CN115778602A - Method and device for checking machine needle, storage medium and equipment - Google Patents
Method and device for checking machine needle, storage medium and equipment Download PDFInfo
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- CN115778602A CN115778602A CN202310063510.2A CN202310063510A CN115778602A CN 115778602 A CN115778602 A CN 115778602A CN 202310063510 A CN202310063510 A CN 202310063510A CN 115778602 A CN115778602 A CN 115778602A
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Abstract
The invention belongs to the field of biomedical engineering and computer science, and provides a method, a device, a storage medium and equipment for checking a needle, aiming at solving the problems that a large amount of time needs to be consumed for the operation of checking the needle and the accuracy is poor. The machine needle is installed on the planting mobile phone, the planting mobile phone is carried at the tail end of the mechanical arm, and the machine needle checking method comprises the following steps: virtually planning an implant at a pre-marked check point on a patient oral cavity positioner; correspondingly converting the virtually planned implant coordinates in the patient coordinate system into a mechanical arm coordinate system, and automatically controlling the mechanical arm to move towards the implant according to the direction of a required vehicle needle until the implant reaches the position of the implant and stop; after the mechanical arm is in place, calculating the distance difference between the current needle tip and the check point in the same coordinate system; and judging whether the current needle passes the verification according to the comparison result of the distance difference and a set threshold. It can check-up car needle fast accurately.
Description
Technical Field
The invention belongs to the field of biomedical engineering and computer science, and particularly relates to a method and a device for checking a needle, a storage medium and equipment.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
The car needle is a consumable tool used by stomatologists, consists of a needle head and a needle handle, can be inserted into high-speed and low-speed mobile phones for use, and helps the stomatologists to open tooth cavities and repair teeth. If the dentist is compared with a hand-held drill by a mobile phone, the needle is equivalent to a drill bit on the drill. In the process of dental implant surgery, doctors need to change the lathing needles with different models for multiple times to complete the operation of drilling and preparing the implant, and the accuracy and precision of a navigation system are determined by the correct length of the lathing needle, so that the dental implant surgery effect is influenced. Therefore, the doctor needs to perform a verification operation each time after changing the needle, so that the system can confirm whether the currently used needle is consistent with the needle selected on the software. The inventor finds that the following problems exist in the process of threading a needle in the dental implant surgery:
(1) Under traditional navigation, the doctor needs to manually remove the car needle and observe traditional navigation software interface simultaneously and judge the most advanced position of car needle, and this kind of mode needs the skill that the doctor observed the three-dimensional image, observes the position that can't pinpoint the car needle most advanced through people's eye, has reduced the accuracy of car needle check-up, and then influences the operation effect of planting the tooth.
(2) The method for checking the needle in the robot operation navigation system is to install a needle planting mobile phone at the tail end of the mechanical arm and then a doctor manually drags the mobile phone to the position of a check point for checking, so that a great deal of time is consumed to complete the needle checking operation due to inexperience of a user in using the mechanical arm.
Disclosure of Invention
In order to solve the technical problems in the background art, the invention provides a method, a device, a storage medium and equipment for checking a needle, which can quickly and accurately check the needle.
In order to achieve the purpose, the invention adopts the following technical scheme:
the invention provides a needle checking method in a first aspect.
In one or more embodiments, the needle is mounted on a planting mobile phone, the planting mobile phone is mounted at the tail end of a mechanical arm, and the needle verification method includes:
virtually planning an implant at a pre-marked check point on a patient oral cavity positioner; the length of the virtually planned implant is the length of a needle required by the current planting operation, and the direction of the needle required by the current planting operation is the direction of the needle;
correspondingly converting the virtually planned implant coordinates in the patient coordinate system into a mechanical arm coordinate system, and automatically controlling the mechanical arm to move towards the implant according to the direction of a required vehicle needle until the implant reaches the position of the implant and stop;
after the mechanical arm is in place, calculating the distance difference between the current needle tip and the check point in the same coordinate system; and judging whether the current needle passes the verification according to the comparison result of the distance difference and a set threshold.
The set threshold is the precision error threshold of the oral implant surgery navigation positioning system and is determined by the system precision of the oral implant surgery navigation positioning system when the oral implant surgery navigation positioning system leaves a factory.
