CN212308080U - Intelligent robot for oral implantation operation - Google Patents

Abstract

The invention discloses an intelligent robot for oral implantation surgery, which comprises a mechanical arm of the robot, an end effector, an implantation surgical instrument, a surgical navigation system, a surgical planning system, a force feedback system, an implantation robot bone analysis expert diagnosis system, an implantation site trimming and real-time data acquisition system, a prosthesis real-time design and rapid prototyping manufacturing system, a special dental chair adaptive to the implantation robot, a method and a device for registering a CT scanning space and an operation space, and a safety strategy of an implantation robot system. The adverse conditions of narrow space, non-direct vision, uneven levels of operating doctors and the like in the oral implantation operation are overcome, the accurate control of the path and the direction of the implantation instrument is realized, the damage to normal tissues in the operation is avoided, and the accurate implantation of the implant is realized.

Description

Intelligent robot for oral implantation operation

The technical field is as follows:

the utility model belongs to the field of medical equipment, a intelligent robot is related to, especially an intelligent robot for oral planting operation for accomplish the implantation of implant and quick, the instant preparation of prosthesis.

Background art:

oral implantation is currently the most effective method for repairing tooth loss. The technical key point of the oral implantology is that a cavity is accurately prepared and an implant is implanted according to a preset position, an angle and a depth on a proper position of a jaw bone of a patient. With the development of a computer-aided implantation system (CAI), particularly the application of a CT technology in the oral implantation field, the problems of image distortion, overlapping, undefined three-dimensional spatial relationship and the like inherent in a conventional two-dimensional perspective imaging technology are solved, the anatomical conditions of an operation area, including bone mass, mandibular nerve canal, maxillary sinus position and the like, are accurately judged from a three-dimensional stereo image, and a doctor can find out an optimal implantation site in an actual bone space and plan a proper implantation angle and depth. With the development of CAD/CAM technology, the implant surgery guide plate combines a virtual medical image and the actual environment of the oral cavity by using a Rapid Prototyping (RP) technology, and helps doctors to accurately complete surgery operation on a pre-planned path. The method of RP technology combined with computer aided planning provides an accurate plan design before surgery, preparing a planting plan for surgery open-loop, but not forming a closed loop. An Image-guided navigation (IGI) introduces a vision sensor to help a doctor to acquire operation information in real time and accurately grasp the prepared depth and angle errors of the cavity.

Although these techniques make great progress in oral implantation, the implantation operation is still performed manually, and the subjective factors of the doctor during the operation have great influence on the treatment result: the doctor is very inconvenient to operate the planting instrument under narrow and small space, the condition of non-direct vision, especially to the condition that needs to plant the back tooth, and the level of operation doctor is uneven, and any minor error and precision deviation of operation can influence the function and the pleasing to the eye effect of long-term, can injure important anatomical structures such as mandibular nerve, maxillary sinus floor and nasal floor mucous membrane even, causes unnecessary complication. Therefore, it is necessary to adopt some means to further improve the precision of the implant operation and to perform the necessary specification and assistance to the operation of the implant operation.

The surgical robot brings revolutionary changes to the surgical operation by the advantages of accurate operation, strong controllability, minimal invasion and the like, and provides a direction for further development of the oral medicine. However, the existing surgical robot can not meet the requirement of oral treatment operation well, and a series of problems exist in the related work of the existing oral implant robot internationally.

Patent US 2016/0367343 a1 relates to an implantation robot system comprising an implant implantation device, a prosthesis production device, a navigation device and a surgical planning device. The implant implantation device is used for completing the preparation of an implantation cavity, the restoration manufacturing device is used for quickly manufacturing a restoration body adaptive to an implant, the navigation device is used for guiding the implant implantation device and the restoration manufacturing device to complete the operation, and the operation planning device is used for preoperatively designing the position and the direction of implant implantation and designing the restoration body. The system needs to carry out CT scanning once before and after the positioning tray is worn in the patient mouth, and establishes the mapping relation between the CT scanning space and the operation space by the positioning tray through tactile navigation; under the guidance of navigation, the implantation of the implant planned and designed before the operation is finished through a robot, and the restoration is quickly manufactured. The system has the following defects in practical application:

