CN117860411A

CN117860411A - Method for forming hole on alveolar bone, method for preparing hole by oral implantation operation and oral implantation operation robot

Info

Publication number: CN117860411A
Application number: CN202410167811.4A
Authority: CN
Inventors: 张志明; 李康宁; 聂智; 韩月乔; 倪浩晨
Original assignee: Beijing Ruiyibo Technology Co ltd; Beijing Baihui Weikang Technology Co Ltd
Current assignee: Beijing Ruiyibo Technology Co ltd; Beijing Baihui Weikang Technology Co Ltd
Priority date: 2024-02-06
Filing date: 2024-02-06
Publication date: 2024-04-12

Abstract

In the method for forming the prepared hole on the alveolar bone, the method for preparing the hole for the oral implantation operation and the oral implantation operation robot, the target position of the prepared hole on the alveolar bone and the initial position of the drill needle fixed at the tail end of the mechanical arm are determined; determining a position difference between the initial position and the target position to plan a mechanical arm movement track based on the position difference; controlling the mechanical arm to move based on the movement track of the mechanical arm so as to drive the drill point at the tail end of the mechanical arm to move from the initial position to the target position; based on the planned action track of the drilling needle, the mechanical arm is controlled to move so as to drive the drilling needle to form the prepared hole at the target position in a one-drill forming mode, frequent drill replacement is not needed, the flow of preparing the hole is shortened, meanwhile, the long-time opening of a patient is avoided, and the burden of a mandibular joint is lightened.

Description

Method for forming hole on alveolar bone, method for preparing hole by oral implantation operation and oral implantation operation robot

Technical Field

The application relates to the technical field of robots, in particular to a method for forming a hole on an alveolar bone, a method for preparing the hole in an oral implantation operation and an oral implantation operation robot.

Background

In the oral implant surgery, if it is implemented based on a free hand operation, a doctor performs preparation of an alveolar bone cavity by a conventional hand tool by his own experience and skill. This approach has achieved significant results over the past decades, but has also had certain limitations. For example, problems may occur during surgery such as lack of precision, greater trauma, longer recovery time, etc.

To address these issues, robotic-assisted oral implant surgery has emerged. The technology realizes the accurate control of the preparation of the alveolar bone cavity through a high-precision robot system, and improves the accuracy and safety of the operation. The robot assisted surgery can reduce surgical wounds, shorten recovery time and improve comfort level of patients, so that the oral implantation surgery is more minimally invasive and efficient.

However, the hole preparation process is a key element of oral implant surgery, whether free hand operation or robot assistance. Currently, the most mature backup hole is a step-by-step backup hole. The step-by-step hole preparation is developed from the process of using only final drill, compared with the process of using only final drill, the step-by-step hole preparation is carried out by using tools such as ball drill fixed points, pioneer twist drill, direction indicating rod (depth measuring ruler) measurement, expanding drill, final drill forming, shoulder drill and the like to expand the hole step by step, and finally the hole preparation is formed.

Compared with the method which only uses a final drill, the step-by-step hole preparation has the following technical advantages: firstly, too thick a final drill can squeeze the bone, resulting in bone damage; secondly, the precision of the free hand is limited, and errors of the early fine drill can be compensated by the later coarse drill, so that the final precision is improved; finally, the single cutting amount is small, the required cutting force is small, the friction heat generation is also small, and the bone burn is avoided.

However, in the implementation scheme of the step-by-step hole preparation, six or seven times of drill setting are needed for one hole, the drill changing process is long, and in addition, the patient needs to frequently open the mouth in the drill changing process, so that a large burden is brought to the mandibular joint of the patient.

Disclosure of Invention

The purpose of the application is to provide a method for forming a hole on an alveolar bone, an oral cavity implantation surgery hole preparation method and an oral cavity implantation surgery robot, which are used for solving or relieving the technical problems in the prior art.