In one embodiment of the first aspect, when the distance difference is smaller than a set threshold, it is determined that the current needle verification is passed.
When the distance difference is larger than or equal to a set threshold, judging that the current needle verification fails, and sending a reminding message for changing the needle for rechecking.
In one embodiment of the first aspect, when the needle verification fails, the needle length replacement strategy is determined according to the sign of the distance difference.
As an embodiment of the first aspect, the needle length replacement policy is:
if the sign of the distance difference is positive, replacing the needle with a longer length;
and if the sign of the distance difference is negative, replacing the needle with shorter length.
As an implementation mode of the first aspect, the virtual planning implant is a coordinate vector I of an in-point in an image coordinate system inpoint Comprises the following steps:
I inpoint = I targetpoint -I Needle * length；
wherein, I targetpoint Is the position of the check point; i is Needle The direction vector of the vehicle needle under the image coordinate system; length is the length of the needle required for the planting operation.
As an embodiment of the first aspect, the process of correspondingly converting the implant coordinates in the patient coordinate system to the robot arm coordinate system is as follows:
based on the corresponding relation of the space coordinate system, the implant position virtually planned under the patient coordinate system is converted into the image coordinate system through the image registration matrix;
and then the position of the planned implant is converted into the position of the mechanical arm coordinate system according to the conversion relation between the patient coordinate system and the mechanical arm coordinate system.
A second aspect of the present invention provides a needle checking device.
In one or more embodiments, the needle is mounted on a planting mobile phone, the planting mobile phone is mounted at the tail end of a mechanical arm, and the needle checking device comprises:
a virtual planning module for virtually planning an implant at a pre-marked checkpoint on a patient's oral positioner; the length of the virtually planned implant is the length of a needle required by the current planting operation, and the direction of the needle required by the current planting operation is the direction of the needle;
the needle turning control module is used for correspondingly converting the virtually planned implant coordinate in the patient coordinate system into a mechanical arm coordinate system, automatically controlling the mechanical arm to move towards the implant according to the direction of a required needle turning direction until the position of the implant is reached, and stopping;
the needle judgment module is used for calculating the distance difference between the current needle tip and the check point in the same coordinate system after the mechanical arm is in place; and judging whether the current needle passes the verification according to the comparison result of the distance difference and a set threshold.
The set threshold is the precision error threshold of the oral implant surgery navigation positioning system and is determined by the system precision of the oral implant surgery navigation positioning system when the oral implant surgery navigation positioning system leaves a factory.
As an implementation manner of the second aspect, in the needle determination module, when the distance difference is smaller than a set threshold, it is determined that the current needle verification is passed.
As an implementation manner of the second aspect, in the needle determination module, when the distance difference is greater than or equal to a set threshold, it is determined that the current needle verification fails, and a prompt message for changing the needle to perform the needle re-verification is sent.
As an implementation manner of the second aspect, in the needle determination module, when the needle verification fails, a replacement strategy of the needle length is determined according to the positive and negative signs of the distance difference.
As an embodiment of the second aspect, the needle length replacement strategy is:
if the sign of the distance difference is positive, replacing the needle with a longer length;
and if the sign of the distance difference is negative, replacing the needle with shorter length.
As an embodiment of the second aspect, in the virtual planning module, the virtually planned implant is an in-point coordinate vector I under the image coordinate system inpoint Comprises the following steps:
I inpoint = I targetpoint -I Needle * length；
wherein, I targetpoint Is the position of the checkpoint; i is Needle The direction vector of the vehicle needle under the image coordinate system; the length is the length of the machine needle required by the planting operation.
As an embodiment of the second aspect, in the needle control module, the process of correspondingly converting the implant coordinates in the patient coordinate system into the robot arm coordinate system is as follows:
based on the corresponding relation of the space coordinate system, the implant position virtually planned under the patient coordinate system is converted into the image coordinate system through the image registration matrix;
and then the position of the planning implant is converted into the position under the coordinate system of the mechanical arm according to the conversion relation between the coordinate system of the patient and the coordinate system of the mechanical arm.
A third aspect of the invention provides a computer-readable storage medium.