the key of successful implantation is good osseointegration between the implant and the bone, and the key of the osseointegration is that no soft tissue is included between the implant and the prepared cavity, namely the implant needs to be in complete contact with the bone tissue. If soft tissue is included between the implant and the cavity, fiber combination is easy to form, and the implant can be easily loosened and fall off, which means that the implant fails. Meanwhile, after the implant is implanted, the periphery of the implant is wrapped by bone with the thickness of at least 1 mm. Otherwise, too thin bone walls are easily absorbed, resulting in exposure of the implant, which not only affects the beauty, but also greatly increases the risk of implant failure. Meanwhile, if the implant site is an inclined bone surface, it may result in one side of the implant having completely entered into the bone and the other side being exposed to the outside of the bone. This condition also affects aesthetics and planting success. Therefore, most implant surgery requires trimming of the implant site prior to preparation of the implant cavity to remove residual periosteum, connective tissue and inflammatory granulation tissue and prevent soft tissue from entering between the implant and the cavity wall. Meanwhile, the narrow alveolar bone, the narrow bone ridge, the narrow bone tip, the narrow bone process and the like at the upper part of the alveolar ridge are repaired, a clean, flat and enough-width bone bed is created for the implant, the implant is ensured to be wrapped by bone with the thickness of at least 1mm after being implanted, and the flat bone bed ensures that the upper edge of the implant is completely implanted into the bone. However, the oral implanting robot described in US 2016/0367343 a1, although it can prepare the implant cavity according to a pre-planned path, does not have the function of trimming the implant site. Therefore, the application range of the planting robot is greatly narrowed, and after all, in the practical clinical operation, the situation that the cavity preparation can be directly carried out is very few. Most of the planting sites require trimming. After the remaining periosteum, connective tissue and inflammatory granulation tissue are completely removed and a flat and sufficient width of the bone bed is trimmed, the preparation of the cavity and the implantation of the implant are carried out.

Secondly, in the US 2016/0367343A 1 patent, a solid restoration is designed and manufactured in advance, and after the robot is planted, holes are punched on the pre-manufactured restoration until the restoration can be worn completely. This method is similar to the conventional manual implant, and is time-consuming and labor-consuming. There is also a technique of previously making restorations with holes and different apertures according to the position, angle, depth, etc. of a previously designed implant. After the implant is implanted and the temporary abutment is in place, the prosthesis with different apertures is tried on, and the prosthesis which can be in place accurately is bonded on the temporary abutment. This method shortens the time, but requires the fabrication of multiple prostheses of different pore sizes, wastes material and increases cost. Moreover, all the existing technologies do not individually design and manufacture the restoration in real time according to the real-time situation of the final position, angle and depth of the implant.

And thirdly, although the planting robot system can greatly improve the precision and stability of the implant implantation, different procedures are still required for different sclerotin. At present, all existing craniomaxillofacial implant implantation methods are prepared by selecting an implantation cavity preparation mode by a doctor according to personal experience, but the individual alveolar bone mass difference is large, the individuation degree is high, and the requirements on the clinical experience of the doctor are high. Therefore, in the process of implanting the implant by the robot in a programmed way, the bone mass analysis system is added, and different cavity preparation programs are adopted according to different bone masses, so that the method is greatly beneficial to improving the accuracy and success rate of implanting the implant by the implanting robot.

