KR101086865B1 - Standard guide stent and an implant placement system using this and its control method - Google Patents

Abstract

The present invention relates to a standardized guide stent, an implant system using the same, and a control method thereof. More specifically, the present invention relates to a three-dimensional position and orientation of a hole in which an artificial tooth is placed in an alveolar bone of a patient during an implant procedure. The present invention relates to a standardized guide stent that helps to form, an implant system using the same, and a control method thereof.

A standardized guide stent for implant placement according to an example of the present invention is a plurality of guide marks to be displayed on the core beam computerized tomography (CBCT) or X-Ray photographed film to determine the position of the artificial tooth in the alveolar bone A base frame comprising a marker of; And a tray of X-ray transmissive material disposed on at least one of the upper and lower ends of the base frame, on which an impression material for seating at least one of the upper and lower jaws is mounted.

In addition, an implant placement system using a standardized guide stent according to an example of the present invention includes the above-described standardized guide stent; A hand piece having a drill mounted on the guide stent to form a hole for placing an artificial tooth in the alveolar bone of the patient through a predetermined placement position based on the guide mark; One end is fixed to the guide stent, and the other end is connected to the first fixing part of the predetermined system, and includes a plurality of link arms, and the rotation angles of the respective link arms in real time. Sensing a first serial link; One end is fixed to the hand piece, the other end is connected to a second fixing part of the predetermined system, includes a plurality of link arms and detects the rotation angle of each link arm in real time. A second serial link; And calculating, in real time, the three-dimensional position and direction of the guide stand using information on the plurality of rotation angles between the link arms detected in real time in the first serial link, and in real time detected by the second serial link. It includes; a position calculation unit for calculating in real time the three-dimensional position and direction of the hand piece using the information on the plurality of rotation angles between.

Implant, Guide Stand, Serial Link, Placement

Description

Standard guide stent and an implant placement system using this and its control method}

The present invention relates to a standardized guide stent, an implant system using the same, and a control method thereof. More specifically, the present invention relates to a three-dimensional position and orientation of a hole in which an artificial tooth is placed in an alveolar bone of a patient during an implant procedure. The present invention relates to a standardized guide stent that helps to form, an implant system using the same, and a control method thereof.

Implant is a procedure to help the patient to oral exercise by placing a new artificial tooth in the alveolar bone of the patient, if the patient's teeth are damaged or missing a lot.

Conventional implant placement systems for implant procedures produce patient-specific guide stents after a surgical plan is determined to determine implant placement position and orientation based on data obtained from panoramic X-ray imaging. The patient-customized guide stent is then bittened through the patient's gums or teeth, and then treated along the drill guide attached to the guide stent.

Such implant procedures generally consist of five stages: oral scan-implant surgery planning, patient-guided guide stent preparation, implant procedures- artificial crown preparation.

Among such implant procedures, the manufacture of patient-specific guide stents has not only excessive manufacturing cost but also complicated manufacturing process, requires precision, and usually takes several weeks. These drawbacks are not activated because of the complexity of the service phase and the high price.

Therefore, the implant procedure is often performed in the dentist depending on the hand sense of the doctor without a guide stent. In this case, when the implant is placed, the direction of the hole for the implantation does not coincide with the direction of movement of the tooth, and thus, the implanted artificial tooth has a problem of being damaged or giving excessive damage to the alveolar bone over time.

The present invention provides an audible warning sound and visually guides the surgical path through a three-dimensional image when approaching the desired depth in the desired direction in the implant treatment method, which has been implemented depending on the sense of the hand of the doctor, gives the patient a relief and makes a mistake for the doctor. The purpose of the present invention is to provide a standard implant guide system including a guide marker and an implant placement system, which can prevent and prevent the implant, and more accurately form the direction and position of the hole into which the artificial tooth is to be inserted.

In addition, when the implant is placed, the joint angle of the first serial link is sensed to measure the three-dimensional position and direction of the base frame, which is the reference axis of the guide stent, and the joint angle of the second serial link is sensed, thereby the three-dimensional drill. The method of controlling the implant placement system that calculates the position and direction in real time, calculates the three-dimensional position and posture of the drill based on the guide frame's base frame in real time, and guides the implant surgery path using the calculated data. The purpose is to provide.

Other objects and advantages of the present invention can be understood by the following description, and will be more clearly understood by the embodiments of the present invention. Also, it will be readily appreciated that the objects and advantages of the present invention may be realized by the means and combinations thereof indicated in the claims.

