CN115153925A - Automatic drill positioning device and method for oral dental implant surgery - Google Patents
Automatic drill positioning device and method for oral dental implant surgery Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 50
- 239000004053 dental implant Substances 0.000 title claims abstract description 41
- 238000001356 surgical procedure Methods 0.000 title claims description 14
- 239000007943 implant Substances 0.000 claims abstract description 40
- 210000000214 mouth Anatomy 0.000 claims abstract description 28
- 239000000523 sample Substances 0.000 claims abstract description 15
- 238000005498 polishing Methods 0.000 claims abstract description 4
- 239000011159 matrix material Substances 0.000 claims description 139
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- 238000002513 implantation Methods 0.000 claims 1
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- 230000002349 favourable effect Effects 0.000 description 2
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- 238000007517 polishing process Methods 0.000 description 2
- 206010044048 Tooth missing Diseases 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005553 drilling Methods 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
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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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
- A61C1/00—Dental machines for boring or cutting ; General features of dental machines or apparatus, e.g. hand-piece design
- A61C1/08—Machine parts specially adapted for dentistry
- A61C1/082—Positioning or guiding, e.g. of drills
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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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- A—HUMAN NECESSITIES
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- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2055—Optical tracking systems
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Abstract
The invention provides an automatic positioning device and method for a dental implant surgical drill, wherein the device comprises: the system comprises an infrared binocular camera, an oral cavity clamp, a mechanical arm, a probe, a tail end assembly, a button module, a planting mobile phone, a drill bit and an intraoperative dental implant navigation system. The method comprises the following steps: preparing equipment; carrying out dental jaw registration; installing the drill bit at the tail end of the mobile phone planter to obtain the pose of the drill bit; acquiring a rotation vector parameter of a target position under a mechanical arm coordinate system; the mechanical arm drives the drill bit to automatically position to a target position; the mechanical arm carries out alignment movement along the axis of the drill bit to implant the implant; and verifying the planting precision. The invention adopts a mode of combining a navigation camera and a mechanical arm, highly integrates preoperative planning, intraoperative registration, automatic drill positioning and alignment polishing movement, displays the planting precision in real time in the operation, avoids human errors, is convenient to operate and has extremely high use value clinically.
Description
Technical Field
The invention relates to the field of oral dental implant surgery, in particular to an automatic drill positioning device and method for oral dental implant surgery.
Background
At present, dental implant surgery becomes one of conventional treatment modes for repairing tooth defects or missing teeth, becomes a first-choice tooth missing repair mode recognized by the international dental medicine field at present, and in addition, with the rapid development of robot technology, the requirement for using robot-assisted surgery in the field of dental implant is increasing day by day. The oral dental implant robot can reduce the learning cost of doctors and standardize and simplify the operation process while ensuring that the operation result becomes more accurate. However, the dental implant surgery is a precise operation performed locally in a narrow oral cavity, the space in the oral cavity is narrow, observation is difficult, and the problem of inaccurate drill positioning is easily caused by experience of a doctor, so that the surgery fails.
Patent No. CN109077822B discloses a dental implant handpiece calibration system and method based on visual measurement, which can obtain a more accurate position calibration result of a drill bit at the tail end of a dental implant handpiece in a dental implant handpiece optical marking coordinate system, but the method provided by the invention can only perform calibration and cannot avoid the error of deviation generated when the drill bit is subjected to a deviation force in the actual drilling process.
Disclosure of Invention
The invention aims to overcome the defects of the prior art described in the background technology, and provides an automatic drill positioning device and method for oral dental implant surgery.
In order to realize the purpose, the invention adopts the following technical scheme to realize the purpose: an automatic drill positioning device for oral dental implant surgery, the device comprising: the system comprises an infrared binocular camera, an oral cavity clamp, a mechanical arm, a probe, a tail end assembly, a button module, a planting mobile phone, a drill bit and an intraoperative dental implant navigation system.
The infrared binocular camera comprises a left lens and a right lens which are used as a visual navigator.
One end of the oral cavity clamp is provided with a reflective ball which is used as a first visual mark, and the other end of the oral cavity clamp is in a U shape and is matched with the oral cavity of a patient.