And fourthly, in the process of the implant operation, a doctor can judge the bone of the patient according to the actual hand feeling, and simultaneously, the operation mode including the size of the pressure applied to the instrument, the speed and the frequency of the lifting action and the like can be adjusted in real time by combining the experience of the doctor, so that the operation can be completed more smoothly, excessive heat generation during the operation is avoided, and the method is very important for the success of the operation. In order to realize the judgment and active adjustment of the robot on the bone, a high-sensitivity force sensor is required to be arranged between a mechanical arm and an end effector of the implanting robot, various forces applied to the end effector and the implanting instrument can be sensed in real time, corresponding functions can be automatically realized according to different force sources and acting force directions, and the robot can guide specific operation according to the feeling in the hand when being completely like the actual operation of a clinician, so that the robot with the function of adjusting the specific operation through the force sensing is more intelligent. However, none of the existing implant surgery robot systems has relevant functions.

And fifthly, registering the CT scanning space and the operation space, which is an important link that the surgical robot can realize accurate operation, accurately converting the virtual planning in the CT scanning space before the operation into the actual operation space through the process, and controlling the robot to move according to the planned path to complete the operation. In the prior art, the registration of all CT scanning spaces and operation spaces (including dental robots and orthopaedic robots for the whole body) requires that a marker is fixed at a scanned part of a patient during the CT scanning, and the relative spatial position relationship between the marker and the self anatomical structure of the patient is obtained during the CT data processing; this marker can be directly visually (tactilely) captured at the time of surgery or indirectly visually (tactilely) captured by connecting another marker. It is therefore desirable that the position of the marker during the scan CT and during the actual procedure be consistent with respect to the patient's own anatomy, and that this change in position during the procedure will directly affect the procedure. The registration method of the two-time scanning CT not only increases the clinical visiting times of the patient, but also enables the patient to receive more radiation of one ray, so the patent provides a method for completing the registration of the CT scanning space and the operation space only by one time of CT scanning.

The existing dental chair or the existing implant operating bed is lack of a head and lower jaw fixing device, and because the head and the lower jaw of a patient are fixed by a doctor or an assistant in the robot operation process, and the reaction speed of the robot cannot keep up with the nerve reflex speed of a human, the operation cannot be smoothly carried out due to the random movement of the head and the lower jaw of the patient in the operation process, and even an operation accident occurs. In addition, in the conventional planting operation process, a patient generally adopts a supine position, because a plurality of small instruments and parts are arranged in the planting operation process, the patient easily falls into the mouth of the patient and has the risk of mistaken swallowing and aspiration, and the planting robot does not need direct-view operation in the operation process, so that the patient can adopt the upright posture of the head of the patient for operation, the risk of mistaken swallowing and aspiration of the surgical instrument is avoided, but the backrest of the existing dental chair or operating bed cannot be adjusted to the upright posture of the back and the head of the patient for 90 degrees, and the adjustment angle of the backrest is required to be increased.

The utility model has the following contents:

an object of the utility model is to overcome above-mentioned prior art's shortcoming, provide an intelligent robot for oral implantation operation for accomplish the implantation of planting body and quick, the instant preparation of prosthesis.

The purpose of the utility model is realized through the following technical scheme:

an intelligent robot for oral implant surgery, comprising:

the system comprises a mechanical arm, an actuator fixedly arranged at the tail end of the mechanical arm, a surgical navigation system connected with the actuator, a surgical implantation instrument arranged on the actuator, a surgical planning system, a real-time data acquisition system of an implantation site and a real-time design and rapid forming system of a prosthesis; the operation planning system makes an implant operation plan and a path design, the operation navigation system captures mark points fixed on the implant instrument and on a patient so as to determine the relative position relationship between the implant instrument and the patient, the mechanical arm is controlled to move to a planning position according to the position information determined by the navigation system, the accurate implantation of the implant is finally completed, and the real-time manufacture of the prosthesis is completed through the prosthesis real-time design rapid prototyping system.

Further comprising: the bone analysis system of the planting robot determines the grade of the bone and the bone mass of the pre-planting area by analyzing the bone and the bone mass of the pre-planting area and by comparing the bone and the bone mass database.

Further comprising: the force feedback system is arranged between the mechanical arm and the actuator; the force feedback system is composed of a high-sensitivity force sensor, the high-sensitivity force sensor can sense the force on the actuator and the implantation surgical instrument in real time, and the force on the actuator and the implantation surgical instrument can be adjusted in real time according to the grade of the bone and the bone mass determined by the bone mass analysis system of the implantation robot.

