1 by using the tip of the calibration probe 7 and the bottom point G of the conical groove 103 on the side edge of the bottom of the calibration device 1;
the distance from a bottom surface point G of the bottom side tapered groove 103 of the calibration device 1 to a central axis EF is D, the camera 2 calculates and confirms whether the actually measured distance between the central axis EF of the calibration device 1 and the central bottom surface point G of the bottom side tapered groove 103 of the calibration device 1 is within an allowable error range, and if so, the calibration is successful; otherwise, the calibration fails and needs to be re-calibrated.
The invention provides a mobile phone drill bit calibration device and a mobile phone drill bit calibration method. According to the device and the method, the spatial position of the bottom point of the center of the top groove is determined by combining the camera and the calibration probe through the top groove of the calibration device, the top groove is associated with the position of the tail end array, and the spatial position of the working tip of the planting drill bit is converted through the groove depth, so that the spatial position of the tip of the planting drill bit is associated with the tail end array through the calibration device and the method, and the machining error and the assembling error of a middle structural member for fixing the mobile phone head and the tail end array are eliminated. In addition, the axial line space position of the assembled drill bit can be actually detected through the top groove, the bottom groove and the bottom side groove of the calibration device in combination with the camera and the calibration probe, so that the angle deflection of the implant drill bit when the whole mobile phone head and the tail end are driven by the subsequent mechanical arm is calculated.
While the invention has been described with reference to a preferred embodiment, various modifications may be made and equivalents may be substituted for elements thereof without departing from the scope of the invention. In particular, the technical features mentioned in the embodiments can be combined in any way as long as there is no structural conflict. It is intended that the invention not be limited to the particular embodiment disclosed, but that the invention will include all embodiments falling within the scope of the appended claims.
Claims (11)
1. A mobile phone drill bit calibration device is characterized by comprising a calibration device, a camera, a mobile phone head, a mobile phone fixing device, a drill bit, a tail end array and a calibration probe;
the top of the calibration device can be inserted into the mobile phone head and fixed;
the mobile phone fixing device is used for fixing the mobile phone drill bit calibration device on the mechanical arm;
the camera can calculate a spatial position relationship between the camera and the tip array by detecting the tip array;
the upper end of the calibration probe is provided with an array feature, and the camera can calculate the spatial position relationship between the camera and the array on the calibration probe by detecting the array;
the length of the calibration device and the drill bit is known.
2. The mobile phone drill calibration device according to claim 1, wherein the top structure of the calibration device is a standard interface structure for planting mobile phone drill, and the top of the calibration device can be inserted into the mobile phone head through a standard interface and fixed by a clamping groove inside the mobile phone head.
3. The handset drill bit calibration device according to claim 1, wherein the top, bottom and bottom sides of the calibration device are provided with tapered groove features, and the depth of the tapered groove is known.
4. The handset drill calibration device according to claim 1, wherein a connecting line between a bottom surface point of the top groove and a bottom surface point of the bottom groove of the calibration device is a central axis of the calibration device.
5. The handset drill calibration device according to claim 4, wherein the distance from the bottom point of the tapered recess on the bottom side of the calibration device to the central axis is known.
6. The handset drill calibration device according to claim 1, wherein the calibration probe has a tip feature at a bottom end and an array feature at a top end, and the relative position relationship between the tip and the array is known.
7. The handset drill calibration device according to claim 1, wherein the handset drill is assembled with the tip array by a structural member.
8. A mobile phone drill bit calibration method is characterized by comprising the following steps:
determining the specific position of the drill bit tip in the space by using the tip of the calibration probe and the bottom surface point of the conical groove on the top of the calibration device;
determining the deflection angle of the drill bit by using the point of the needle tip of the calibration probe and the bottom surface point of the conical groove at the bottom of the calibration device;
and (3) verifying whether the calibration is successful or not by using the needle tip of the calibration probe and the bottom surface point of the conical groove which is arranged on the side edge of the bottom of the calibration device.
9. The method for calibrating the mobile phone drill bit according to claim 8, wherein the determining the specific position of the drill bit tip in the space by using the tip of the calibration probe and the bottom point of the conical groove on the top of the calibration device comprises:
using the needle tip of the calibration probe to point at the bottom surface of the conical groove at the top of the calibration device;
the camera calculates the spatial position relation between the camera and the array on the calibration probe by detecting the array on the calibration probe;
calculating the spatial position of the needle head of the calibration probe, namely the spatial position of the bottom surface point of the conical groove at the top of the calibration device in the field angle of the camera;
the camera calculates the spatial position of the end array in the camera view angle by detecting the end array;
calculating the relative spatial position of the tail end array and the bottom point of the conical groove at the top of the calibration device;
the drill bit is not provided with a groove and is a plane, so that after the drill bit is assembled on the mobile phone head instead of the calibration device, the center point of the top surface of the drill bit is the currently detected depth of the conical groove correspondingly raised from the bottom point of the conical groove at the top of the calibration device on the central axis of the calibration device;
knowing the length of the drill bit, the spatial position of the drill bit tip within the camera field of view when the drill bit is in use can be calculated, i.e. the specific position of the drill bit tip in space is determined by calibration.
10. The method for calibrating the mobile phone drill bit according to claim 8, wherein the determining the angle of the drill bit deflection by the tip of the calibration probe and the bottom point of the conical groove at the bottom of the calibration device comprises:
using the needle tip of the calibration probe to point at the bottom surface point of the conical groove at the bottom of the calibration device;
the camera calculates the spatial position relation between the camera and the array on the calibration probe by detecting the array on the calibration probe;
calculating the spatial position of the needle head of the calibration probe, namely the spatial position of the bottom point of the conical groove at the bottom of the calibration device in the field angle of the camera;
calculating the spatial position of the central axis of the calibration device according to the positions of the bottom surface point of the groove at the top of the calibration device and the bottom surface point of the groove at the bottom of the calibration device;
the central axis of the drill bit after being assembled on the mobile phone head is superposed with the central axis of the calibration device, and the deflection angle of the drill bit can be calculated when the dental implant is subsequently carried out through the calibration.
11. The method for calibrating the mobile phone drill bit as claimed in claim 8, wherein the step of verifying whether the calibration is successful by using the tip of the calibration probe and the bottom point of the tapered groove on the bottom side of the calibration device comprises:
secondly, confirming the central axis of the calibration device by using the needle point of the calibration probe and the bottom surface point of the conical groove which is arranged on the side edge of the bottom of the calibration device;
because the distance between the bottom surface point of the conical groove on the side edge of the bottom of the calibration device and the central axis is known in design, the camera calculates and confirms whether the actually measured distance between the central axis of the calibration device and the central bottom of the conical groove on the side edge of the bottom of the calibration device is within an allowable error range, and if the actually measured distance is within the allowable error range, the calibration is successful; otherwise, the calibration fails and needs to be re-calibrated.
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| WO2020153410A1 (en) * | 2019-01-22 | 2020-07-30 | Ｓａｆｅ Ａｐｐｒｏａｃｈ Ｍｅｄｉｃａｌ株式会社 | Surgical procedure assistance system, treatment device, and plate |
| CN113633408A (en) * | 2021-07-30 | 2021-11-12 | 华南理工大学 | Optical navigation dental implantation robot system and calibration method thereof |
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