The probe head is provided with a reflective ball as a second visual mark, and the tail end of the probe is conical.
The terminal anti-light ball that is equipped with of arm, as third visual mark, just the terminal flange of arm with terminal subassembly is connected.
One end of the tail end assembly is connected with the tail end flange of the mechanical arm, the other end of the tail end assembly is connected with the planting mobile phone, a button module is arranged on the part connected with the planting mobile phone, and the mechanical arm can be operated by a button to enter a teaching mode, a positioning mode and a line setting mode.
One end of the mobile phone is connected with the terminal component, and the other end of the mobile phone is connected with a drill bit for polishing.
The intraoperative dental implant navigation system can accurately visualize objects in an operation scene and relative positions of the objects in the operation scene in real time and feed back the relative position relation between the drill bit position and the target position in real time.
In addition, the invention also provides an automatic drill positioning method for the oral dental implant operation, which comprises the following steps:
equipment preparation is carried out, and the relative position relation between the tail end of the mechanical arm and the tail end of the mobile phone is obtained;
carrying out dental jaw registration to obtain a conversion relation between an infrared binocular camera coordinate system and a patient oral cavity CT coordinate system;
installing a proper drill bit at the tail end of the mobile phone for the tail end calibration of the drill bit;
acquiring the current pose of the end-of-arm tool, namely the current pose of the drill bit;
acquiring a rotation matrix from the position of the target implant to a mechanical arm coordinate system according to the conversion relation among the coordinate systems, and converting the rotation matrix into rotation vector parameters required by the mechanical arm motion instruction;
the mechanical arm drives the drill bit to move and automatically positions the drill bit to a target position;
after positioning is finished, pressing a line-positioning mode button on the tail end assembly, and performing line-positioning movement on the mechanical arm along the axis of the drill bit to implant the implant;
and verifying the planting precision and judging whether the current implant is in place.
Further, the preparing the equipment and acquiring the relative position relationship between the tail end of the mechanical arm and the tail end of the planter tool comprises:
starting the intraoperative dental implant navigation system, and confirming that the infrared binocular camera can stably identify the first visual mark, the second visual mark and the third visual mark in the navigation system;
calibrating the tail end of the planting mobile phone by using the probe to obtain a conversion relation between the infrared binocular camera and the tail end of the planting mobile phone;
the infrared binocular camera identifies a third visual mark on the tail end of the mechanical arm to obtain a conversion relation from the tail end of the mechanical arm to the infrared binocular camera;
and calculating to obtain the conversion relation between the tail end of the mechanical arm and the tail end of the planting mobile phone.
Further, the dental jaw registration and the conversion relation between the infrared binocular camera coordinate system and the patient oral cavity CT coordinate system acquisition include:
wearing the oral fixture in place in a patient's mouth;
establishing an infrared binocular camera coordinate system: the infrared binocular camera coordinate system XYZ takes a left eye of the camera as a coordinate center, a horizontal axis parallel to a camera face as an X axis, and a Z axis perpendicular to the camera face and facing outwards;
determining a CT coordinate system according to CBCT scanning equipment, wherein the relative position relationship between the CT coordinate system and a first visual mark on the oral fixture is fixed, and the infrared binocular camera can identify the first visual mark on the oral fixture;
registering the infrared binocular camera coordinate system and the patient oral CT coordinate system, obtaining a relationship between the two coordinate systems, and recording a conversion Matrix as Matrix _ ndi2CT, which can be expressed as:
further, the acquiring the current pose of the end-of-arm-tool, i.e., the current pose of the drill bit, includes:
after the equipment is started, the manipulator controller sends the current pose of the manipulator end tool to the intraoperative dental implant navigation system in a rotating vector format in real time
；
The rotation vector is converted into a rotation Matrix by calculation, and is marked as Matrix _ tool2base.
Further, the converting the rotation vector into a rotation Matrix, denoted as Matrix _ tool2base, by calculating includes:
obtaining the current pose of the end-of-arm tool
；
According to pose
Calculating to obtain the axial angle expression in the pose expression method
Wherein
，
，
，
；
According to the formula of Rodrigues
Where K is represented as a matrix:
substituting the kx, ky, kz and theta values into a formula to obtain a complete R;
and constructing a four-order homogeneous Matrix according to the x, y, z and R to obtain a Matrix _ tool2base.
