CN115153925B - Automatic drill bit positioning device and method for dental implant operation - Google Patents
Automatic drill bit positioning device and method for dental implant operation Download PDFInfo
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- 239000004053 dental implant Substances 0.000 title claims abstract description 41
- 238000000034 method Methods 0.000 title claims abstract description 41
- 210000000214 mouth Anatomy 0.000 claims abstract description 34
- 239000007943 implant Substances 0.000 claims abstract description 33
- 239000000523 sample Substances 0.000 claims abstract description 15
- 238000005498 polishing Methods 0.000 claims abstract description 6
- 239000011159 matrix material Substances 0.000 claims description 104
- 238000006243 chemical reaction Methods 0.000 claims description 71
- 230000000007 visual effect Effects 0.000 claims description 34
- 238000001356 surgical procedure Methods 0.000 claims description 16
- 238000006073 displacement reaction Methods 0.000 claims description 11
- 238000007408 cone-beam computed tomography Methods 0.000 claims description 6
- 206010044048 Tooth missing Diseases 0.000 claims description 3
- 210000003128 head Anatomy 0.000 claims description 2
- 230000008569 process Effects 0.000 description 9
- 238000004364 calculation method Methods 0.000 description 6
- 238000007517 polishing process Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000007547 defect Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000005553 drilling Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 238000012217 deletion Methods 0.000 description 1
- 230000037430 deletion Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000008439 repair process Effects 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
-
- 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
-
- 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
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/30—Determination of transform parameters for the alignment of images, i.e. image registration
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
-
- 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
- A61B2034/2046—Tracking techniques
- A61B2034/2055—Optical tracking systems
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30004—Biomedical image processing
- G06T2207/30036—Dental; Teeth
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30204—Marker
- G06T2207/30208—Marker matrix
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- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Veterinary Medicine (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
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- Computer Vision & Pattern Recognition (AREA)
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- Biomedical Technology (AREA)
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Abstract
The invention provides an automatic positioning device and method for a dental implant operation drill bit, wherein the device comprises the following components: an infrared binocular camera, an oral cavity fixture, a mechanical arm, a probe, a tail end component, 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; performing dental registration; installing the drill bit at the tail end of the planting mobile phone, and acquiring 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 be automatically positioned to a target position; the mechanical arm performs line-fixing motion along the axis of the drill bit, and the implant is implanted; and (5) verifying the planting precision. The invention adopts a mode of combining a navigation camera and a mechanical arm to integrate preoperative planning, registration in the operation, automatic positioning of a drill bit and alignment polishing movement, and display the planting precision in real time in the operation, thereby avoiding human errors, being convenient to operate and having extremely high clinical use value.
Description
Technical Field
The invention relates to the field of dental implant surgery, in particular to an automatic drill bit positioning device and method for dental implant surgery.
Background
At present, the dental implant operation is one of the conventional treatment modes for repairing the defects or the deletions of teeth, and is the most preferred repair mode for the defects of teeth accepted by the current international oral medical field, and in addition, with the rapid development of the robot technology, the requirement of using a robot to assist the operation in the field of oral implant is increasing. The dental implant robot can reduce the learning cost of doctors and standardize and simplify the operation process while enabling the operation result to be more accurate. However, since the dental implant surgery is a precise operation performed locally in a narrow oral cavity, the space in the oral cavity is narrow and difficult to observe, and is affected by experience of doctors, the problem of inaccurate positioning of a drill bit is easily generated, which results in failure of the surgery, and in addition, if lateral force is generated during positioning or drilling of a drill, the problem of deviation of the drill bit, even deviation of jawbone, is easily generated, which results in serious consequences.
The invention discloses a dental implant handpiece calibration system and a dental implant handpiece calibration method based on vision measurement, which can obtain a more accurate position calibration result of a drill bit at the tail end of a dental implant handpiece in an optical mark coordinate system of the dental implant handpiece, but the method provided by the invention can only calibrate, and cannot avoid deviation errors generated when the drill bit is biased in the actual drilling process.
Disclosure of Invention
The invention aims to overcome the defects of the prior art described in the background art, and provides an automatic drill positioning device and an automatic drill positioning method for dental implant surgery.