A standardized guide stent for implant placement according to an example of the present invention is a plurality of guide marks to be displayed on the core beam computerized tomography (CBCT) or X-Ray photographed film to determine the position of the artificial tooth in the alveolar bone A base frame comprising a marker of; And a tray of X-ray transmissive material disposed on at least one of the upper and lower ends of the base frame, on which an impression material for seating at least one of the upper and lower jaws is mounted.

Here, either the base frame or the plurality of markers may be X-ray impermeable.

Here, the base frame may include a metal X-ray non-transparent material, and the plurality of markers may be through holes.

In addition, the base frame may include an X-ray transparent material made of plastic, and the plurality of markers may include an X-ray non-transparent material made of metal.

In addition, the tray includes at least one of the first tray or the second tray, the first tray is disposed on the upper end of the base frame, the impression material for seating the maxillary impression is seated, the second tray is disposed at the bottom of the base frame As a result, impression material may be settled to obtain a lower jaw impression.

In addition, an implant placement system using a standardized guide stent according to an example of the present invention includes the above-described standardized guide stent; A hand piece having a drill mounted on the guide stent to form a hole for placing an artificial tooth in the alveolar bone of the patient through a predetermined placement position based on the guide mark; One end is fixed to the guide stent, and the other end is connected to the first fixing part of the predetermined system, and includes a plurality of link arms, and the rotation angles of the respective link arms in real time. Sensing a first serial link; One end is fixed to the hand piece, the other end is connected to a second fixing part of the predetermined system, includes a plurality of link arms and detects the rotation angle of each link arm in real time. A second serial link; And calculating, in real time, the three-dimensional position and direction of the guide stand using information on the plurality of rotation angles between the link arms detected in real time in the first serial link, and in real time detected in the second serial link. It includes; a position calculation unit for calculating in real time the three-dimensional position and direction of the hand piece using the information on the plurality of rotation angles between.

Here, each of the first serial link and the second serial link includes a plurality of link arms, and each link arm detects a three-dimensional rotational angle of the link arms and stores the three-dimensional rotation angle in the position calculation unit stored in the system. It may include a plurality of encoders for transmitting information about the three-dimensional rotation angle.

In addition, the position calculation unit calculates the position and direction of the guide stent fixed to the end of the first serial link from the three-dimensional rotation information transmitted from the encoder of the first serial link, and the implant stored in the system based on the guide stent The placement position may be used to calculate the three-dimensional position and orientation of the hole to be formed on the alveolar bone of the patient.

In addition, the position calculation unit calculates the position and direction of the hand piece from the three-dimensional rotation information received from the encoder of the second serial link, and is mounted on the hand piece using the position and direction of the drill end stored in the system based on the hand piece. It is possible to calculate the three-dimensional position of the drill tip and the direction of travel of the drill.

In addition, the implant placement system is a virtual hole image representing the three-dimensional position and direction to be formed on the alveolar bone in the X-ray photographed image in which the guide mark of the stent is displayed, and the hand indicating the three-dimensional position and the direction of travel of the end of the handpiece drill. The apparatus may further include an image display unit displaying a virtual image of the piece drill.

In addition, the implant placement system may further include a speaker unit for generating a warning sound when the three-dimensional position and the direction of travel of the hand piece drill end is different from the three-dimensional position and direction in which the hole is to be formed on the alveolar bone.

In addition, the control method of the implant placement system according to an embodiment of the present invention a) calculates the position and direction of the standardized guide stent for implant placement, using the implant placement position previously stored in the system based on the guide stent Calculating a three-dimensional position and orientation of the hole to be formed on the alveolar bone of the patient; b) Calculate the position and direction of the hand piece that is moved in accordance with the doctor's movement, and use the position and direction of the drill tip stored in the system relative to the hand piece to determine the three-dimensional position and Calculating a traveling direction; And c) visually or audibly confirming that the three-dimensional position and direction of the hole to be formed on the alveolar bone coincides with the three-dimensional position and direction of travel of the end of the hand piece drill.

Here, step c) may be a step of visually checking whether the virtual hole image representing the 3D position and direction to be formed on the alveolar bone coincides with the virtual drill image indicating the 3D position and the moving direction of the end of the handpiece drill. have.

Here, step c) may be an audible confirmation by generating a warning sound when the three-dimensional position and the moving direction of the end of the hand piece drill differ from the three-dimensional position and the direction in which the hole is to be formed on the alveolar bone.

Also, the method of controlling the implant placement system may further include visually and audibly confirming, after step c), d) a hand piece drill is operated to form a hole at a predetermined depth in the alveolar bone.