According to the force fed back by the force feedback system, the robot can sense the size and the direction of the force by applying smaller forces in different directions on the end effector and moves according to the direction of the force, the movement speed is in direct proportion to the sensed size of the force, the specific movement path moves strictly according to preoperative planning, the direct operation robot can stretch the planting instrument into or out of the oral cavity of a patient, and the lifting action during the preparation of the planting cavity can be realized.

And (4) adjusting motion control parameters of the cavity preparation in real time according to the force fed back by the force feedback system, wherein the motion control parameters comprise the rotating speed and the torque of the planter, and the frequency, the speed and the depth of the lifting motion of the apparatus.

Further comprising: the device for registering the CT scanning space and the operation space comprises a mark a which can be identified by a vision system on a mark plate of a registering platform and another clamp, and the relative spatial position relationship between the clamp and the mark a can be obtained by utilizing the vision system to calibrate; in the CT space, a fixing module matched with a clamp is placed at a spatial position matched with a jaw bone of a patient to form a complete model, and a real object is processed by 3D printing; the jaw bone model and module combination is assembled on the fixture, so that the mark a of the registration platform has a definite relative spatial position relation with the jaw bone model; and then manufacturing a positioning tray which can be tightly assembled with the jaw bone model, wherein the positioning tray is provided with a mark b, and after the positioning tray is worn on the jaw bone model, the position relation between the mark a and the mark b is obtained through a vision system, so that the position relation between the mark b and the jaw bone model is finally obtained.

A device for registering CT scanning space and operation space is composed of a mark a which can be identified by a vision system on a mark plate of a registering platform and another clamp, wherein the relative spatial position relationship between the clamp and the mark a can be obtained by utilizing the vision system to calibrate; in the CT space, a fixing module matched with a clamp is placed at a spatial position matched with a jaw bone of a patient to form a complete model, and a real object is processed by 3D printing; the jaw bone model and module combination is assembled on the fixture, so that the mark a of the registration platform has a definite relative spatial position relation with the jaw bone model; and then manufacturing a positioning tray which can be tightly assembled with the jaw bone model, wherein the positioning tray is provided with a mark b, and after the positioning tray is worn on the jaw bone model, the position relation between the mark a and the mark b is obtained through a vision system, so that the position relation between the mark b and the jaw bone model is finally obtained.

The device for registering the CT scanning space and the visual space in the planting robot comprises a registering platform (1), a marking plate (2), a mark a (3), a clamp (4), a fixing module (5), a jaw bone model (6), a positioning tray (7) and a mark b (8); the device is characterized in that a marking plate (2) is fixed on a registration platform (1), and a mark a (3) is marked on the marking plate (2); the fixing module (5) is matched with the clamp (4), and the jaw bone model (6) is printed and processed in a 3D mode; the positioning tray (7) can be tightly assembled with the jaw bone model, and a mark b (8) is arranged on the positioning tray; the mark a (3) can be recognized by a vision system; the fixing module (5) can be matched with the jaw bone model (6) in a CT scanning space and form a combined body which can be assembled on the clamp (4); the mark b (8) on the positioning tray (7) can be recognized by a vision system.

The utility model has the advantages that:

the oral implant overcomes the adverse conditions of narrow space, non-direct vision, uneven level of surgeons and the like in the oral implant operation, realizes the accurate control of the path and the direction of the implant instrument, avoids the damage to normal tissues in the operation, and realizes the accurate implantation of the implant.

Secondly, the application range of the planting robot is greatly widened. In actual clinical planting operation, the situation that cavity preparation can be directly carried out is very few, most of planting sites need to be trimmed on bone surfaces before the cavity preparation is planted, residual periosteum, connective tissues, inflammatory granulation tissues and the like are removed, and meanwhile, a flat bone bed with enough width is provided for an implant. Meanwhile, the real-time data acquisition system feeds back the acquired trimming data and the related data of the trimmed planting sites to the real-time robot navigation and cavity preparation system on one hand, and the cavity preparation is carried out after the pre-designed cavity preparation data is modified in real time according to the trimming data. And on the other hand, the correction data is transmitted to a real-time design and manufacturing system of the prosthesis. Providing a data reference for real-time tailoring of prosthesis design.