A computer-readable storage medium, having stored thereon a computer program which, when executed by a processor, carries out the steps of the needle verification method as described above.
The fourth aspect of the invention provides a navigation and positioning device for oral implantation operation.
An oral implantation operation navigation positioning device comprises a main control trolley, a mechanical arm trolley and a navigation trolley, wherein a control part in the main control trolley comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, and the steps in the vehicle needle checking method are realized when the processor executes the program.
Compared with the prior art, the invention has the beneficial effects that:
(1) According to the invention, the distance error between the needle tip and the preset position is calculated in real time under the same coordinate system through the coordinate conversion of the patient coordinate system and the mechanical arm coordinate system to carry out needle verification, so that the problem that the needle tip cannot be accurately positioned through human eye observation is avoided, and the needle verification accuracy is improved.
(2) The virtual implant with the length and the direction identical to those of the needle required by the current planting operation is virtually planned at the checking point position, and the mechanical arm is controlled to move towards the implant in an automatic mode according to the direction of the required needle, so that the step of manual operation of a doctor is omitted, the needle checking time is greatly saved, and the needle checking is more efficient.
Advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the invention and together with the description serve to explain the invention and not to limit the invention.
FIG. 1 is a flow chart of a method for verifying a needle according to an embodiment of the present invention;
FIG. 2 is a schematic structural view of the tail end of a mechanical arm carrying a planting mobile phone according to an embodiment of the invention;
FIG. 3 is an oral locator and its pre-marked check points according to an embodiment of the present invention;
FIG. 4 is a schematic view of a needle verification according to an embodiment of the present invention;
fig. 5 is a schematic view of a virtual planning implant according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of the needle checking device according to the embodiment of the present invention.
Detailed Description
The invention is further described with reference to the following figures and examples.
It is to be understood that the following detailed description is exemplary and is intended to provide further explanation of the invention as claimed. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention. As used herein, the singular forms "a", "an", and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
Example one
Referring to fig. 1, a method for verifying a needle provided in this embodiment is provided. In the embodiment, the needle is installed on a planter tool, the planter tool is mounted at the end of a mechanical arm 1, and a mechanical arm positioner 2 is installed at the end of the mechanical arm 1 and used for mounting the planter tool, as shown in fig. 2.
The method for checking the sewing needle of the embodiment specifically comprises the following steps:
s101: virtually planning an implant at a check point 4 marked in advance on the oral cavity positioner 3 of the patient; the length of the implant of the virtual planning is the length of the needle required by the current planting operation, and the direction of the needle required by the current planting operation is the direction of the needle required by the current planting operation. In which the oral cavity locator and its pre-marked check points are shown in figure 3.
In step S101, the length of the virtual implant is determined as the length of the currently used needle, as required for verification. Virtual planning of an implant in-point coordinates:
I inpoint = I targetpoint - I Needle * length
virtual planning implant in-point coordinate vector I under image coordinate system inpoint Comprises the following steps:
I inpoint = I targetpoint -I Needle * length；
wherein, I targetpoint Is the position of the check point; i is Needle The direction vector of the vehicle needle under the image coordinate system; length is the length of the needle required for the planting operation.
S102: correspondingly converting the virtually planned implant coordinate under the patient coordinate system to the mechanical arm coordinate system, and automatically controlling the mechanical arm to move towards the implant according to the direction of the required vehicle needle until the position of the implant is reached.
The virtual implant with the length and the direction identical to those of the current planting operation demand needle is virtually planned at the position of the check point, the mechanical arm is controlled to move towards the implant in an automatic mode according to the direction of the demand needle, so that the manual operation step of a doctor is omitted, the needle checking time is greatly saved, and the needle checking is more efficient.
In step S102, the process of correspondingly converting the implant coordinates in the patient coordinate system into the manipulator coordinate system is as follows:
converting the implant position virtually planned under the patient coordinate system into an image coordinate system through an image registration matrix based on the corresponding relation of the space coordinate system;
and then the position of the planning implant is converted into the position under the coordinate system of the mechanical arm according to the conversion relation between the coordinate system of the patient and the coordinate system of the mechanical arm.