The technical scheme disclosed by the application is as follows:

a method of forming a prepared hole in an alveolar bone, comprising:

determining a target position of the prepared hole on the alveolar bone and an initial position of a drill point fixed at the tail end of the mechanical arm;

determining a position difference between the initial position and the target position to plan a mechanical arm movement track based on the position difference;

controlling the mechanical arm to move based on the movement track of the mechanical arm so as to drive the drill point at the tail end of the mechanical arm to move from the initial position to the target position;

and controlling the mechanical arm to move based on the planned drill point action track so as to drive the drill point to form the prepared hole at the target position in a drill forming mode.

Optionally, based on the motion track of the mechanical arm, controlling the motion of the mechanical arm to drive the drill point at the tail end of the mechanical arm to move from the initial position to the target position includes:

determining a track transformation matrix from a track point on the motion track of the mechanical arm to the target position in real time;

and controlling the mechanical arm to move based on the track transformation matrix so as to drive the drill point at the tail end of the mechanical arm to move from the initial position to the target position.

Optionally, based on the trajectory transformation matrix, controlling the movement of the mechanical arm to drive the drill point at the tail end of the mechanical arm to move from the initial position to the target position includes:

determining the motion quantity of each joint of the mechanical arm based on the track transformation matrix;

and controlling the mechanical arm to move so as to drive the drill point at the tail end of the mechanical arm to move from the initial position to the target position based on the movement amount of each joint of the mechanical arm.

Optionally, the controlling the movement of the mechanical arm to drive the drill point to form the prepared hole at the target position according to a drill forming mode based on the planned drill point movement track includes:

determining a reaming path and a drilling path of the mechanical arm based on the planned drill point action track;

controlling the mechanical arm to reciprocate to rotate based on a reaming path of the mechanical arm so as to drive the drill point to ream at the target position, so that the prepared hole with the set diameter is formed at the target position in a drilling forming mode;

and controlling the feeding motion of the mechanical arm based on the drilling path of the mechanical arm to drive the drill point to drill at the target position so as to form the prepared hole with the set depth at the target position in a one-drill forming mode.

Optionally, the determining, based on the planned drill point action track, a reaming path and a drilling path of the mechanical arm includes:

decomposing the planned drill point action track into an action track of the drill point from inside to outside and an action track from top to bottom;

determining a reaming path of the mechanical arm based on the action track of the drill point from inside to outside;

and determining the drilling path of the mechanical arm based on the action track of the drill point from top to bottom.

Optionally, the method further comprises:

constructing a reaming constraint based on the set diameter and the bit diameter of the drill point;

and controlling the step length of the reciprocating rotary motion of the mechanical arm according to the reaming constraint.

A hole preparation method for oral implant surgery, which performs the following steps to form a hole preparation for fitting an implant in a one-drill molding manner:

planning a movement track of the mechanical arm according to the target position of the backup hole on the alveolar bone and the initial position of the drill point fixed at the tail end of the mechanical arm;

controlling the mechanical arm to move based on the movement track of the mechanical arm so as to drive the drill point to move from the initial position to the target position;

and controlling the mechanical arm to move so as to drive the drill point to form the backup hole at the target position.

A method of preparing a hole for an oral implant surgery, which performs the steps of forming a prepared hole for assembling an implant in a one-drill molding manner:

the mechanical arm moves based on the planned mechanical arm movement track to drive the drill point at the tail end of the mechanical arm to move from the initial position to the target position on the alveolar bone;

the mechanical arm moves based on the planned drill point movement track to drive the drill point to form the backup hole at the target position.

And planning the movement track of the mechanical arm based on the position difference between the target position and the initial position.

An oral implant surgical robot, comprising: the robot comprises a robot host and a mechanical arm, wherein the tail end of the mechanical arm is provided with a drill needle, the robot host is used for executing the method of any one of the above steps to form the prepared hole in a one-drill forming mode, and the prepared hole is used for assembling an implant.