The standardized guide stent according to the present invention includes a guide marker for guiding the implant placement position during X-ray imaging, thereby guiding the determination of the hole for implant placement in a more accurate direction at a more accurate position.

In addition, an implant placement system using a standardized guide stent and a control method thereof according to the present invention provide a relative three-dimensional position of a hand piece drill relative to the guide stent through an encoder included in each of the first serial link and the second serial link. And it can calculate the traveling direction, and by visually displaying this on the image display unit, and by hearing through the speaker unit has the effect that the hole can be formed more accurately and precisely.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

First, in adding reference numerals to the components of each drawing, it should be noted that the same reference numerals are assigned to the same components as much as possible, even if shown on different drawings. In the following description of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear. In addition, the following will describe a preferred embodiment of the present invention, but the technical idea of the present invention is not limited thereto and may be variously modified and modified by those skilled in the art.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is a view for explaining an example of the implant placement system using a standardized guide stent according to the present invention.

As shown, the implant placement system using the standardized guide stent 100 includes a standardized guide stent 100, a hand piece 200, a first serial link 300, a second serial link 400, The image display unit 500 and the speaker unit 600 may be included, and although not shown, a position calculator and an encoder may be included.

Here, the standardized guide stent 100 serves to display a guide mark on a core beam computerized tomography (CBCT) or X-ray photographed film in order to determine a position where an artificial tooth is placed in the alveolar bone. Hereinafter, a more detailed description of the standardized guide stent 100 will be given in FIGS. 2A and 2C.

The hand piece 200 is equipped with a drill for penetrating a predetermined placement position on the guide stent 100 based on the guide mark to form a hole for placing an artificial tooth in the alveolar bone of the patient. Through the piece 200, the drill is controlled to be positioned at an implantation position on the alveolar bone of the patient, and controls the operation of the drill.

The first serial link 300 and the second serial link 400 are respectively connected to the fixing part of the system to connect the fixing part and the guide stand 100, the fixing part and the handpiece 200, and each serial link. Joints between the link arms of the plurality of encoders (not shown) for detecting the rotation angle of the link arm. Here, the serial link is fixed to the head rest as an example, but alternatively, each serial link may be fixed to another part of the system.

Such serial links are manually controlled by a force applied by a doctor, and each serial link has six degrees of freedom. The degree of freedom here means the number of independent motions of the instrument, or the number of variables that determine the independent motion of the relative position between each link. Each serial link requires three degrees of freedom for spatial positioning of stent 100 or hand piece 200, three degrees of freedom for spatial attitude determination, ie orientation.

Although not shown in the drawings, the location calculator may be configured in a personal computer or system.

Such a position calculation unit calculates a predetermined three-dimensional insertion position and direction based on the guide mark by a doctor, and calculates the three-dimensional position of the drill tip mounted on the hand piece 200 and the traveling direction of the drill. Therefore, it is possible to know the relative three-dimensional position of the drill tip and the relative traveling direction of the drill with respect to the predetermined three-dimensional placement position and direction.

Hereinafter, a method of calculating the position and direction of the guide stent 100 and the hand piece 200 using the joint angles measured by the encoders of the first serial link 300 and the second serial link 400 is shown in FIG. 3A. It will be described with reference to Figure 3c.

The image display unit 500 is a virtual hole image representing the three-dimensional position and direction to be formed on the alveolar bone in the X-ray photographed image in which the guide mark of the stent 100 is displayed, and the three-dimensional position of the drill tip of the hand piece 200. And a hand piece 200 representing a moving direction and a virtual image of the drill.

Here, the three-dimensional position of the guide mark displayed on the X-ray image is the same as the three-dimensional position of the guide mark of the stent 100 worn on the patient's mouth for the implant procedure. Therefore, when the patient turns his head or nods up and down during the implant procedure, the guide mark and the virtual hole of the X-ray image are not changed, and only the relative position of the virtual image with respect to the handpiece 200 drill is changed. do.

As such, the image display unit 500 may visually check whether the approach direction and angle of the drill are correct when the surgeon performs the implant.

The speaker unit 600 generates a warning sound when the three-dimensional position and the direction of travel of the drill tip of the hand piece 200 are different from the three-dimensional position and the direction in which the hole is to be formed on the alveolar bone. For example, if the difference between the three-dimensional position and direction of the drill tip of the hand piece 200 drill direction is large and the three-dimensional position and direction in which the hole is to be formed on the alveolar bone is large, the frequency is high and if the difference is small, the frequency is increased. You can let the sound get smaller. By doing this, the doctor can audibly confirm that the drill's approach direction is correct during the implant procedure.