The robot can sense various forces on the end effector and the implanting instrument in real time through the force feedback system, can automatically realize corresponding functions according to different force sources and acting forces, and can guide specific operation according to the feeling in the hand when the robot is completely like the actual operation of a clinician, so that the robot with the function of adjusting the specific operation through force sensing is more intelligent.

And fourthly, the bone mass of the bone in the planting area can be accurately analyzed by utilizing a bone analysis expert diagnostic system, and a proper planting nest preparation program is selected according to the analysis result, so that the preparation accuracy and the initial stability can be greatly improved, the requirement of obtaining osseointegration in different planting areas can be met, and the success rate of the implant can be improved.

The prosthesis real-time design and the rapid forming manufacturing system are utilized to greatly improve the precision of the temporary immediate prosthesis, ensure the smooth wearing of the prosthesis and greatly shorten the trial wearing time of the prosthesis.

The special planting operation chair for the oral planting robot provides good clinical conditions for the planting robot to smoothly implement the implant implantation operation, ensures the smooth implementation of the operation and reduces the risk of the implant implantation operation.

The utility model discloses a registration method makes patient CT scan, does not need special device therefore more comfortable, and the method is nimble moreover, does not need the patient to carry out the CT scan of second time.

Eighthly the utility model discloses a safe strategy is added to the robot system of the operation of planting, the security of robot system of the operation of planting can be improved greatly.

Description of the drawings:

FIG. 1 is a diagram of a robot system according to the present invention;

FIG. 2 is a schematic view of the jaw bone model and module combination assembled to a jig;

wherein: a is a mechanical arm; b is a force feedback system; c is an actuator; d is an implantation surgical instrument.

The specific implementation mode is as follows:

the present invention will be described in further detail with reference to the accompanying drawings:

referring to fig. 1, an intelligent oral implant surgery robot system comprises a mechanical arm of a robot, an end effector, an implant surgery instrument, a surgery navigation system, a surgery planning system, a force feedback system, an implant robot bone analysis expert diagnosis system, an implant site trimming and real-time data acquisition system, a prosthesis real-time design and rapid prototyping manufacturing system, a special dental chair adapted to an implant robot, a method and a device for registering a CT scanning space and an operation space, and a safety strategy of the implant robot system.

Performing CT scanning on a patient before operation, reconstructing a three-dimensional model of tissue of an implantation part, and making an implantation operation plan and a path design; the navigation system catches the mark points fixed on the planting apparatus and the patient through the visual device, so as to determine the relative position relationship between the planting apparatus and the patient, the planting apparatus is fixed on the mechanical arm of the robot through the end effector, the surgical robot controls the mechanical arm to move to the planning position according to the position information determined by the navigation system, finally the precise implantation of the implant is completed, and the rapid and instant manufacture of the prosthesis is completed through the prosthesis real-time design and rapid forming manufacturing system.

The utility model discloses a plant the point and maintain and real-time data acquisition system. The system comprises a ball drill and a real-time data acquisition system. The ball drill is connected to the tail end of the robot implantation mobile phone, and the bone surface of the implantation site is trimmed under the water spray cooling according to the actual situation after the implantation site is turned over, so that residual periosteum, connective tissues, inflammatory granulation tissues and the like on the bone surface are removed, and a clean bone bed is created for the preparation of the implantation cavity and the implantation of the implant; on the other hand, the narrow upper incised alveolar bone, the ridge, the bone tip, the apophysis and the like are ground off as necessary, so that a flat bone bed with enough width is created for the implantation of the implant. Meanwhile, the quantitative data acquisition of the trimmed tissues and the real-time data acquisition of the trimmed bone bed can be carried out through the real-time navigation system of the robot. On one hand, the data is fed back to a real-time navigation and cavity preparation system of the robot, and the pre-designed cavity preparation data is modified in real time according to the trimming data and then prepared. And on the other hand, the correction data is transmitted to a real-time design and manufacturing system of the prosthesis. Providing a data reference for real-time tailoring of prosthesis design.