Further, the obtaining a rotation matrix from the target implant position to the robot arm coordinate system according to the conversion relationship between the coordinate systems and converting the rotation matrix into a rotation vector parameter required by the robot arm motion command includes:
planning the model and the position of an implant required to be installed at the missing tooth position by using the oral CBCT shot preoperatively to obtain a conversion Matrix of the implant and the CT coordinate system, and recording the conversion Matrix as Matrix _ implant2CT;
obtaining a conversion Matrix _ flag 2ndi from the tail end of the mechanical arm to the coordinate system of the infrared binocular camera by a third visual mark, calculating a conversion Matrix between the tail end of the drill bit and the coordinate system of the tail end of the mechanical arm by a drill bit calibration function, and marking the conversion Matrix as Matrix _ tool2 flag, thereby obtaining a conversion Matrix from the tail end of the drill bit to the coordinate system of the infrared binocular camera by calculation, and marking the conversion Matrix as Matrix _ tool2ndi, further obtaining a conversion Matrix from the tail end of the drill bit to the CT coordinate system, and marking the conversion Matrix as Matrix _ tool2CT;
obtaining a conversion Matrix from the drill bit end to the CT coordinate system, namely a Matrix _ tool2CT, and a conversion Matrix from the implant to the CT coordinate system, namely a Matrix _ Implant2CT, and recording the conversion Matrix from the target implant to the drill bit end as a Matrix _ Implant2tool;
obtaining a rotation Matrix from the target implant to the coordinate system of the mechanical arm from a conversion Matrix _ Implant2tool from the target implant to the tail end of the drill bit and a conversion Matrix _ tool2base from the tail end of the drill bit to the coordinate system of the mechanical arm, and marking as Matrix _ Implant2base;
converting the rotation Matrix _ Implant2base into rotation vector parameters required by a mechanical arm movement instruction
。
Further, the rotation Matrix _ displacement 2base is converted into rotation vector parameters required by the mechanical arm motion command
The method comprises the following steps:
the rotation Matrix _ Impplant 2base may be represented as
In the form of (a);
extracting R in the rotation Matrix _ Implant2base, converting the rotation Matrix R into a form of an axial angle expression by using a method of the axial angle expression in an Eigen Matrix library, and recording the form of the axial angle expression as rotation _ vector (kx, ky, kz, theta), wherein the rotation Matrix R is represented by rotation _ vector (kx, ky, kz, theta)
、
、
；
Extracting T in the rotation Matrix _ Implant2base, wherein rotation vector parameters x, y and z are respectively T corresponding to T 0 、T 1 、T 2 Wherein T is 0 、T 1 、T 2 Three elements of the matrix T, respectively.
Further, the arm drives the drill bit motion, automatic positioning to the target location includes:
pressing a teaching mode button on the tail end assembly, dragging the mechanical arm, and enabling the drill bit to reach the position near the oral cavity of the affected part;
when the drill bit position is observed to be less than 10mm away from the planned target position in the intraoperative dental implant navigation system, the button is released, and the drill bit starts to be automatically positioned to the target position.
The movement of the mechanical arm can be continued for multiple times, the difference value between the current pose and the target pose can be recalculated before each movement, the target position can be approached during each movement, and the movement is stopped until the difference value is smaller than a preset value.
Compared with the prior art, the automatic positioning device and the automatic positioning method for the dental implant surgical drill provided by the invention have the following advantages:
1. the preoperative planning, intraoperative registration, automatic drill positioning and grinding alignment movement are highly integrated by adopting a mode of combining a navigation camera and a mechanical arm;
2. the automatic positioning algorithm utilizes the Rodrigues rotational equation to convert the rotation vector into a rotation matrix, and the mode of converting the coordinate of the mechanical arm into the matrix is favorable for calculation;
3. the automatic positioning process of the invention is a plurality of movements, and the position closest to the target position is searched in the movement process to stop the movement, so that the method improves the positioning precision compared with one-time positioning.