The implant placement system using the standardized guide stent 100 is an audible warning sound when the desired depth is approached in the desired direction in the implant treatment method, which has been implemented depending on the sense of the hand of the doctor. By guiding the operation route, the patient is relieved and the doctor is effective in preventing mistakes.

More specifically, the implant placement system using the standardized guide stent 100 according to the present invention measures the joint angle of the first serial link 300 at the time of implant placement to determine the base frame which is the reference axis of the guide stent 100. By measuring the position and direction, and measuring the joint angle of the second serial link 400 in real time to measure the position and direction of the drill in real time to the position and attitude of the drill relative to the base frame of the guide stent 100 It operates and guides the implant surgical path using the calculated data.

FIG. 2A is a diagram for describing an example of a guide stent normalized in FIG. 1.

As shown in FIG. 2A, the standardized guide stent 100 includes a base frame 110 and a tray.

The base frame 110 includes a plurality of markers 111, and the plurality of markers 111 are formed on a core beam computerized tomography (CBCT) or X-ray photographed film to determine a position at which an artificial tooth is placed in the alveolar bone. The guide mark 111 'is displayed on the screen.

To this end, either the base frame 110 or the plurality of markers 111 are X-ray non-transparent. More specifically, when the base frame 110 is a metal X-Ray non-transparent material, the plurality of markers 111 may be formed of a through hole, the base frame 110 is a plastic X-Ray transparent In the case of a material, the plurality of markers 111 may be made of a metal X-ray non-transparent material.

As such, either the base frame 110 or the plurality of markers 111 are X-ray impermeable so that a standardized guide stent 100 is placed between the teeth to determine the position where the artificial tooth is placed in the alveolar bone. In addition, when performing Core Beam Computerized Tomography (CBCT) or Panoramic X-Ray or other general X-Ray imaging, the photographed image includes guide marks (111 ') together with the teeth and alveolar bones to determine where the artificial teeth are placed. Will appear.

The base frame 110 may include a plurality of fixing holes 112, 113, 114, and 115 for fixing the first tray 120 and the second tray 130.

The plurality of fixing holes 112, 113, 114, and 115 may include a plurality of first side fixing holes 112 and a first fixing portion of the first tray 120 to fix the distal end portion of the first tray 120. A plurality of second side fixing holes for fixing the distal end of the second tray 130 to fix the second tray 130, the first central fixing hole 113 for fixing the central part of the tray 120. It may include a second central fixing hole 115 for fixing the 114 and the central portion of the second tray 130.

In addition, the base frame 110 may further include a plurality of third fixing holes 116 to allow the standardized guide stent 100 to be fixed to the implant placement system.

The third fixing hole 116 is coupled to the protrusion 122 to be connected to the guide stent 100 standardized at the distal end of the first serial link 300.

The tray is a plastic X-ray transmissive material, which is disposed on the upper end of the base frame 110 and disposed on the lower end of the first tray 120 and the base frame 110 on which the impression material for seating the upper jaw impression is placed. And a second tray 130 on which an impression material for seating an impression is mounted. Here, it is natural that the impression material for obtaining the impression of the upper jaw or the lower jaw is an X-ray transmissive material. Such impression material is tightly fixed after a predetermined time when the patient bites into the mouth so that the stent 100 is fixed to the patient's mouth during X-ray imaging, and then the patient is placed for implant placement. When the stent 100 is bited again, the stent 100 is firmly fixed to the patient's mouth, so that when the drill 210 of the hand piece 200 forms a hole for implant placement in the alveolar bone of the patient, It helps to form the position and direction more accurately.

The first tray 120 and the second tray 130 as described above include fixing protrusions 122 and 132 and tray fixing holes 121 and 131 for fixing the tray to the base frame 110. More specifically, the first tray 120 includes a first fixing protrusion 122 and a first tray fixing hole 121, and the second tray 130 has a second fixing protrusion 132 and a second tray fixing hole. 131.

The first fixing protrusion 122 is inserted / fixed into the first central fixing hole 113, and the first tray fixing hole 121 is a side of the first tray 120 corresponding to the first side fixing hole 112. The first tray 120 is fixed to the base frame 110 by a fixing pin 140 disposed in the position and inserted into the first side fixing hole 112.