Drawings

Some specific embodiments of the present application will be described in detail below by way of example and not by way of limitation with reference to the accompanying drawings. The same reference numbers will be used throughout the drawings to refer to the same or like parts or portions. It will be appreciated by those skilled in the art that the drawings are not necessarily drawn to scale. In the accompanying drawings:

fig. 1 is a flowchart illustrating a method for forming a prepared hole in an alveolar bone according to an embodiment of the present application.

Fig. 2 is a schematic diagram of determining a trajectory transformation matrix in real time.

Fig. 3 is a schematic flow chart of a hole preparation method for oral implantation according to an embodiment of the present application.

Fig. 4 is a schematic flow chart of a hole preparation method for oral implantation according to an embodiment of the present application.

Fig. 5 is a schematic view of an oral implant surgical robot according to an embodiment of the present application.

Fig. 6 is a hardware configuration of the robot host according to the present embodiment.

Detailed Description

In order to better understand the technical solutions in the embodiments of the present application, the following descriptions will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only some embodiments of the present application, but not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the embodiments of the present application shall fall within the scope of protection of the embodiments of the present application.

Fig. 1 is a flowchart illustrating a method for forming a prepared hole in an alveolar bone according to an embodiment of the present application. As shown in fig. 1, it includes:

s101, determining a target position of the prepared hole on the alveolar bone and an initial position of a drill needle fixed at the tail end of the mechanical arm;

s102, determining a position difference between the initial position and the target position, so as to plan a mechanical arm movement track based on the position difference;

s103, controlling the mechanical arm to move based on the movement track of the mechanical arm so as to drive the drill point at the tail end of the mechanical arm to move from the initial position to the target position;

and S104, controlling the mechanical arm to move based on the planned drill point movement track so as to drive the drill point to form the prepared hole at the target position in a drill forming mode.

The drill point used in this embodiment may be a fine drill in the existing step-by-step hole preparation, for example, the diameter of the drill bit is 1.5 mm-2.6 mm, the fine drill has a drill bit in a spherical shape or other row shapes, and the drill bit is driven by the mechanical arm to cut the alveolar bone step by step, thereby implementing a drill forming type in the hole preparation process. Of course, the dimensions herein are merely relative concepts and are not meant to be limiting in absolute terms, and other dimensions of drill bits may be selected by those skilled in the art as desired in the context of the present application.

Fig. 2 is a schematic diagram of determining a trajectory transformation matrix in real time. As shown in FIG. 2, O _e For the drill point coordinate system, O _em For the visual marker coordinate system fixed at the tail end of the mechanical arm, O _c For camera coordinate system, O _p For patient visual marker coordinate system, O _m For the image space coordinate system, O _ae To plan a tool coordinate system at the target.

The coordinate system has the following transformation relation: visual marker coordinate system O of mechanical arm tail end _em Relative to the drill point coordinate system O _e Pose transformation matrix of (a)The method is characterized by being obtained by a hand-eye calibration method; visual marker coordinate system O fixed at tail end of mechanical arm _em Relative to camera coordinate system O _c Pose transformation matrix->Pose transformation matrix of patient visual marker coordinate system relative to camera coordinate system>Pose transformation matrix of image space coordinate system relative to patient visual marker coordinate system>Can be obtained by an image registration method; pose transformation matrix of drill point coordinate system relative to image space coordinate system>Given in the pre-operative planning phase. According to the chain law, the trajectory transformation matrix T from each trajectory point on the motion trajectory of the robot arm to the target position can be found by:

Specifically, the motion amounts of the respective joints of the robot arm can be determined based on the trajectory transformation matrix by the following formula (2):

ΔT≈JΔθ (2)

wherein J represents a mapping matrix, delta theta represents the motion quantity of each joint, delta T is the difference value of a track transformation matrix T corresponding to two track points continuously, and therefore, a visual servo control method based on real-time position following is realized, and the influence of the kinematic positioning precision of the robot on the system precision is reduced by improving the positioning precision of the optical tracking positioning instrument and the spatial mapping precision of the track, so that the system positioning precision is improved. In addition, in the operation, the construction of the control law of each joint of the mechanical arm is realized based on the formula (2) and the real-time track transformation matrix, so that the path and the closed loop period of visual servo control are shortened, and the stability and the reliability of the system are improved.