In order to achieve the above purpose, the invention is realized by adopting the following technical scheme: an automatic drill positioning device for dental implant surgery, the device comprising: an infrared binocular camera, an oral cavity fixture, a mechanical arm, a probe, a tail end component, 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 navigator.
One end of the oral cavity fixture is provided with a reflecting ball which is used as a first visual mark, and the other end of the oral cavity fixture is in the shape of a letter U and is matched with the oral cavity wearing of a patient.
The probe head is provided with a reflecting ball which is used as a second visual mark, and the tail end of the probe is conical.
And the tail end of the mechanical arm is provided with a reflecting ball serving as a third visual mark, and the tail end flange of the mechanical arm is connected with the tail end assembly.
The terminal subassembly one end is connected the terminal flange of arm, the other end is connected the planting cell-phone, the part of connecting the planting cell-phone is provided with the button module, can operate through the button the arm gets into teaching mode, locate mode, routing mode.
One end of the planting mobile phone is connected with the tail end assembly, and the other end of the planting mobile phone is connected with a drill bit for polishing.
The intra-operative dental implant navigation system can accurately visualize objects in an operation scene and relative positions thereof in real time and feed back the relative position relation between the position of the drill bit and the target position in real time.
In addition, the invention also provides an automatic drill bit positioning method for dental implant surgery, which comprises the following steps:
Preparing equipment, and acquiring the relative position relationship between the tail end of the mechanical arm and the tail end of the planting mobile phone;
registering the dental, and obtaining the 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 planting mobile phone, and calibrating the tail end of the drill bit;
Acquiring the current pose of the mechanical arm end tool, namely the current pose of the drill bit;
acquiring a rotation matrix from the target implant position to the 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 movement instruction;
The mechanical arm drives the drill bit to move and automatically positions to a target position;
After the positioning is finished, a routing mode button on the tail end assembly is pressed, the mechanical arm performs routing motion along the axis of the drill bit, and the implant is implanted;
And verifying the planting precision, and judging whether the current implant is planted in place.
Further, the preparing equipment, obtaining the relative positional relationship between the end of the mechanical arm and the end of the planting mobile phone, includes:
Starting the intraoperative dental implant navigation system, and confirming that the infrared binocular camera 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 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, and a conversion relation from the tail end of the mechanical arm to the infrared binocular camera is obtained;
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 performing dental registration to obtain a conversion relationship between the infrared binocular camera coordinate system and the patient oral CT coordinate system includes:
wearing the oral clamp in a proper position in the oral cavity of a patient;
establishing an infrared binocular camera coordinate system: the infrared binocular camera coordinate system XYZ takes the left eye of the camera as a coordinate center, takes the horizontal axis parallel to the camera surface as an X axis and takes the direction perpendicular to the camera surface as a Z axis outwards;
determining a CT coordinate system according to a CBCT scanning device, wherein the relative position relation between the CT coordinate system and a first visual mark on the oral cavity fixture is fixed, and the infrared binocular camera can identify the first visual mark on the oral cavity fixture;
registering the infrared binocular camera coordinate system and the patient oral cavity CT coordinate system, obtaining the relation between the two coordinate systems, and marking a conversion Matrix as matrix_ndi2ct, wherein the conversion Matrix can be expressed as:
Further, the obtaining the current pose of the tool at the tail end of the mechanical arm, that is, the current pose of the drill bit, includes:
After 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 rotation 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 by calculation, denoted as matrix_tool2base, includes:
acquiring current pose of mechanical arm end tool ；
According to the poseCalculating to obtain the shaft angle expression in the pose expression methodWherein/>，/>，/>，；
According to the formula of lodeWhere K is represented as a matrix:
Substituting the values of kx, ky, kz and theta into a formula to obtain a complete R;
and constructing a fourth-order homogeneous Matrix according to x, y, z and R to obtain matrix_tool2base.