As shown in fig. 4 and 5, where 5 in fig. 5 is an implant, and the targetpoint is a check point (also a target point), and the coordinates of the point are fixed points on the patient mouth locator, and are positions specified in the patient coordinate system, i.e. P targetpoint Before real-time navigation, the software establishes the conversion relation from the patient coordinate system to the image coordinate system through image registration P I T, from which the position of the check point in the image coordinate system, i.e. the position of the check point in the image coordinate system, can be calculated
I targetpoint = P I T* P targetpoint
After the target point of the implant is determined, the position of the point of entry of the implant can be determined through the direction and the length of the implant, the direction of the virtual implant is the direction of the current needle, the direction is determined in the preparation step of real-time navigation (namely the step of needle registration, the step is the direction of a needle shaft fitted in the space by rotating the needle positioner), and the direction is the position under the coordinate system of the mechanical arm positioner, namely R Needle Because the optical tracking system can simultaneously acquire the positions of the mechanical arm positioner and the patient oral cavity positioner, a conversion matrix from the mechanical arm positioner to a coordinate system of the patient oral cavity positioner is obtained R P T, so that the needle direction is converted into the image coordinate system, i.e.
I Needle = R P T * P I T* R Needle
I Needle Is a vector, i.e. is direction in fig. 5.
S103: after the mechanical arm is in place, calculating the distance difference between the current needle tip and the check point in the same coordinate system; and judging whether the current needle passes the verification according to the comparison result of the distance difference and a set threshold.
After the entering point and the target point of the implant are determined, a virtual implant for verification can be planned, the mechanical arm can automatically move towards the direction of the verification point when verification is started, and whether the verification passes or not can be judged according to the comparison result of the distance difference and the set threshold value after the mechanical arm moves in place.
The set threshold is the precision error threshold of the oral implant surgery navigation positioning system and is determined by the system precision of the oral implant surgery navigation positioning system when the oral implant surgery navigation positioning system leaves a factory.
For example: when the system precision error of the cavity implantation surgery navigation positioning system when leaving the factory is not more than 0.5mm, the precision error threshold of the cavity implantation surgery navigation positioning system is 0.5mm, namely the set threshold is 0.5mm.
Specifically, the oral implantation surgical navigation and positioning system supported by the car needle verification method of the embodiment includes: the system comprises a main control trolley, a mechanical arm trolley and a navigation trolley. The main control trolley realizes the functions of man-machine interaction, preoperative planning and intraoperative navigation by a dental implantation operation navigation positioning software module, a man-machine interaction module, a system control module and a power supply module. The mechanical arm trolley consists of a mechanical arm module, a positioner module, a support module and a power supply module, and the mechanical arm carries the planting mobile phone and is a system motion executing mechanism. The navigation trolley is an image system of the whole system, and images of a patient side are collected in real time for the whole system to use. The navigation trolley carries an optical tracking camera to position the mechanical arm and the patient. The locator comprises an oral locator, a mobile phone planter locator and a needle locator, the oral locator is used for assisting navigation and location, and the mobile phone planter locator and the needle locator are used for registering and registering the mechanical arm and the mobile phone. The optical tracking system is used for positioning a patient and the mechanical arm in real time.
In this embodiment, the mechanical arm moves towards the position of the planned implant during the real-time navigation operation, and in the process, the navigation and positioning system for oral implantation can calculate and display the deviation of the current needle position from the in-point and the out-point of the planned implant and the depth difference in real time. The doctor needs to change the car needle of different models many times in the process of boring and preparing the nest, before changing the car needle, need to select the type, diameter and the length of car needle on oral implanting operation navigation positioning system interface, changes the car needle on the planting cell-phone of robotic arm end after the selection is accomplished, and software can indicate the doctor to carry out the check-up work of car needle this moment. In the real-time navigation checking process, the oral implant operation navigation positioning system firstly converts the planned implant position (image coordinate system) into the patient coordinate system (through an image registration matrix), and since the optical tracking system can simultaneously observe the positions of the patient and the mechanical arm in real time, the conversion relation between the patient coordinate system and the mechanical arm coordinate system can be calculated, the planned implant position can be converted into the space coordinate system of the mechanical arm, and the oral implant operation navigation positioning system can send the position to the mechanical arm end to control the motion of the mechanical arm.