Alternatively, if the implant is a cylinder, the prepared hole is also a cylinder, and for this purpose, the above-mentioned reaming path may enable the mechanical arm to perform reciprocating rotation in the X-Y plane (i.e. the circumferential direction of the implant) when viewed from the implant coordinate system (x_y_z), so as to drive the drill to perform synchronous reciprocating rotation to achieve the purpose of reaming, so that the prepared hole is formed to have a set diameter. In addition, the drilling path enables the mechanical arm to do feeding motion along the Z direction of the river (namely the axial direction of the implant), so that the drill point is driven to synchronously do feeding motion to achieve the purpose of drilling, and the formed prepared hole has a set depth.

Alternatively, the reciprocating rotational motion may be a spiral motion or a circular arc motion.

For this reason, the above-mentioned inside-out is quite achieved in that the robot arm is made to perform a reciprocating rotational movement in the X-Y plane (i.e. the circumference of the implant). And the mechanical arm performs feeding motion along the Z direction of the river (namely the axial direction of the implant) from top to bottom.

Alternatively, the movement track of the drill point from inside to outside can be represented by the following formula (3)

x＝(a+bδ)*cos(δ)

y＝(a+bδ)*sin(δ) (3)

a represents a track line shape parameter, b represents a track line distance coefficient, delta represents a polar angle, X represents an abscissa of a point on a track line on an X-Y plane, and Y represents an ordinate of a point on a track line on the X-Y plane.

Therefore, the action track of the drill point from inside to outside is defined based on the formula (3), so that the formed reaming path is along the spiral path, the lateral cutting force of the drill point is kept stable, accidental damage to alveolar bone is avoided, and the formation quality and efficiency of the prepared hole are improved.

Optionally, the method further comprises:

For example, based on the above formula (3), defining r=a+bδ represents the step length of the reciprocating rotation motion of the mechanical arm, and the reaming constraint is thatd _h Indicating that the set diameter of the prepared hole is d _i Representing the drill bit diameter; based on +.>The step length of the reciprocating rotary motion of the mechanical arm is controlled, and the step length is controlled from the angle of compensating the diameter of the drill bit, so that the drill bit can not move outwards when the outer edge of the drill bit reaches the set diameter of the prepared hole.

As described above, since the Z direction is actually from top to bottom, the corresponding motion trajectory remains unchanged along the Z direction, and in order to consider that the preset depth can be stably reached, and at the same time, constant force control of the feeding motion is implemented, when determining the drilling path of the mechanical arm, for example, the feeding speed of the mechanical arm can be controlled according to the following formula (4):

wherein v is _c For feed speed, v _a To a desired speed, f _a To expect constant force, f _z For the component of the force measured by the force sensor in the Z direction. The force sensor is mounted, for example, on a flange near the end of the arm to accurately measure the force.

Referring to the above formula (4), when the component of the measured force in the Z direction is smaller than the desired constant force (which is equivalent to resistance after the mechanical arm moves along the current direction but still keeps moving along the current direction), the feeding speed is controlled to be equal to the desired speed, and when the component of the measured force in the Z direction is equal to the desired constant force, the feeding speed is controlled to be equal to 0, the desired speed is not pursued, and the current state of the mechanical arm is maintained; when the component of the measured force in the Z direction is larger than the expected constant force (corresponding to the excessive movement resistance of the mechanical arm along the current direction), the feeding speed is controlled to be equal to the negative expected speed, which is equivalent to the reverse movement of the mechanical arm, so that the constant force control of the mechanical arm in the process of forming the prepared hole is realized.