Further, the obtaining a rotation matrix from the target implant position to the mechanical arm coordinate system according to the conversion relation between the coordinate systems, and converting the rotation matrix into rotation vector parameters required by the mechanical arm motion instruction includes:
Obtaining a conversion Matrix of the implant and the CT coordinate system by the model and the position of the implant required to be installed for planning the tooth missing position of the oral cavity CBCT shot before operation, and marking the conversion Matrix as matrix_implay 2CT;
Obtaining a conversion Matrix matrix_lange2ndi from the tail end of the mechanical arm to the infrared binocular camera coordinate system through a third visual mark, calculating a conversion Matrix from the tail end of the drill bit to the tail end of the mechanical arm through a drill bit calibration function, marking the conversion Matrix as matrix_too2range, calculating the conversion Matrix from the tail end of the drill bit to the infrared binocular camera coordinate system, marking the conversion Matrix as matrix_too2ndi, and further obtaining the conversion Matrix from the tail end of the drill bit to the CT coordinate system, marking the conversion Matrix as matrix_too2ct;
Obtaining a conversion Matrix from the target implant to the tail end of the drill by a conversion Matrix matrix_tool2CT from the tail end of the drill to the CT coordinate system and a conversion Matrix matrix_implay 2CT from the implant to the CT coordinate system, and marking the conversion Matrix as matrix_implay 2tool;
Obtaining a rotation Matrix from the target implant to the mechanical arm coordinate system by using a matrix_implay 2tool of the conversion Matrix from the target implant to the end of the drill bit and a matrix_tool2base of the conversion Matrix from the end of the drill bit to the mechanical arm coordinate system, and marking the rotation Matrix as matrix_implay 2base;
converting the rotation Matrix matrix_displacement 2base into rotation vector parameters required by a mechanical arm motion instruction 。
Further, the rotation vector parameters required by converting the rotation Matrix matrix_displacement 2base into the mechanical arm motion instructionsComprising:
The rotation Matrix matrix_displan2base can be expressed as Form (iv);
extracting R in the matrix_displacement 2base of the rotation Matrix, converting the rotation Matrix R into a form of an axial angle expression by using an axial angle expression method in an Eigen Matrix library, and marking the rotation_vector (kx, ky, kz, theta), wherein the rotation_vector is represented by the formula (K, k, z, theta) 、/>、/>；
And extracting T in the matrix_displacement 2base of the rotation Matrix, wherein the rotation vector parameters x, y and z are T 0、T1、T2 corresponding to the T respectively, and T 0、T1、T2 are three elements of the Matrix T respectively.
Further, the mechanical arm drives the drill bit to move, and automatically positions to a target position, including:
Pressing a teaching mode button on the tail end assembly, dragging the mechanical arm to enable the drill bit to reach the vicinity of an affected part oral cavity;
when the drill bit position is observed to be less than 10mm 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 a plurality of times, the difference value between the current pose and the target pose can be recalculated before each movement, the target position can be approximated after each movement, and the movement is stopped when the difference value is smaller than a preset value.
Compared with the prior art, the automatic positioning device and the method for the dental implant surgery drill bit have the following advantages:
1. the method comprises the steps of adopting a combination mode of a navigation camera and a mechanical arm to integrate preoperative planning, registration in operation, automatic positioning of a drill bit and polishing alignment movement;
2. The automatic positioning algorithm of the invention utilizes the Rodrigues rotation equation to convert the rotation vector into a rotation matrix, and the mode of converting the coordinates of the mechanical arm into the matrix is beneficial to calculation;
3. The automatic positioning process is multiple 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 alignment moves along the axis of the drill bit in the polishing process, and the mechanical arm alignment cannot move in other directions, so that errors in the polishing process are reduced;
5. the planting precision is displayed in real time in the operation, so that the artificial error is avoided, the operation is convenient, the learning time is short, and the method has 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 scenario 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 bit positioning scenario according to an embodiment of the present invention;
Fig. 4 is a flowchart of a method for automatically positioning a drill bit according to an embodiment of the present invention.
Reference numerals illustrate: 1. an infrared binocular camera; 2. a mechanical arm; 3. a tip assembly; 4. a button module; 5. planting a mobile phone; 6. an intraoperative dental implant navigation system; 7. an oral cavity clamp; 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 the 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 the detailed embodiments. It should be understood that the specific embodiments described herein are intended to be illustrative of the present disclosure and not limiting. 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 showing examples of the present disclosure.