According to the method, the distance error between the sharp end of the needle and the preset position is calculated in real time under the same coordinate system to check the needle through the coordinate conversion of the patient coordinate system and the mechanical arm coordinate system, the problem that the position of the sharp end of the needle cannot be accurately positioned through human eye observation is avoided, and the accuracy of needle checking is improved.
In step S103, when the distance difference is smaller than a set threshold, it is determined that the current needle verification passes.
And when the distance difference is larger than or equal to a set threshold, judging that the current needle check fails, and sending a reminding message for changing the needle for checking again.
And when the needle is not verified, determining a replacement strategy of the needle length according to the positive and negative signs of the distance difference.
Specifically, the needle length replacement strategy is as follows:
if the sign of the distance difference is positive, replacing the needle with longer length;
and if the sign of the distance difference is negative, replacing the needle with shorter length.
The accuracy of changing the sewing needle is improved through the positive and negative signs of the distance difference, and therefore the sewing needle checking efficiency is improved.
Example two
In this embodiment, the needle is mounted on a planter tool, and the planter tool is mounted at the end of the robot arm. Referring to fig. 6, the needle verification apparatus provided in this embodiment specifically includes a virtual planning module 201, a needle control module 202, and a needle judgment module 203.
Wherein:
(1) The virtual planning module 201:
the virtual planning module 201 is configured to: virtually planning an implant at a pre-marked check point on a patient oral cavity positioner; the length of the implant of the virtual planning is the length of the needle required by the current planting operation, and the direction of the needle required by the current planting operation is the direction of the needle.
In the virtual planning module 201, a virtual planning implant is a coordinate vector I of an in-point in an image coordinate system inpoint Comprises the following steps:
I inpoint = I targetpoint -I Needle * length；
wherein, I targetpoint Is the position of the check point; i is Needle The direction vector of the needle under the image coordinate system; length is the length of the needle required for the planting operation.
(2) The needle control module 202:
the needle control module 202 is configured to: correspondingly converting the virtually planned implant coordinates in the patient coordinate system into the mechanical arm coordinate system, and automatically controlling the mechanical arm to move towards the implant according to the direction of the required vehicle needle until the implant reaches the position of the implant and then stopping.
In the needle control module 202, the process of correspondingly converting the implant coordinates in the patient coordinate system to the manipulator coordinate system is as follows:
converting the implant position virtually planned under the patient coordinate system into an image coordinate system through an image registration matrix based on the corresponding relation of the space coordinate system;
and then the position of the planning implant is converted into the position under the coordinate system of the mechanical arm according to the conversion relation between the coordinate system of the patient and the coordinate system of the mechanical arm.
(3) Needle determination module 203:
the needle determination module 203 is configured to: after the mechanical arm is in place, calculating the distance difference between the current needle tip and the check point in the same coordinate system; and judging whether the current needle passes the verification according to the comparison result of the distance difference and a set threshold.
The set threshold is the precision error threshold of the oral implant surgery navigation positioning system and is determined by the system precision of the oral implant surgery navigation positioning system when the oral implant surgery navigation positioning system leaves a factory.
For example: when the system precision error of the cavity implantation surgery navigation positioning system when leaving the factory is not more than 0.5mm, the precision error threshold of the cavity implantation surgery navigation positioning system is 0.5mm, namely the set threshold is 0.5mm.
In a specific implementation process, in the needle determination module 203, when the distance difference is smaller than a set threshold, it is determined that the current needle verification passes.
In the hand judgment module 203, when the distance difference is greater than or equal to a set threshold, it is determined that the current hand verification fails, and a prompt message for changing the hand to verify again is sent.
In the needle judgment module 203, when the needle is not verified, a replacement strategy of the needle length is determined according to the sign of the distance difference. Wherein, the replacement strategy of the needle length is as follows:
if the sign of the distance difference is positive, replacing the needle with a longer length;
and if the sign of the distance difference is negative, replacing the needle with shorter length.