4. After the positioning is finished, the grinding process is that the mechanical arm is positioned to move along the axis of the drill bit and cannot move in other directions, so that the error in the grinding process is reduced;
5. the method has the advantages of real-time display of planting precision in the operation, avoidance of human errors, convenience in operation, short learning time and extremely high clinical use value.
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 view of a dental implant scene according to an embodiment of the present invention;
FIG. 2 is a schematic view of a probe and oral fixture according to an embodiment of the present invention;
FIG. 3 is a schematic view of a drill bit positioning scenario in accordance with an embodiment of the present invention;
fig. 4 is a flowchart of an automatic drill positioning method according to an embodiment of the present invention.
Description of the reference numerals: 1. an infrared binocular camera; 2. a mechanical arm; 3. a tip assembly; 4. a button module; 5. planting the mobile phone; 6. an intraoperative dental implant navigation system; 7. an oral fixture; 8. a probe; 9. a drill bit; 10 target implant positions.
Detailed Description
Features and exemplary embodiments of various aspects of the present disclosure will be described in detail below, and in order to make objects, technical solutions and advantages of the present disclosure more apparent, the present disclosure will be described in further detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are intended to be illustrative only and are not intended to be limiting of the disclosure. It will be apparent to one skilled in the art that the present disclosure may be practiced without some of these specific details. The following description of the embodiments is merely intended to provide a better understanding of the present disclosure by illustrating examples of the present disclosure.
It should be noted that, in this document, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising 8230; \8230;" comprises 8230; "does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises the element.
For a better understanding of the present invention, embodiments thereof are described in detail below with reference to the accompanying drawings.
As shown in fig. 1, 2 and 3, the present invention provides an automatic positioning device for a drill bit in an oral dental implant procedure, comprising: the dental implant system comprises an infrared binocular camera 1, a mechanical arm 2, a tail end component 3, a button module 4, a mobile implant 5, an intraoperative dental implant navigation system 6, an oral cavity clamp 7, a probe 8 and a drill bit 9.
The infrared binocular camera 1 comprises a left lens and a right lens and serves as a visual navigator.
One end of the oral cavity clamp 7 is provided with a reflective ball as a first visual mark, and the other end of the oral cavity clamp is in the shape of a letter U and is matched with the oral cavity of a patient.
The head of the probe 8 is provided with a reflective ball as a second visual marker, and the tail end of the probe 8 is conical.
The tail end of the mechanical arm 2 is provided with a reflective ball serving as a third visual mark, and a tail end flange of the mechanical arm 2 is connected with the tail end component 3.
As an alternative embodiment, the three visual markers may be replaced by reflective stickers, reflective plates, etc. in addition to the reflective balls.
One end of the terminal component 3 is connected with a terminal flange of the mechanical arm 2, the other end of the terminal component is connected with the mobile planting machine 5, a button module 4 is arranged on the part connected with the mobile planting machine 5, and the mechanical arm 2 can be operated through a button to enter a teaching mode, a positioning mode and a line-setting mode.
As an alternative embodiment, the robot arm 2 can be operated in a navigation system by operating software to enter a teaching mode, a positioning mode and a routing mode.
One end of the mobile planting phone 5 is connected with the terminal component 3, and the other end of the mobile planting phone is connected with a drill bit 9 for polishing.
The intraoperative dental implant navigation system 6 can accurately visualize objects in the surgical scene and their relative positions in real time, and feed back the relative positional relationship between the position of the drill bit 9 and the target implant position 10 in real time.
Fig. 4 is a flowchart of an automatic drill positioning method according to an embodiment of the present invention.