The second fixing protrusion 132 is inserted / fixed into the second central fixing hole 115, and the second tray fixing hole 131 is the side of the second tray 130 corresponding to the second side fixing hole 114. The second tray 130 is fixed to the base frame 110 by the fixing pin 140 disposed in the position and inserted into the second side fixing hole 114.

FIG. 2B is a view for explaining an example in which a guide mark for determining a position at which an artificial tooth is placed in the alveolar bone is displayed on the X-ray photographed panoramic film of FIG. 2A.

In FIG. 2B, the base frame 110 is an X-ray transmissive material, and the plurality of markers 111 are panoramas after wearing a standardized guide stent 100, which is a metal X-ray non-permeable material, in a patient's mouth. X-ray filmed. In this case, as shown in FIG. 2B, the patient's tooth, alveolar bone, and guide mark 111 ′ are displayed together on the image.

In the example here, only the panoramic X-ray image taken from the front of the patient is taken as an example, but the side X-ray image of the patient is also taken to create a three-dimensional view of where the implant implant should be formed at the alveolar bone. The location can be determined. In addition, by taking a core beam computerized tomography (CBCT) that provides a three-dimensional image while wearing a standardized guide stent 100 to accurately diagnose the alveolar bone state during implantation to determine the precise position and angle of implantation You may.

FIG. 3A is a diagram for describing a first and second serial link and position calculation method in which the guide stent and the hand piece are mounted in FIG. 1.

As shown in FIG. 3A, each of the first serial link 300 and the second serial link 400 includes a plurality of link arms 320 and 420, and each link arm 320 and 420. ) Includes a plurality of encoders (not shown) for detecting respective rotation angles of the link arms 320 and 420 and transmitting information on the respective rotation angles to a position calculation unit stored in the system.

The first serial link 300 is fixed to one end of the guide stand 100, the other end is connected to the first fixing portion 310 of the predetermined system, the first serial link 300 A plurality of encoders positioned at the joints of the link arm 320 measures the joint angle of each link arm 320 to detect the three-dimensional position and direction of the guide stent 100 in real time.

The second serial link 400 is fixed at one end to the hand piece 200, and the other end is connected to the second fixing part 410 of the predetermined system, and connected to the joint of the second serial link 400. A plurality of positioned encoders function to sense the three-dimensional position and direction of the hand piece 200 in real time by measuring the joint angle of each link arm 420.

The position calculation unit (not shown) 1) calculates a predetermined three-dimensional insertion position and direction based on the guide mark 111 'by a doctor, and 2) the end of the drill 210 mounted on the hand piece 200. The three-dimensional position and the traveling direction of the drill 210 is calculated. Accordingly, 3) the relative three-dimensional position of the end of the drill 210 and the relative moving direction of the drill 210 can be known based on the predetermined three-dimensional placement position and direction.

In more detail, 1) In order to calculate the three-dimensional implantation position and orientation, the doctor first uses a core beam computerized tomography (CBCT) or a guide mark 111 'on an X-ray photographed film to insert artificial teeth into the alveolar bone. The position is determined, and the implantation position is previously stored in the database.

Then, the doctor wears the guide stent 100 on the patient's teeth again to perform the procedure for implant placement. The relative position of the guide stent 100 worn on the patient's teeth with respect to the alveolar bone is at the same point as the relative position of the guide stent 100 with which the patient initially wore due to the impression material fixed inside the tray. It will be located.

The position calculator calculates the position and direction of the guide stent 100 fixed to the end of the first serial link 300 from the three-dimensional rotation information received from the encoder of the first serial link 300. The predetermined three-dimensional implantation position and direction are calculated based on the guide mark 111 'from the position and the direction of 100.

Here, since the length of each link arm of each serial link is already stored in the system, only the position of the guide stand 100 or the hand piece 200 mounted at the end of each serial link using only three-dimensional rotation information of each serial link. I can know the direction. In addition, since the implantation position is predetermined based on the position and orientation of the guide stent 100 and stored in the database, the position and direction of the hole for finally forming the implant on the alveolar bone, that is, the three-dimensional implantation position and I can know the direction.

And, 2) in order for the position calculation unit to calculate the three-dimensional position of the end of the drill 210 mounted on the hand piece 200 and the direction of travel of the drill 210, the doctor first of all CBCT (Core Beam Computerized tomography) or X -The state of the teeth, gums and alveolar bone is identified through the film, and the type and length of the drill 210 suitable for the determined placement position are selected and stored in the database in advance.