It is noted that 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. Moreover, 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 phrase "comprising … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
For a better understanding of the present invention, embodiments of the present invention are described in detail below with reference to the drawings.
As shown in fig. 1,2 and 3, the present invention provides an automatic drill positioning device for dental implant surgery, the device comprising: an infrared binocular camera 1, a mechanical arm 2, a tail end component 3, a button module 4, a planting mobile phone 5, an intraoperative dental implant navigation system 6, an oral fixture 7, a probe 8 and a drill bit 9.
The infrared binocular camera 1 comprises a left lens and a right lens which are used as visual navigator.
One end of the oral cavity fixture 7 is provided with a reflecting ball, and the other end of the oral cavity fixture is in the shape of a letter U and is matched with the oral cavity wearing of a patient as a first visual mark.
The head of the probe 8 is provided with a reflective ball, and as a second visual mark, the tail end of the probe 8 is conical.
The tail end of the mechanical arm 2 is provided with a reflecting ball serving as a third visual mark, and a tail end flange of the mechanical arm 2 is connected with the tail end assembly 3.
As an alternative embodiment, instead of using reflective spheres, three visual markers may be replaced by reflective stickers, reflective plates, etc. that achieve the same effect.
The terminal assembly 3 one end is connected the terminal flange of arm 2, and the other end is connected plant cell-phone 5, connect the part of planting cell-phone 5 is provided with button module 4, can operate through the button arm 2 gets into teaching mode, locate mode, routing mode.
As an alternative embodiment, the mechanical arm 2 can be implemented in a navigation system by operating software to enter a teaching mode, a positioning mode and a routing mode.
One end of the planting mobile phone 5 is connected with the tail end assembly 3, and the other end of the planting mobile phone is connected with a drill bit 9 for polishing.
The intra-operative implant navigation system 6 can accurately visualize objects in a surgical scene and relative positions thereof in real time, and feed back the relative positional relationship between the position of the drill 9 and the target implant position 10 in real time.
Fig. 4 is a flowchart of a method for automatically positioning a drill bit according to an embodiment of the present invention.
As shown in fig. 4, the present invention further provides an automatic positioning method for a drill for dental implant surgery, comprising the following steps:
S101, preparing equipment, and acquiring the relative position relationship between the tail end of the mechanical arm 1 and the tail end of the planting mobile phone 5;
S102, jaw registration, namely acquiring 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 mechanical arm end tool, namely the current pose of the drill 9;
s105, acquiring a rotation matrix from the target implant position 10 to a mechanical arm coordinate system according to a conversion relation among the coordinate systems, and converting the rotation matrix into rotation vector parameters required by the mechanical arm movement instruction;
S106, the mechanical arm 2 drives the drill bit 9 to move, and the drill bit is automatically positioned to a target position;
S107, after positioning is completed, a routing mode button on the tail end assembly 3 is pressed, the mechanical arm 2 performs routing motion along the axis of the drill bit 9, and the implant is implanted;
S108, verifying the planting precision, and judging whether the current implant is planted in place.
As an alternative embodiment, the preparing the device in S101, obtaining the relative positional relationship between the end of the mechanical arm 2 and the end of the planting mobile phone 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 a conversion relation between the infrared binocular camera 1 and the tail end of the planting mobile phone 5;
The infrared binocular camera 1 recognizes a third visual mark on the tail end of the mechanical arm 2, and a conversion relation from the tail end of the mechanical arm 2 to the infrared binocular camera 1 is obtained;
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 optional implementation manner, the registering the dental jaw in S102, obtaining the conversion relationship between the infrared binocular camera coordinate system and the 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 the left eye of the camera as a coordinate center, takes the horizontal axis parallel to the camera surface as an X axis and takes the direction perpendicular to the camera surface as a Z axis outwards;
Determining a CT coordinate system according to a CBCT scanning device, wherein the relative position relationship between the CT coordinate system and a first visual mark on the oral fixture 7 is fixed, and the infrared binocular camera 1 can identify the first visual mark on the oral fixture 7;
registering the infrared binocular camera coordinate system and the patient oral cavity CT coordinate system, obtaining the relation between the two coordinate systems, and marking a conversion Matrix as matrix_ndi2ct, wherein the conversion Matrix can be expressed as:
As an optional implementation manner, the step S104 of obtaining the current pose of the end tool of the mechanical arm, that is, the current pose of the drill 9, includes:
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 after the equipment is started ；
The rotation vector is converted into a rotation Matrix by calculation and is marked as matrix_tool2base.