As shown in fig. 4, the invention also provides an automatic drill positioning method for oral dental implant surgery, which comprises the following steps:
s101, preparing equipment, and acquiring a relative position relation between the tail end of the mechanical arm 1 and the tail end of the planter tool 5;
s102, carrying out dental jaw registration, and obtaining a conversion relation between an infrared binocular camera coordinate system and a patient oral cavity CT coordinate system;
s103, installing a proper drill bit 9 at the tail end of the planting mobile phone 5, and calibrating the tail end of the drill bit 9;
s104, acquiring the current pose of the tool at the tail end of the mechanical arm, namely the current pose of the drill bit 9;
s105, acquiring a rotation matrix from the target implant position 10 to a mechanical arm coordinate system according to the conversion relation among the coordinate systems, and converting the rotation matrix into rotation vector parameters required by the mechanical arm motion instruction;
s106, the mechanical arm 2 drives the drill bit 9 to move, and the target position is automatically positioned;
s107, after positioning is finished, pressing a line-positioning mode button on the tail end component 3, and performing line-positioning movement on the mechanical arm 2 along the axis of the drill bit 9 to implant the implant;
and S108, verifying the planting precision and judging whether the current implant is in place.
As an optional implementation manner, the preparing the device in S101, and acquiring the relative position relationship between the end of the robot arm 2 and the end of the planter 5, includes:
starting the intraoperative dental implant navigation system 6, and confirming that the infrared binocular camera 1 can stably identify a first visual mark, a second visual mark and a third visual mark in the navigation system;
calibrating the tail end of the planting mobile phone 5 by using the probe 8 to obtain the conversion relation between the infrared binocular camera 1 and the tail end of the planting mobile phone 5;
the infrared binocular camera 1 identifies a third visual mark on the tail end of the mechanical arm 2to obtain a conversion relation from the tail end of the mechanical arm 2to the infrared binocular camera 1;
and calculating to obtain the conversion relation between the tail end of the mechanical arm 2 and the tail end of the planting mobile phone 5.
As an alternative embodiment, the dental jaw registration in S102, acquiring a conversion relationship between an infrared binocular camera coordinate system and a patient oral CT coordinate system, includes:
wearing the oral fixture 7 in place in the patient's mouth;
establishing an infrared binocular camera coordinate system: the infrared binocular camera coordinate system XYZ takes a left eye of a camera as a coordinate center, a horizontal axis parallel to a camera surface is an X axis, and a horizontal axis perpendicular to the camera surface is a Z axis;
determining a CT coordinate system according to CBCT scanning equipment, wherein the relative position relationship between the CT coordinate system and a first visual mark on the oral cavity fixture 7 is fixed, and the infrared binocular camera 1 can identify the first visual mark on the oral cavity fixture 7;
registering the infrared binocular camera coordinate system and the patient oral CT coordinate system, obtaining a relationship between the two coordinate systems, and recording a conversion Matrix as Matrix _ ndi2CT, which can be expressed as:
as an alternative embodiment, the acquiring the current pose of the end-of-arm-tool, i.e., the current pose of the drill 9 in S104 includes:
after the equipment is started, the manipulator controller sends the current pose of the manipulator end tool to the intraoperative dental implant navigation system 6 in a rotation vector format in real time
；
The rotation vector is converted into a rotation Matrix by calculation, and is marked as Matrix _ tool2base.
As an alternative implementation, the converting the rotation vector into a rotation Matrix by calculation, denoted as Matrix _ tool2base, includes:
obtaining a current pose of a tool at the end of a mechanical arm
；
According to pose
Calculating to obtain the axial angle expression in the pose expression method
Wherein
，
，
，
；
According to the formula of Rodrigues
Where K is represented as a matrix:
substituting the values of kx, ky, kz and theta into a formula to obtain complete R;
and constructing a four-order homogeneous Matrix according to the x, y, z and R to obtain a Matrix _ tool2base.