Therefore, if only the reference position and the direction of the hand piece 200 is known, the position calculator can know the three-dimensional position of the end of the drill 210 mounted on the hand piece 200 and the traveling direction of the drill 210. 2 Calculate the position and direction of the hand piece 200 from the three-dimensional rotation information received from the encoder of the serial link 400, and drill 210 mounted on the hand piece 200 from the position and direction of the hand piece 200 ) To calculate the three-dimensional position of the end and the traveling direction of the drill (210).

After calculating the relative three-dimensional position of the end of the drill 210 and the relative traveling direction of the drill 210 based on the predetermined three-dimensional implantation position and direction through the aforementioned 1 and 2), the position is calculated. The unit transmits information about the relative three-dimensional position and the direction of travel of the end of the drill 210 to be displayed on the image display unit.

As described above, it is preferable that the three-dimensional position and the moving direction of the drill 210 based on the stent 100 are identified in real time using the first and second serial links.

As such, a method of determining the position of an object in real time may use an inertial navigation system commonly used in missiles or uninhabited aerial vehicles (UAVs). Such an inertial navigation device may grasp the positional movement of an object to which an inertial navigation system is attached by integrating an acceleration sensor and an gyroscope which are inertial sensors in real time.

In addition, a method of identifying the positional movement of the object to which the marker 111 is attached may be used by attaching the marker 111 to the object and determining the position of the marker 111 by image processing.

In addition, a method of determining a position using RF and an ultrasonic sensor or a method of measuring position movement using a laser may be used.

In the embodiment of the present invention, the method of obtaining the three-dimensional position and the moving direction of the drill 210 with respect to the stent 100 using the first and second serial links by using a kinematic solution as follows. Explain.

3B is a diagram for explaining a link coordinate system using D-H notation (The Denavit-Hartenberg Representation).

는 링크 길이,

는 링크 손목각도,

는 링크 오프셋 각도,

는 접속 각을 표시한다.In FIG. 3B

Is the link length,

Link wrist angle,

Is the link offset angle,

Indicates the connection angle.

Here, the homogeneous return matrix from the concatenated frame {i} to (i + 1} is expressed as follows.

Using this D-H notation, the three-dimensional position and travel direction of the end of the hand piece drill connected to the second serial link with respect to the three-dimensional position of the stent connected to the first serial link can be calculated.

3C is a diagram for explaining the structure of a serial link and selecting a coordinate system using the D-H display method.

,

, a, d를 포함하고, D-H인자들은 아래와 같이 요약된다.The parameters of the serial link as shown are

,

, a, d, and DH factors are summarized below.

Obtaining homogeneous transformation matrices from these D-H factors is as follows.

Here, the relative three-dimensional position and direction of the tool frame T with respect to the base frame A of the stent is calculated as follows.

Here, the homogeneous transformation matrix of the base frame B of the stent for the hand piece A and the homogeneous transformation matrix of the drill tip C mounted on the hand piece for the hand piece A are obtained. The homogeneous transformation matrix for the three-dimensional position of the drill tip C with respect to the base frame B is obtained as follows.

Here, when the homogeneous transformation matrix of the drill end C with respect to the base frame B of the stent is given, the three-dimensional position and direction of the drill end C with respect to the base frame B of the stent are obtained as follows. .

), x 축에 대한 회전 정보인 피치 각(Pitch Angle)을 R_X(

),y 축에 대한 회전 정보인 요우 각(Yaw Angle)을 R_Y(

)로 표기하면 동차변환행렬은 다음의 수식관계를 가진다.Here, the position of the drill tip is expressed as P _X , P _Y , P _Z , and the roll angle, which is rotation information about the z axis, is set as R _Z (

), The pitch angle (Pitch Angle) rotating about the x-axis _X R (

), the yaw angle, which is rotation information about the y axis, is R _Y (

), Homogeneous transformation matrix has the following mathematical relationship.

When the homogeneous transformation matrix is obtained from the above equation, the three-dimensional position of the drill tip and the direction of travel (roll, pitch, yaw angle) are obtained.

In this way, the position calculator obtains the three-dimensional position and the direction of the drill tip, and displays it on the image display unit in real time, thereby visually confirming the three-dimensional position and the direction of the drill tip being processed to form the hole. Through the loudspeaker part, the patient hears the warning sound generated when the three-dimensional position and direction of the end of the handpiece drill are different from the three-dimensional position and direction in which the hole is to be formed on the alveolar bone. The doctor can make the procedure for implant implantation more accurate and robust.