Therefore, based on the control of the formula (4), constant force control in the process of forming the backup hole is realized, the force can be increased when the bone is harder, and the constant force control is achieved by reducing the feeding speed; when the force is small, constant force control is achieved by increasing the feeding speed, and the feeding grinding is kept continuously until the set depth is reached.

Fig. 3 is a schematic flow chart of a hole preparation method for oral implantation according to an embodiment of the present application. As shown in fig. 3, it performs the following steps to form a prepared hole of the assembled implant in a one-drill molding manner:

s201, planning a movement track of the mechanical arm according to the target position of the backup hole on the alveolar bone and the initial position of the drill point fixed at the tail end of the mechanical arm;

s202, controlling the mechanical arm to move based on the movement track of the mechanical arm so as to drive the drill point to move from the initial position to the target position;

s203, controlling the mechanical arm to move so as to drive the drill point to form the standby hole at the target position.

Optionally, in S201, planning a movement track of the mechanical arm according to the target position of the backup hole on the alveolar bone and the initial position of the drill point fixed at the tail end of the mechanical arm may include:

and determining a position difference between the initial position and the target position to plan a movement track of the mechanical arm based on the position difference.

Optionally, in S203, the mechanical arm is controlled to move to drive the drill point to form the backup hole at the target position, for example, the mechanical arm may be controlled to move to drive the drill point to form the backup hole at the target position in a drill forming manner based on a planned drill point motion track.

Fig. 4 is a schematic flow chart of a hole preparation method for oral implantation according to an embodiment of the present application. As shown in fig. 4, it performs the following steps to form a prepared hole for fitting an implant in a one-drill molding manner:

s301, the mechanical arm moves based on a planned mechanical arm movement track to drive the drill point at the tail end of the mechanical arm to move from an initial position to a target position on an alveolar bone;

s302, the mechanical arm moves based on the planned drill point movement track to drive the drill point to form the backup hole at the target position.

In the above fig. 3-4, an exemplary illustration of the steps may be found in the description of fig. 1 above.

Fig. 5 is a schematic view of an oral implant surgical robot according to an embodiment of the present application. As shown in fig. 5, it includes: the robot host 401 and the mechanical arm 402, the end of the mechanical arm is equipped with a drill point, the robot host is used for executing the method of any one of the application to form the prepared hole in a one-drill forming mode, and the prepared hole is used for assembling the implant.

Fig. 6 is a hardware structure of the robot host according to the present embodiment; as shown in fig. 6, the hardware structure of the electronic device may include: a processor 501, a communication interface 502, a computer readable medium 503 and a communication bus 504;

wherein the processor 501, the communication interface 502, and the computer readable medium 503 communicate with each other via a communication bus 504;

alternatively, the communication interface 502 may be an interface of a communication module, such as an interface of a GSM module;

wherein the processor 501 may be specifically configured to perform the method of any of the present application to form the prepared hole in a one-drill forming manner.

The processor 501 may be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU for short), a network processor (Network Processor, NP for short), etc.; but may also be a Digital Signal Processor (DSP), application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components. The disclosed methods, steps, and logic blocks in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The computer readable medium 503 may be, but is not limited to, random access Memory (Random Access Memory, RAM), read Only Memory (ROM), programmable Read Only Memory (Programmable Read-Only Memory, PROM), erasable Read Only Memory (Erasable Programmable Read-Only Memory, EPROM), electrically erasable Read Only Memory (Electric Erasable Programmable Read-Only Memory, EEPROM), etc.

In particular, according to embodiments of the present disclosure, the processes described above with reference to flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code configured to perform the method shown in the flow chart. In such embodiments, the computer program may be downloaded and installed from a network via a communication portion, and/or installed from a removable medium. The above-described functions defined in the method of the present application are performed when the computer program is executed by a Central Processing Unit (CPU). It should be noted that, the computer readable medium described in the present application may be a computer readable signal medium or a computer readable storage medium, or any combination of the two. The computer readable medium can be, for example but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage media element, a magnetic storage media element, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In the present application, however, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, with computer-readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.