As an optional implementation manner, the step S105 of obtaining a rotation matrix from the target implant position 10 to the robot arm coordinate system according to the conversion relationship between the coordinate systems, and converting the rotation matrix into rotation vector parameters required by the robot arm motion command includes:
planning the model and the position of an implant required to be installed at the missing tooth position by using the oral CBCT shot preoperatively to obtain a conversion Matrix of the implant and the CT coordinate system, and recording the conversion Matrix as Matrix _ implant2CT;
obtaining a conversion Matrix _ flip 2ndi from the tail end of the mechanical arm 2to the infrared binocular camera coordinate system through a third visual mark, calculating through a drill bit calibration function to obtain a conversion Matrix between the drill bit tail end and the mechanical arm tail end coordinate system, and marking the conversion Matrix as Matrix _ tool2 flip, thereby obtaining a conversion Matrix from the drill bit tail end to the infrared binocular camera coordinate system through calculation, and marking the conversion Matrix as Matrix _ tool2ndi, and further obtaining a conversion Matrix from the drill bit tail end to the CT coordinate system, and marking the conversion Matrix as Matrix _ tool2CT;
obtaining a conversion Matrix from the drill bit end to the drill bit end of the CT coordinate system, namely a Matrix _ tool2CT, and a conversion Matrix from the implant to the CT coordinate system, namely a Matrix _ Implant2CT, and recording the conversion Matrix from the target implant to the drill bit end as a Matrix _ Implant2tool;
obtaining a rotation Matrix from the target implant to the robot arm coordinate system by a transformation Matrix _ Implant2tool from the target implant to the drill bit end and a transformation Matrix _ tool2base from the drill bit end to the robot arm coordinate system, and marking as Matrix _ Implant2base;
converting the rotation Matrix _ Implant2base into rotation vector parameters required by a mechanical arm motion instruction
。
As an optional implementation manner, the rotation vector parameter required for converting the rotation Matrix _ displacement 2base into the mechanical arm motion command is described
The method comprises the following steps:
the rotation Matrix _ Implant2base may be represented as
In the form of (a);
extracting R in the rotation Matrix _ Implant2base, converting the rotation Matrix R into a form of an axial angle expression by using a method of the axial angle expression in an Eigen Matrix library, and recording the form of the axial angle expression as rotation _ vector (kx, ky, kz, theta), wherein the rotation Matrix R is represented by rotation _ vector (kx, ky, kz, theta)
、
、
；
Extracting T in the rotation Matrix _ vector 2base, wherein the rotation vector parameters x, y and z are respectively T corresponding to T 0 、T 1 、T 2 Wherein T is 0 、T 1 、T 2 Three elements of the matrix T, respectively.
As an alternative embodiment, in the S106, the mechanical arm 2 moves the drill bit 9 to be automatically positioned to the target position, and the method includes:
pressing a teaching mode button on the tail end component 3, dragging the mechanical arm 2, and enabling the drill bit 9 to reach the vicinity of the oral cavity of the affected part;
when the position of the drill bit 9 is observed to be less than 10mm away from the planned target position in the intraoperative dental implant navigation system 6, the button is released, and the drill bit 9 starts to be automatically positioned to the target position;
the movement of the mechanical arm 2 is continued for a plurality of times, the difference value between the current pose and the target pose is recalculated before each movement, and each movement approaches the target position until the difference value is smaller than a preset value, and the movement is stopped.
Compared with the prior art, the automatic positioning device and the automatic positioning method for the dental implant surgical drill provided by the invention have the following advantages:
1. the preoperative planning, intraoperative registration, automatic drill positioning and grinding alignment movement are highly integrated by adopting a mode of combining a navigation camera and a mechanical arm;
2. the automatic positioning algorithm utilizes the Rodrigues rotational equation to convert the rotation vector into a rotation matrix, and the mode of converting the coordinate of the mechanical arm into the matrix is favorable for calculation;
3. the automatic positioning process of the invention is a plurality of movements, and the position closest to the target position is searched in the movement process to stop the movement.
4. After the positioning is finished, the mechanical arm is positioned to move along the axis of the drill bit in the polishing process, and cannot move in other directions, so that the error in the polishing process is reduced;
5. the method has the advantages of real-time display of planting precision in the operation, avoidance of human errors, convenience in operation, short learning time and extremely high clinical use value.
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 embodiments disclosed herein, but that the invention will include all embodiments falling within the scope of the appended claims.