② the utility model discloses a force feedback system. A high-sensitivity force sensor is arranged between the mechanical arm and the end effector of the planting robot, so that various forces applied to the end effector and the planting instrument can be sensed in real time, and corresponding functions can be automatically realized according to different force sources and acting force magnitude directions. For example, a doctor can lightly hold the end effector, small forces in different directions are applied to the end effector, the robot can sense the size and the direction of the forces and can move according to the direction of the forces, the movement speed is in direct proportion to the sensed size of the forces, and the specific movement path moves according to preoperative planning strictly, so that the doctor can directly operate the robot instead of a mouse and a keyboard, the planting instrument can be extended into or removed out of the oral cavity of a patient, and the lifting action during the preparation of the planting cavity can be realized. And b, when planting the cavity, because the hardness of the bone substance is different, the size and the direction of the resistance of the planting instrument are different, the force sensor captures the resistance of the instrument, and the motion control parameters of the cavity preparation, including the rotating speed and the torque of the planting machine, the frequency, the speed and the depth of the instrument lifting motion and the like, are adjusted in real time according to the change of the resistance, and are consistent with the mode of the operation of a doctor according to the hand feeling and experience of the doctor, so that the intelligent degree of the robot is improved. And c, during preoperative planning, a depth-resistance curve can be obtained in advance according to the change of the bone density on an implant implantation path, during actual operation, the resistance of the instrument is captured according to a force sensor, and another real-time depth-resistance curve is obtained by combining a motion path, so that whether the actual implantation path deviates from the planned path or not can be judged.

Thirdly, the utility model discloses a bone analysis expert diagnostic system of planting robot. The system can provide an implant cavity preparation scheme adopted aiming at different bone conditions and types so as to be suitable for patients with different implant area bone tissue differentiation and promote the implant robot to obtain osseointegration in different implant areas. The method is mainly realized by the following technical means, and comprises the following steps: a, preparing a pre-planting area by using a pilot drill; b, determining the bone quality and the bone quantity of the pre-planting area according to the resistance analysis of the pioneer drill; c, starting a corresponding planting hole preparation program of the implant robot according to the feedback, wherein the preparation program comprises the types and combination modes of serial planting drills used when the holes are gradually enlarged; d, completing the preparation of the planting cavity, and implanting the implant into the implant robot according to the bone.

The utility model discloses a prosthesis real-time design and rapid tooling manufacturing system. The system comprises two embodiments. The first scheme is as follows: and if the trimming of the implantation site is not needed, designing the prosthesis according to the preoperatively planned implantation site, angle, depth and other data. And finally, combining the real-time implantation data recorded by the system after the implant implantation is finished, and carrying out real-time design modification, processing and manufacturing on the prosthesis which is designed and finished in advance. Scheme II: if the implant site needs to be modified, the chair-side design modification and processing and manufacturing of the temporary immediate prosthesis are carried out according to the modified data, the modified bone bed data, the data of the finally implanted implant real-time angle, the depth and the like recorded by the 'implant site modification and real-time data acquisition system' of the robot and the predesigned prosthesis. The specific manufacturing mode can adopt a numerical control cutting technology or a 3D printing technology.