According to the method, the distance error between the sharp end of the needle and the preset position is calculated in real time under the same coordinate system to check the needle through the coordinate conversion of the patient coordinate system and the mechanical arm coordinate system, the problem that the position of the sharp end of the needle cannot be accurately positioned through human eye observation is avoided, and the accuracy of needle checking is improved.
The virtual implant with the length and the direction identical to those of the current planting operation demand needle is virtually planned at the position of the check point, the mechanical arm is controlled to move towards the implant in an automatic mode according to the direction of the demand needle, so that the manual operation step of a doctor is omitted, the needle checking time is greatly saved, and the needle checking is more efficient.
It should be noted that, each module in the present embodiment corresponds to each step in the first embodiment one to one, and the specific implementation process is the same, which is not described again here.
EXAMPLE III
The present embodiment provides a computer-readable storage medium, on which a computer program is stored, which when executed by a processor implements the steps in the needle verification method as described above.
Example four
The embodiment provides an oral implant surgery navigation and positioning device, which comprises a main control trolley, a mechanical arm trolley and a navigation trolley, wherein a control part in the main control trolley comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, and the processor executes the program to realize the steps in the needle checking method.
Specifically, the main body equipment of the navigation and positioning system for the oral implant surgery comprises: master control platform truck, arm platform truck, navigation platform truck. The main control trolley realizes the functions of man-machine interaction, preoperative planning and intraoperative navigation by a dental implantation operation navigation positioning software module, a man-machine interaction module, a system control module and a power supply module. The system control module is a control part in the main control trolley.
The mechanical arm trolley consists of a mechanical arm module, a positioner module, a support module and a power supply module, and the mechanical arm carries the planting mobile phone and is a system motion executing mechanism. The navigation trolley is an image system of the whole system, and images of a patient side are collected in real time for the whole system to use. The navigation trolley carries an optical tracking camera to position the mechanical arm and the patient. The locator comprises an oral locator, a planting mobile phone locator and a machine needle locator, wherein the oral locator is used for assisting navigation and positioning, and the planting mobile phone locator and the machine needle locator are used for registering and registering the mechanical arm and the mobile phone. The optical tracking system is used for positioning a patient and the mechanical arm in real time.
When the mechanical arm carries out real-time navigation operation, the mechanical arm can move towards the position of the planning implant, and in the process, the oral implantation operation navigation and positioning system can calculate and display the current car needle position and the deviation of the in point and the out point of the planning implant and the depth difference in real time. The doctor needs to change the car needle of different models many times in the process of boring and preparing the nest, before changing the car needle, need to select the type, diameter and the length of car needle on oral implanting operation navigation positioning system interface, changes the car needle on the planting cell-phone of robotic arm end after the selection is accomplished, and software can indicate the doctor to carry out the check-up work of car needle this moment. In the real-time navigation checking process, the oral implant operation navigation positioning system firstly converts the planned implant position (image coordinate system) into the patient coordinate system (through an image registration matrix), and since the optical tracking system can simultaneously observe the positions of the patient and the mechanical arm in real time, the conversion relation between the patient coordinate system and the mechanical arm coordinate system can be calculated, the planned implant position can be converted into the space coordinate system of the mechanical arm, and the oral implant operation navigation positioning system can send the position to the mechanical arm end to control the motion of the mechanical arm.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (16)
1. A needle checking method is characterized in that the needle is installed on a planting mobile phone, the planting mobile phone is carried at the tail end of a mechanical arm, and the needle checking method comprises the following steps:
virtually planning an implant at a pre-marked check point on a patient oral cavity positioner; the length of the virtually planned implant is the length of a needle required by the current planting operation, and the direction of the needle required by the current planting operation is the direction of the needle;
correspondingly converting the virtually planned implant coordinate under the patient coordinate system into a mechanical arm coordinate system, and automatically controlling the mechanical arm to move towards the implant according to the direction of a required vehicle needle until the implant position is reached;
after the mechanical arm is in place, calculating the distance difference between the current needle tip and the check point in the same coordinate system; and judging whether the current needle passes the verification according to the comparison result of the distance difference and a set threshold.
2. The needle verification method according to claim 1, wherein it is determined that the current needle verification is passed when the distance difference is smaller than a set threshold.