Claims (9)
1. The utility model provides a drill bit automatic positioning device of oral cavity kind implant operation which characterized in that includes: the system comprises an infrared binocular camera, an oral cavity clamp, a mechanical arm, a probe, a tail end assembly, a button module, a planting mobile phone, a drill bit and an intraoperative dental implant navigation system;
the infrared binocular camera comprises a left lens and a right lens which are used as visual navigators;
one end of the oral cavity clamp is provided with a reflective ball which is used as a first visual mark, and the other end of the oral cavity clamp is in a shape of a letter U and is adapted to the oral cavity of a patient;
the head of the probe is provided with a reflective ball as a second visual mark, and the tail end of the probe is conical;
the tail end of the mechanical arm is provided with a light reflecting ball serving as a third visual mark, and the tail end flange of the mechanical arm is connected with the tail end assembly;
one end of the tail end assembly is connected with the tail end flange of the mechanical arm, the other end of the tail end assembly is connected with the planting mobile phone, a button module is arranged on the part connected with the planting mobile phone, and the mechanical arm can be operated by a button to enter a teaching mode, a positioning mode and a line setting mode;
one end of the mobile phone is connected with the tail end assembly, and the other end of the mobile phone is connected with a drill bit for polishing;
the intraoperative dental implant navigation system can accurately visualize objects in an operation scene and relative positions of the objects in the operation scene in real time and feed back the relative position relation between the drill bit position and a target position in real time.
2. An automatic positioning method for a drill bit of an oral dental implant operation is characterized by comprising the following steps:
s101, preparing equipment, and acquiring a relative position relation between the tail end of the mechanical arm and the tail end of the planter phone;
s102, carrying out dental jaw registration, and obtaining a conversion relation between an infrared binocular camera coordinate system and a patient oral cavity CT coordinate system;
s103, installing a proper drill bit at the tail end of the mobile phone for calibrating the tail end of the drill bit;
s104, acquiring the current pose of the tool at the tail end of the mechanical arm, namely the current pose of the drill bit;
s105, acquiring a rotation matrix from the position of the target implant to a mechanical arm coordinate system according to the conversion relation among the coordinate systems, and converting the rotation matrix into rotation vector parameters required by the mechanical arm motion instruction;
s106, the mechanical arm drives the drill bit to move and automatically positions the drill bit to a target position;
s107, after positioning is finished, pressing a line-positioning mode button on the tail end assembly, and performing line-positioning movement on the mechanical arm along the axis of the drill bit to implant the implant;
s108, verifying the planting precision and judging whether the current implant is implanted in place.
3. The method of claim 2, wherein the step S101 of preparing equipment to obtain the relative position relationship between the mechanical arm tip and the implant handpiece tip comprises:
starting the intraoperative dental implant navigation system, and confirming that the infrared binocular camera can stably identify the first visual mark, the second visual mark and the third visual mark in the navigation system;
calibrating the tail end of the planting mobile phone by using the probe to obtain a conversion relation between the infrared binocular camera and the tail end of the planting mobile phone;
the infrared binocular camera identifies a third visual mark on the tail end of the mechanical arm to obtain a conversion relation from the tail end of the mechanical arm to the infrared binocular camera;
and calculating to obtain the conversion relation between the tail end of the mechanical arm and the tail end of the planting mobile phone.
4. The method for automatically positioning a drill for dental implantation surgery according to claim 2, wherein the step S102 of registering the dental jaw and obtaining a conversion relationship between an infrared binocular camera coordinate system and a patient oral CT coordinate system comprises:
wearing the oral fixture in place in a patient's mouth;
establishing an infrared binocular camera coordinate system: the infrared binocular camera coordinate system XYZ takes a left eye of a camera as a coordinate center, a horizontal axis parallel to a camera surface is an X axis, and a horizontal axis perpendicular to the camera surface is a Z axis;
determining a CT coordinate system according to CBCT scanning equipment, wherein the relative position relationship between the CT coordinate system and a first visual mark on the oral fixture is fixed, and the infrared binocular camera can identify the first visual mark on the oral fixture;
registering the infrared binocular camera coordinate system and the patient oral CT coordinate system to obtain the relationship between the two coordinate systems, and recording a conversion Matrix as Matrix _ ndi2CT which can be expressed as:
5. the method of claim 2, wherein the step of obtaining the current pose of the end-of-arm-tool, i.e. the current pose of the drill, in the step S104 comprises:
after the equipment is started, the mechanical arm controller sends the current pose of the mechanical arm end tool to the intraoperative dental implant navigation system in a rotary vector format in real time
；
The rotation vector is converted into a rotation Matrix by calculation, and is marked as Matrix _ tool2base.