As an alternative embodiment, the converting the rotation vector into the rotation Matrix by calculation, denoted as matrix_tool2base, includes:
acquiring current pose of mechanical arm end tool ；
According to the poseCalculating to obtain the shaft angle expression in the pose expression methodWherein/>，/>，/>，；
According to the formula of lodeWhere K is represented as a matrix:
Substituting the values of kx, ky, kz and theta into a formula to obtain a complete R;
and constructing a fourth-order homogeneous Matrix according to x, y, z and R to obtain matrix_tool2base.
As an optional implementation manner, the step S105 of obtaining a rotation matrix from the target implant position 10 to the coordinate system of the mechanical arm according to the conversion relationship between the coordinate systems, and converting the rotation vector parameters required by the motion instruction of the mechanical arm includes:
Obtaining a conversion Matrix of the implant and the CT coordinate system by the model and the position of the implant required to be installed for planning the tooth missing position of the oral cavity CBCT shot before operation, and marking the conversion Matrix as matrix_implay 2CT;
Obtaining a conversion Matrix matrix_change 2ndi from the tail end of the mechanical arm 2 to the infrared binocular camera coordinate system through a third visual mark, calculating a conversion Matrix from the tail end of the drill bit to the tail end of the mechanical arm through a drill bit calibration function, marking the conversion Matrix as matrix_tool2 flag, calculating the conversion Matrix from the tail end of the drill bit to the infrared binocular camera coordinate system, marking the conversion Matrix as matrix_tool2ndi, and further obtaining the conversion Matrix from the tail end of the drill bit to the CT coordinate system, marking the conversion Matrix as matrix_tool2CT;
Obtaining a conversion Matrix from the target implant to the tail end of the drill by a conversion Matrix matrix_tool2CT from the tail end of the drill to the CT coordinate system and a conversion Matrix matrix_implay 2CT from the implant to the CT coordinate system, and marking the conversion Matrix as matrix_implay 2tool;
Obtaining a rotation Matrix from the target implant to the mechanical arm coordinate system by using a matrix_implay 2tool of the conversion Matrix from the target implant to the end of the drill bit and a matrix_tool2base of the conversion Matrix from the end of the drill bit to the mechanical arm coordinate system, and marking the rotation Matrix as matrix_implay 2base;
converting the rotation Matrix matrix_displacement 2base into rotation vector parameters required by a mechanical arm motion instruction 。
As an alternative implementation manner, the rotation vector parameters required for converting the rotation Matrix matrix_implay 2base into the mechanical arm motion commandComprising:
The rotation Matrix matrix_displan2base can be expressed as Form (iv);
extracting R in the matrix_displacement 2base of the rotation Matrix, converting the rotation Matrix R into a form of an axial angle expression by using an axial angle expression method in an Eigen Matrix library, and marking the rotation_vector (kx, ky, kz, theta), wherein the rotation_vector is represented by the formula (K, k, z, theta) 、/>、/>；
And extracting T in the matrix_displacement 2base of the rotation Matrix, wherein the rotation vector parameters x, y and z are T 0、T1、T2 corresponding to the T respectively, and T 0、T1、T2 are three elements of the Matrix T respectively.
As an alternative embodiment, the mechanical arm 2 drives the drill bit 9 to move in S106, and automatically positions to a target position, including:
pressing a teaching mode button on the tail end assembly 3, dragging the mechanical arm 2 to enable the drill bit 9 to reach the vicinity of an affected part oral cavity;
Releasing a button when the position of the drill 9 is observed to be less than 10mm from the planned target position in the intraoperative dental implant navigation system 6, the drill 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.