The utility model discloses a special planting operation chair for an oral planting robot, which is used for ensuring the planting robot to smoothly implement the implant implantation operation. A semi-enclosed, semi-circular headrest of highly elastic material is used: the existing dental chair headrest generally adopts a design similar to a flat plate, the head of a patient can freely swing left and right, the head of the patient is improved into a semi-enclosed semicircular elastic headrest, the head of the patient is embedded into the headrest, the head of the patient can be effectively limited to move in a larger range, the head of the patient is not limited to move from the front, and the patient is prevented from generating fear feeling. Adding a fully-enclosed neck support made of low-elasticity material: by utilizing the design, the relative position of the mandible and the sternum clavicle of the patient is fixed, the lower jaw of the patient is prevented from generating involuntary head lowering and other evasive movements when being pressed downwards, and the smooth implementation of the implant implantation operation is ensured. Increase the back of the chair angle of adjustment of current chair position: because the operation of planting is carried out to the planting robot does not need the doctor to look directly at the operation, consequently does not need the patient to adopt the supine position, is 90 upright states with the adjustable chair position to patient's back and head and ground, can effectually avoid the patient to gulp by mistake and inhale small-size operation machinery and the planting somatic part that drops to in the oral cavity, reduce the operation risk.

The utility model discloses a method and a device for registering CT scanning space and operation space. A mark a which can be identified by a vision system is arranged on a mark plate of the registration platform, and the other clamp is arranged, and the relative spatial position relation between the clamp and the mark a can be obtained by utilizing the vision system to calibrate; in the CT space, a fixing module matched with a clamp is placed at a spatial position matched with a jaw bone of a patient to form a complete model, and a real object is processed by 3D printing; the jaw bone model and module combination is assembled to the jig so that the registration platform markers a have a well-defined relative spatial relationship to the jaw bone model. Then, a positioning tray capable of being tightly assembled with the jaw bone model is manufactured, the positioning tray is provided with a mark b, after the positioning tray is worn on the jaw bone model, the position relation between the mark a and the mark b is obtained through a vision system, and finally the position relation between the mark b and the jaw bone model is obtained (which is equivalent to the position relation between the mark 1 or the mark 2 and the jaw bone in the traditional method). During operation, the positioning tray is worn on the teeth of the patient, the position of the mark b is captured visually, and the robot system can obtain the accurate positions of the teeth and the jaw bone of the patient in the visual space, so that the operation scheme planned in the preoperative CT space is accurately implemented in the visual space.

Referring to fig. 2, the device for registering a CT scanning space and a visual space in an implantation robot comprises a registration platform (1), a marking plate (2), a mark a (3), a fixture (4), a fixing module (5), a jaw bone model (6), a positioning tray (7) and a mark b (8); the device is characterized in that a marking plate (2) is fixed on a registration platform (1), and a mark a (3) is marked on the marking plate (2); the fixing module (5) is matched with the clamp (4), and the jaw bone model (6) is printed and processed in a 3D mode; the positioning tray (7) can be tightly assembled with the jaw bone model, and a mark b (8) is arranged on the positioning tray; the mark a (3) can be recognized by a vision system; the fixing module (5) can be matched with the jaw bone model (6) in a CT scanning space and form a combined body which can be assembled on the clamp (4); the mark b (8) on the positioning tray (7) can be recognized by a vision system.

The method comprises the following steps:

a. the relative spatial position relationship between the mark a (3) and the clamp (4) is obtained: the mark a (3) is positioned on the mark plate (2), and the relative position of the mark plate (2) and the registration platform (1) is fixed; the relative position of the clamp (4) and the registration platform is fixed; the relative spatial position relationship between the clamp (4) and the mark a (3) can be obtained by utilizing a vision system for calibration;

b. obtaining the relative position relation between the mark a (3) and the jaw bone model (6): in a CT scanning space, a fixed module (5) is placed at a spatial position matched with a jaw bone of a patient to form a complete model; processing a jaw bone model (6) through 3D printing; the jaw bone model (6) and the fixed module (5) are assembled on the fixture (4); the relative position relation between the mark a (3) and the jaw bone model (6) can be obtained by a visual system;

c. obtaining the relative position relation between the mark b (8) and the jaw bone model (6): the positioning tray (7) can be tightly assembled with the jaw bone model (6); the positioning tray is provided with a mark b (8), and the relative position relation between the b (8) and the jaw bone model (6) can be obtained and marked by using a vision system;

CT scan spatial and visual spatial registration: during operation, the positioning tray (7) is worn on the teeth of a patient, and the positioning tray (7) has the same position relation with the teeth of the patient and the jaw model (6); the robot system can acquire the accurate positions of the teeth and the jaw bone of the patient under the visual space by visually capturing the positions of the marks b (8), and the registration of the CT scanning space and the visual space is acquired, so that the surgical scheme planned in the preoperative CT scanning space is accurately implemented under the visual space.