6. The method for automatically positioning a drill bit for oral dental implant surgery according to claim 5, wherein the converting the rotation vector into a rotation Matrix by calculation, denoted as Matrix _ tool2base, comprises:
obtaining a current pose of a tool at the end of a mechanical arm
；
According to pose
Calculating to obtain the axial angle expression in the pose expression method
Wherein
，
，
，
；
According to the formula of Rodrigues
Where K is represented as a matrix:
substituting the values of kx, ky, kz and theta into a formula to obtain complete R;
and constructing a four-order homogeneous Matrix according to the x, y, z and R to obtain a Matrix _ tool2base.
7. The method of claim 2, wherein the step S105 of obtaining a rotation matrix from the target implant position to the robot arm coordinate system according to the transformation relationship between the coordinate systems and transforming the rotation matrix into the rotation vector parameters required by the robot arm motion command comprises:
planning the model and the position of an implant required to be installed at the missing tooth position by using the oral CBCT shot preoperatively to obtain a conversion Matrix of the implant and the CT coordinate system, and recording the conversion Matrix as Matrix _ implant2CT;
obtaining a conversion Matrix _ flag 2ndi from the tail end of the mechanical arm to the coordinate system of the infrared binocular camera by a third visual mark, calculating a conversion Matrix between the tail end of the drill bit and the coordinate system of the tail end of the mechanical arm by a drill bit calibration function, and marking the conversion Matrix as Matrix _ tool2 flag, thereby obtaining a conversion Matrix from the tail end of the drill bit to the coordinate system of the infrared binocular camera by calculation, and marking the conversion Matrix as Matrix _ tool2ndi, further obtaining a conversion Matrix from the tail end of the drill bit to the CT coordinate system, and marking the conversion Matrix as Matrix _ tool2CT;
obtaining a conversion Matrix from the drill bit end to the drill bit end of the CT coordinate system, namely a Matrix _ tool2CT, and a conversion Matrix from the implant to the CT coordinate system, namely a Matrix _ Implant2CT, and recording the conversion Matrix from the target implant to the drill bit end as a Matrix _ Implant2tool;
obtaining a rotation Matrix from the target implant to the robot arm coordinate system by a transformation Matrix _ Implant2tool from the target implant to the drill bit end and a transformation Matrix _ tool2base from the drill bit end to the robot arm coordinate system, and marking as Matrix _ Implant2base;
converting the rotation Matrix _ Implant2base into rotation vector parameters required by a mechanical arm movement instruction
。
8. The method for automatically positioning a drill bit in oral dental implant surgery according to claim 7, wherein the rotation vector parameters required for converting the rotation Matrix _ Implant2base into mechanical arm movement commands
The method comprises the following steps:
the rotation Matrix _ Implant2base may be represented as
In the form of (a);
extracting R in the rotation Matrix _ Implant2base, converting the rotation Matrix R into a form of an axial angle expression by using a method of the axial angle expression in an Eigen Matrix library, and recording the form of the axial angle expression as rotation _ vector (kx, ky, kz, theta), wherein the rotation Matrix R is represented by rotation _ vector (kx, ky, kz, theta)
、
、
；
Extracting T in the rotation Matrix _ vector 2base, wherein the rotation vector parameters x, y and z are respectively T corresponding to T 0 、T 1 、T 2 Wherein T is 0 、T 1 、T 2 Three elements of the matrix T, respectively.
9. The method of claim 2, wherein the step S106 of automatically positioning the drill by the mechanical arm to a target position comprises:
pressing a teaching mode button on the tail end assembly, dragging the mechanical arm, and enabling the drill bit to reach the vicinity of the oral cavity of the affected part;
when the drill bit position is observed to be less than 10mm away from the planned target position in the intraoperative dental implant navigation system, releasing a button, and automatically positioning the drill bit to the target position;
the movement of the mechanical arm can be continued for multiple times, the difference value between the current pose and the target pose can be recalculated before each movement, and the movement of each time can approach the target position until the difference value is smaller than a preset value, and the movement is stopped.
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