Compared with the prior art, the automatic positioning device and the method for the dental implant surgery drill bit have the following advantages:
1. the method comprises the steps of adopting a combination mode of a navigation camera and a mechanical arm to integrate preoperative planning, registration in operation, automatic positioning of a drill bit and polishing alignment movement;
2. The automatic positioning algorithm of the invention utilizes the Rodrigues rotation equation to convert the rotation vector into a rotation matrix, and the mode of converting the coordinates of the mechanical arm into the matrix is beneficial to calculation;
3. The automatic positioning process is multiple 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 alignment moves along the axis of the drill bit in the polishing process, and the mechanical arm alignment cannot move in other directions, so that errors in the polishing process are reduced;
5. the planting precision is displayed in real time in the operation, so that the artificial error is avoided, the operation is convenient, the learning time is short, and the method has 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 respective embodiments may be combined in any manner as long as there is no structural conflict. The present invention is not limited to the specific embodiments disclosed herein, but encompasses all technical solutions falling within the scope of the claims.
Claims (5)
1. An automatic drill positioning method for dental implant surgery is characterized by comprising the following steps:
S101, preparing equipment, and acquiring the relative position relation between the tail end of the mechanical arm and the tail end of the planting mobile phone;
The apparatus comprises: an infrared binocular camera, an oral cavity fixture, a mechanical arm, a probe, a terminal 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 navigator; one end of the oral cavity fixture is provided with a reflecting ball which is used as a first visual mark, and the other end of the oral cavity fixture is in a letter U shape and is matched with the oral cavity wearing of a patient; the head of the probe is provided with a reflecting ball which is used as a second visual mark, and the tail end of the probe is cone-shaped; the tail end of the mechanical arm is provided with a 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 component is connected with the tail end flange of the mechanical arm, the other end of the tail end component is connected with the planting mobile phone, a button module is arranged at the part connected with the planting mobile phone, and the mechanical arm can be operated to enter a teaching mode, a positioning mode and a routing mode through buttons; one end of the planting mobile phone is connected with the tail end assembly, and the other end of the planting mobile phone is connected with a drill bit for polishing; the intra-operative dental implant navigation system can accurately visualize objects in an operation scene and relative positions thereof in real time, and feed back the relative position relation between the position of the drill bit and the target position in real time;
S102, jaw registration, namely acquiring 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 planting mobile phone, and calibrating the tail end of the drill bit;
s104, acquiring the current pose of the mechanical arm end tool, namely the current pose of the drill bit;
After 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 rotation vector format in real time ；
According to rx, ry and rz in the pose, calculating to obtain an axial angle expression in the pose representation methodWherein/>，/>，/>，；
According to the formula of lodeWhere K is represented as a matrix:
；
Substituting the values of kx, ky, kz and theta into a formula to obtain a complete R;
constructing a fourth-order homogeneous Matrix according to x, y, z and R to obtain matrix_tool2base;
s105, acquiring a rotation matrix from the target implant position to the 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 movement instruction;
Obtaining a conversion Matrix of the implant and the CT coordinate system by the model and the position of the implant required to be installed for planning the tooth missing position of the oral cavity CBCT shot before operation, and marking the conversion Matrix as matrix_implay 2CT;
Obtaining a conversion Matrix matrix_lange2ndi from the tail end of the mechanical arm to the infrared binocular camera coordinate system through a third visual mark, calculating a conversion Matrix from the tail end of the drill bit to the tail end of the mechanical arm through a drill bit calibration function, marking the conversion Matrix as matrix_too2range, calculating the conversion Matrix from the tail end of the drill bit to the infrared binocular camera coordinate system, marking the conversion Matrix as matrix_too2ndi, and further obtaining the conversion Matrix from the tail end of the drill bit to the CT coordinate system, marking the conversion Matrix as matrix_too2ct;
Obtaining a conversion Matrix from the target implant to the tail end of the drill by a conversion Matrix matrix_tool2CT from the tail end of the drill to the CT coordinate system and a conversion Matrix matrix_implay 2CT from the implant to the CT coordinate system, and marking the conversion Matrix as matrix_implay 2tool;
Obtaining a rotation Matrix from the target implant to the mechanical arm coordinate system by using a matrix_implay 2tool of the conversion Matrix from the target implant to the end of the drill bit and a matrix_tool2base of the conversion Matrix from the end of the drill bit to the mechanical arm coordinate system, and marking the rotation Matrix as matrix_implay 2base;
converting the rotation Matrix matrix_displacement 2base into rotation vector parameters required by a mechanical arm motion instruction ；
S106, the mechanical arm drives the drill bit to move, and the drill bit is automatically positioned to the target position.