The utility model discloses a safety strategy of planting robot system. Two approaches are involved: a. software control, through a large number of example accumulations, combine the real motion rehearsal before the art, can obtain the space range of motion of robot in the actual operation, make clear this range in control software, guarantee that the motion of robot when actual operation should not exceed this safe range. b. Hardware is prevented, the motion range of each joint of the robot mechanical arm during the operation is obtained through a large number of example accumulation, then limitation is carried out on the hardware of the mechanical arm, for example, a baffle is installed, and the motion of the robot during the actual operation is guaranteed not to exceed the safety range. In the event of an accident, the robot should immediately stop operation, including the planter stopping rotating, and the robotic arm stopping moving. There are two situations when the mechanical arm stops moving: a. completely stationary, suitable for use when no major or rapid movement of the patient's head occurs; b. when the head of the patient moves relatively fast or relatively fast, the mechanical arm should not be motionless, the force feedback function above the mechanical arm should be combined, and the mechanical arm moves according to the direction of the acting force captured by the sensor, so that the patient is prevented from being injured.

The above description is only a preferred embodiment of the present invention, and the present invention is not limited to the above description, and although the present invention has been disclosed with reference to the preferred embodiment, it is not limited to the present invention, and any skilled person in the art can make various changes or modifications equivalent to the above embodiments without departing from the scope of the present invention, but all the modifications, changes and modifications of the above embodiments by the technical spirit of the present invention are within the scope of the present invention.

Claims (3)

1. An intelligent robot for oral implant surgery, comprising:

the system comprises a mechanical arm, an actuator fixedly arranged at the tail end of the mechanical arm, a surgical navigation system connected with the actuator, a surgical implantation instrument arranged on the actuator, a surgical planning system, a real-time data acquisition system of an implantation site and a real-time design and rapid forming system of a prosthesis; the surgical planning system makes a planting surgical plan and a path design, the surgical navigation system captures mark points fixed on a planting instrument and a patient so as to determine the relative position relationship between the planting instrument and the patient, the mechanical arm is controlled to move to a planning position according to position information determined by the navigation system, the accurate implantation of an implant is finally completed, and the real-time manufacture of a prosthesis is completed through a prosthesis real-time design rapid prototyping system; the bone analysis system of the planting robot determines the grade of the bone and the bone mass of the pre-planting area by analyzing the bone and the bone mass of the pre-planting area and by comparing the bone and the bone mass database; the force feedback system is arranged between the mechanical arm and the actuator; the force feedback system is composed of a high-sensitivity force sensor, the high-sensitivity force sensor can sense the force on the actuator and the implantation surgical instrument in real time, and the force on the actuator and the implantation surgical instrument can be adjusted in real time according to the grade of the bone and the bone mass determined by the bone mass analysis system of the implantation robot.

2. The intelligent robot of claim 1, wherein:

according to the force fed back by the force feedback system, the robot can sense the size and the direction of the force by applying the forces in different directions on the end effector and moves according to the direction of the force, the movement speed is in direct proportion to the sensed force, the specific movement path moves strictly according to preoperative planning, the direct operation robot can stretch the planting instrument into or out of the oral cavity of a patient, and the lifting action during the preparation of the planting cavity can be realized.

3. The intelligent robot of claim 1, wherein: and (4) adjusting motion control parameters of the cavity preparation in real time according to the force fed back by the force feedback system, wherein the motion control parameters comprise the rotating speed and the torque of the planter, and the frequency, the speed and the depth of the lifting motion of the apparatus.

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