3. The needle checking method according to claim 1 or 2, wherein when the distance difference is greater than or equal to a set threshold, it is determined that the current needle check fails, and a warning message for changing the needle for re-check is sent.
4. The needle verification method according to claim 3, wherein when the needle verification fails, a needle length replacement strategy is determined based on the sign of the distance difference.
5. The needle verification method of claim 4, wherein the needle length replacement strategy is:
if the sign of the distance difference is positive, replacing the needle with a longer length;
and if the sign of the distance difference is negative, replacing the needle with shorter length.
6. The needle verification method of claim 1 or 2, wherein the virtually planned implant is an in-point coordinate vector I under an image coordinate system inpoint Comprises the following steps:
I inpoint = I targetpoint -I Needle * length；
wherein, I targetpoint Is the position of the checkpoint; I.C. A Needle The direction vector of the needle under the image coordinate system; the length is the length of the machine needle required by the planting operation.
7. The needle verification method according to claim 1 or 2, wherein the corresponding transformation of the implant coordinates in the patient coordinate system to the robotic arm coordinate system comprises:
based on the corresponding relation of the space coordinate system, the implant position virtually planned under the patient coordinate system is converted into the image coordinate system through the image registration matrix;
and then the position of the planned implant is converted into the position of the mechanical arm coordinate system according to the conversion relation between the patient coordinate system and the mechanical arm coordinate system.
8. The utility model provides a car needle calibration equipment, wherein the car needle is installed on planting the cell-phone, it carries on at the mechanical arm end to plant the cell-phone, its characterized in that, car needle calibration equipment includes:
a virtual planning module for virtually planning an implant at pre-marked check points on a patient oral positioner; the length of the virtually planned implant is the length of a needle required by the current planting operation, and the direction of the needle required by the current planting operation is the direction of the needle;
the needle turning control module is used for correspondingly converting the virtually planned implant coordinate in the patient coordinate system into a mechanical arm coordinate system, automatically controlling the mechanical arm to move towards the implant according to the direction of a required needle turning direction until the position of the implant is reached, and stopping;
the needle judgment module is used for calculating the distance difference between the current needle tip and the check point in the same coordinate system after the mechanical arm is in place; and judging whether the current needle passes the verification according to the comparison result of the distance difference and a set threshold.
9. The needle verification device according to claim 8, wherein in the needle determination module, when the distance difference is smaller than a set threshold, it is determined that the current needle verification is passed.
10. The needle checking device according to claim 8 or 9, wherein in the needle determination module, when the distance difference is greater than or equal to a set threshold, it is determined that the current needle check fails, and a warning message for changing the needle for rechecking is sent.
11. The needle verification device according to claim 10, wherein in the needle determination module, when the needle verification fails, a replacement policy of the needle length is determined based on the sign of the distance difference.
12. The needle verification device of claim 11, wherein the needle length replacement strategy is:
if the sign of the distance difference is positive, replacing the needle with longer length;
and if the sign of the distance difference is negative, replacing the needle with shorter length.
13. The needle verification device according to claim 8 or 9, wherein in the virtual planning module, a virtual planned implant is a point-in coordinate vector I under an image coordinate system inpoint Comprises the following steps:
I inpoint = I targetpoint -I Needle * length；
wherein, I targetpoint To make a correctionThe position of the check point; i is Needle The direction vector of the vehicle needle under the image coordinate system; length is the length of the needle required for the planting operation.
14. The needle verification device according to claim 8 or 9, wherein the corresponding transformation of the implant coordinates in the patient coordinate system to the robotic arm coordinate system in the needle control module is performed by:
based on the corresponding relation of the space coordinate system, the implant position virtually planned under the patient coordinate system is converted into the image coordinate system through the image registration matrix;
and then the position of the planned implant is converted into the position of the mechanical arm coordinate system according to the conversion relation between the patient coordinate system and the mechanical arm coordinate system.
15. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the needle verification method according to any one of claims 1 to 7.
16. An oral implant surgery navigation positioning device, comprising a main control trolley, a mechanical arm trolley and a navigation trolley, wherein a control part in the main control trolley comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, and the method is characterized in that when the processor executes the program, the steps in the needle verification method according to any one of claims 1-7 are realized.
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