2. The automatic positioning method of a drill for dental implant surgery according to claim 1, wherein the step of preparing equipment in S101 to obtain a relative positional relationship between the distal end of the mechanical arm and the distal end of the implant handpiece comprises:
Starting the intraoperative dental implant navigation system, and confirming that the infrared binocular camera 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 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, and a conversion relation from the tail end of the mechanical arm to the infrared binocular camera is obtained;
and calculating to obtain the conversion relation between the tail end of the mechanical arm and the tail end of the planting mobile phone.
3. The automatic positioning method of a drill for dental implant surgery according to claim 1, wherein the step of registering the dental jaw in step S102, obtaining a conversion relation between an infrared binocular camera coordinate system and a patient oral CT coordinate system, comprises:
wearing the oral clamp in a proper position in the oral cavity of a patient;
establishing an infrared binocular camera coordinate system: the infrared binocular camera coordinate system XYZ takes the left eye of the camera as a coordinate center, takes the horizontal axis parallel to the camera surface as an X axis and takes the direction perpendicular to the camera surface as a Z axis outwards;
determining a CT coordinate system according to a CBCT scanning device, wherein the relative position relation between the CT coordinate system and a first visual mark on the oral cavity fixture is fixed, and the infrared binocular camera can identify the first visual mark on the oral cavity fixture;
registering the infrared binocular camera coordinate system and the patient oral cavity CT coordinate system, obtaining the relation between the two coordinate systems, and marking a conversion Matrix as matrix_ndi2ct, wherein the conversion Matrix can be expressed as:
。
4. the automatic positioning method of the drill for dental implant surgery according to claim 1, wherein the rotation vector parameters required for converting the rotation Matrix matrix_displacement 2base into the mechanical arm motion instructions Comprising:
The rotation Matrix matrix_displan2base can be expressed as Form (iv);
extracting R in the matrix_displacement 2base of the rotation Matrix, converting the rotation Matrix R into a form of an axial angle expression by using an axial angle expression method in an Eigen Matrix library, and marking the rotation_vector (kx, ky, kz, theta), wherein the rotation_vector is represented by the formula (K, k, z, theta) 、/>、/>；
And extracting T in the matrix_displacement 2base of the rotation Matrix, wherein the rotation vector parameters x, y and z are T 0、T1、T2 corresponding to the T respectively, and T 0、T1、T2 are three elements of the Matrix T respectively.
5. The automatic positioning method of a drill for dental implant surgery according to claim 1, wherein the mechanical arm drives the drill to move in S106, and automatically positions the drill to a target position, comprising:
Pressing a teaching mode button on the tail end assembly, dragging the mechanical arm to enable the drill bit to reach the vicinity of an affected part oral cavity;
releasing a button when the drill bit position is observed to be less than 10mm from the planned target position in the intraoperative dental implant navigation system, and starting to automatically position the drill bit to the target position;
The movement of the mechanical arm can be continued for a plurality of times, the difference value between the current pose and the target pose can be recalculated before each movement, the target position can be approximated after each movement, and the movement is stopped when the difference value is smaller than a preset value.
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| CN116086359B (en) * | 2023-04-07 | 2023-07-07 | 杭州键嘉医疗科技股份有限公司 | Error measurement device and method for surgical instrument tracking array |
| CN117116413B (en) * | 2023-10-16 | 2023-12-26 | 深圳卡尔文科技有限公司 | Oral planting optimization method, system and storage medium |
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