FIG. 4 is a view for explaining an example in which a standardized guide stent is fixed to a tooth of a patient in FIG. 1 and a drill of a hand piece forms a hole for placing an artificial tooth in the alveolar bone of the patient.

As shown in FIG. 4, when a hole is formed with the drill 210 of the hand piece 200 connected to the second serial link 400 for implant placement, the patient is guided to the first serial link 300. The procedure is performed while wearing the stent 100.

In this case, the image display unit 500 displays a virtual hall image in which an artificial tooth is to be implanted in the alveolar bone of a patient on a core beam computerized tomography (CBCT) or an X-ray photographed image in which a guide mark 111 'is displayed. When the hand piece 200 drill 210 approaches within the range, the virtual drill 210 image representing the end of the drill 210 is displayed in real time as the drill 210 moves, and the speaker unit 600 According to the distance between the virtual hall image and the virtual drill 210 image, a warning sound is gradually reduced.

Therefore, the doctor approaches the position A while watching the guide mark 111 ′ of the guide stent 100 while watching the image and hearing the warning sound during the implant procedure, and the drill 210 approaches the position of the A position. When matched, the video display unit 500 and the speaker unit 600 display a video / audio signal indicating that the position is matched. Afterwards, when the direction of hole formation and the direction of drill 210 coincide within the error range of the system, a video / audio signal indicating that the direction coincides is displayed.

The doctor then operates the drill 210 to penetrate the point A of the tray of the guide stent 100 to form a hole in the alveolar bone of the patient to a desired depth. In this case, when the virtual drill image 210 approaches the virtual hall image and the two images coincide with each other, the image display unit 500 and the speaker unit 600 display a video / audio signal indicating this.

As such, when the operation of the drill 210 for adjusting the initial position and direction is completed, the doctor removes the guide stent 100 worn by the patient, and increases the size of the hole and ends the implant procedure.

As such, the implant placement system using the standardized guide stent 100 serves to induce a doctor to perform a more precise and accurate implant procedure.

5 is a view for explaining an example of a control method of an implant placement system using a standardized guide stent.

The procedure is performed by inputting the 3D implant placement position and direction obtained at the time of surgery planning into a computer system, comparing the input data with the 3D position and orientation of the handpiece drill tip calculated as described above in real time.

First, the doctor places a standardized guide stent on the patient's teeth. At this time, the position calculation unit calculates the position and orientation of the standardized guide stent for implant placement, and the three-dimensional position and orientation of the hole to be formed on the alveolar bone of the patient by using the implant placement position pre-stored in the system based on the guide stent. (S1)

Then, when the doctor moves the hand piece, the position calculation unit calculates the position and direction of the hand piece that is moved according to the doctor's motion, and uses the position and direction of the drill tip stored in the system with respect to the hand piece. Calculate the three-dimensional position of the drill tip to be mounted and the direction of the drill (S2)

Subsequently, it is visually or audibly confirmed whether the three-dimensional position and the direction of the hole to be formed on the alveolar bone coincide with the three-dimensional position and the advancing direction of the end of the hand piece drill (S3).

This step S3 may be visually confirmed through the image display unit whether the virtual hole image indicating the 3D position and direction to be formed on the alveolar bone and the virtual drill image indicating the 3D position and the moving direction of the end of the handpiece drill coincide. In addition, when the three-dimensional position and the direction of the hand piece drill end is different from the three-dimensional position and the direction in which the hole is to be formed on the alveolar bone, a warning sound may be generated and audibly confirmed through the speaker unit.

If the three-dimensional position and direction of the handpiece drill end are inconsistent with the three-dimensional position and direction in which the hole is to be formed on the alveolar bone, a letter or a mark indicating the inconsistency may appear on the image, and the frequency interval of the warning sound may be changed. Through the sound or sound that means a mismatch will be generated. (S4)

If the three-dimensional position and direction of travel of the hand piece drill tip coincide with the three-dimensional position and direction in which the hole is to be formed on the alveolar bone, the doctor operates the drill.

Then, when the drill is operated to form the hole by a predetermined depth, an image or a confirmation sound indicating that the hole is finished may be generated (S5).

In this way, the control method of the implant placement system according to the present invention has the effect of helping the doctor to determine the position and orientation of the implant very accurately when performing an implant procedure on the alveolar bone of the patient.