Computer program code configured to carry out operations of the present application may be written in one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of remote computers, the remote computers may be connected via any kind of network: including a Local Area Network (LAN) or a Wide Area Network (WAN), to connect to the user's computer, or may be connected to external computers (e.g., by way of the internet using an internet service provider).

The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions configured to implement the specified logical function(s). The specific relationships in the embodiments described above are merely exemplary, and fewer, more, or an adjusted order of execution of the steps may be possible in a specific implementation. That is, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

As another aspect, the present application also provides a computer readable medium having stored thereon a computer program which, when executed by a processor, implements a method as described in the above embodiments.

As another aspect, the present application also provides a computer-readable medium that may be contained in the apparatus described in the above embodiments; or may be present alone without being fitted into the device. The computer readable medium carries one or more programs which, when executed by the apparatus, cause the apparatus to perform the method of any of the present application to form the prepared hole in a drill-forming manner.

The terms "first," "second," "the first," or "the second," as used in various embodiments of the present disclosure, may modify various components without regard to order and/or importance, but these terms do not limit the corresponding components. The above description is only configured for the purpose of distinguishing an element from other elements. For example, the first user device and the second user device represent different user devices, although both are user devices. For example, a first element could be termed a second element, and, similarly, a second element could be termed a first element, without departing from the scope of the present disclosure.

When an element (e.g., a first element) is referred to as being "coupled" (operatively or communicatively) to "another element (e.g., a second element) or" connected "to another element (e.g., a second element), it is understood that the one element is directly connected to the other element or the one element is indirectly connected to the other element via yet another element (e.g., a third element). In contrast, it will be understood that when an element (e.g., a first element) is referred to as being "directly connected" or "directly coupled" to another element (a second element), then no element (e.g., a third element) is interposed therebetween.

The foregoing description is only of the preferred embodiments of the present application and is presented as a description of the principles of the technology being utilized. It will be appreciated by persons skilled in the art that the scope of the invention referred to in this application is not limited to the specific combinations of features described above, but it is intended to cover other embodiments in which any combination of features described above or equivalents thereof is possible without departing from the spirit of the invention. Such as the above-described features and technical features having similar functions (but not limited to) disclosed in the present application are replaced with each other.

Claims

1. A method of forming a prepared hole in an alveolar bone, comprising:

2. The method of claim 1, wherein controlling the movement of the robotic arm to move the drill point at its distal end from the initial position to the target position based on the trajectory of the robotic arm movement comprises:

3. The method of claim 1, wherein controlling the robotic arm to move to bring the drill tip at its distal end from the initial position to the target position based on the trajectory transformation matrix comprises:

4. The method of claim 1, wherein controlling the robotic arm motion to drive the drill point to form the prepared hole at the target location in a drill-forming manner based on a planned drill point motion trajectory comprises:

5. The method of claim 4, wherein determining a reaming path and a drilling path of the robotic arm based on the planned drill point action trajectory comprises:

6. The method of claim 1, further comprising:

7. A hole preparation method for oral implant surgery, characterized in that the following steps are performed to form a hole preparation for fitting an implant in a one-drill molding manner:

8. A method of preparing a hole for an oral implant surgery, characterized in that the following steps are performed to form a prepared hole for assembling an implant in a one-drill molding manner:

9. An oral implant surgical robot, comprising: a robot host and a robotic arm, the end of the robotic arm being equipped with a drill point, the robot host being adapted to perform the method of any one of claims 1-8 to form the prepared hole in a one-drill forming manner, the prepared hole being adapted to assemble an implant.

10. A computer program product comprising a computer program, carried on a computer readable medium, the computer program comprising program code configured to perform the method of any of claims 1-8.