The above description is merely illustrative of the technical idea of the present invention, and various modifications, changes, and substitutions may be made by those skilled in the art without departing from the essential characteristics of the present invention. will be. Accordingly, the embodiments disclosed in the present invention and the accompanying drawings are not intended to limit the technical spirit of the present invention but to describe the present invention, and the scope of the technical idea of the present invention is not limited by the embodiments and the accompanying drawings. . The protection scope of the present invention should be interpreted by the following claims, and all technical ideas within the equivalent scope should be interpreted as being included in the scope of the present invention.

1 is a view for explaining an example of an implant placement system using a standardized guide stent according to the present invention.

FIG. 2A is a view for explaining an example of a guide stent normalized in FIG. 1. FIG.

FIG. 2B is a view for explaining an example in which a guide mark for determining a position at which an artificial tooth is placed in the alveolar bone is displayed on the X-ray photographed panoramic film of FIG. 2A; FIG.

3A is a view for explaining the first and second serial link and position calculation method in which the guide stent and hand piece are mounted in FIG.

FIG. 3B is a diagram for explaining link coordinate system using D-H notation (The Denavit-Hartenberg Representation). FIG.

3C is a diagram for explaining the structure of a serial link and selecting a coordinate system using the D-H notation method.

4 is a view illustrating an example in which a standardized guide stent is fixed to a tooth of a patient in FIG. 1, and a drill of a hand piece forms a hole for placing an artificial tooth in the alveolar bone of the patient.

5 is a view for explaining an example of a control method of an implant placement system using a standardized guide stent.

<Description of reference numerals for the main parts of the drawings>

100: standardized guide stent 200: handpiece

300: first serial link 400: second serial link

500: screen display unit 600: speaker unit

Claims (22)

A base frame including a plurality of markers for displaying guide marks on a core beam computerized tomography (CBCT) or X-ray photographed film to determine a position at which an artificial tooth is placed in the alveolar bone; And A tray of X-ray transmissive material disposed on at least one of the upper and lower ends of the base frame, and having an impression material seated thereon to obtain an impression of at least one of upper and lower jaws; Standardized guide stent for implant placement comprising a. The method of claim 1, Either the base frame or the plurality of markers are X-ray impermeable Standardized guide stent for implant placement, characterized in that. The method of claim 2, The base frame includes a metal X-ray non-transparent material, And the plurality of markers are through holes. The method of claim 2, The base frame includes a plastic X-ray transparent material, The plurality of markers include a metal X-Ray non-permeable material Standardized guide stent for implant placement, characterized in that. The method of claim 1, The tray comprises at least one of a first tray or a second tray, The first tray is disposed on the upper end of the base frame is seated impression material for taking the upper jaw impression, The second tray is disposed on the lower end of the base frame is seating the impression material for taking the mandible impression Standardized guide stent for implant placement, characterized in that. The method of claim 5, The base frame includes a plurality of fixing holes for fixing the first tray and the second tray; Standardized guide stent for implant placement, characterized in that it further comprises. The method of claim 6, The plurality of fixing holes A plurality of first side fixing holes for fixing the distal end of the first tray; A first central fixing hole for fixing a central portion of the first tray; A plurality of second side fixing holes for fixing end portions of the second tray; And A second center fixing hole for fixing a center portion of the second tray; Standardized guide stent for implant placement, characterized in that it comprises a. The method of claim 7, wherein And the first tray includes a first fixing protrusion which is inserted into the first central fixing hole and fixed to the first tray. And a second fixing protrusion for inserting and fixing the second tray into the second central fixing hole. Standardized guide stent for implant placement, characterized in that. The method of claim 7, wherein The first tray fixing hole disposed at a position corresponding to the first side fixing hole to fix the first tray to the base frame by a fixing pin inserted into the first side fixing hole; Including more, The second tray fixing hole disposed at a position corresponding to the second side fixing hole to fix the second tray to the base frame by a fixing pin inserted into the second side fixing hole; Standardized guide stent for implant placement, characterized in that it further comprises. The method of claim 6, The plurality of fixing holes Standardized guide stent for implant placement further comprises; a plurality of third fixing holes for fixing to the implant placement system. A standardized guide stent according to any of the preceding claims; A hand piece having a drill mounted on the guide stent to form a hole for placing an artificial tooth in the alveolar bone of the patient through a predetermined placement position based on the guide mark; One end is fixed to the guide stent, the other end is connected to the first fixing portion of the predetermined system, includes a plurality of link arms (Link-Arm), the angle of rotation of each link arm A first serial link for detecting in real time; One end is fixed to the hand piece, and the other end is connected to a second fixing part of the system, and includes a plurality of link arms, and the rotation angle of each link arm is determined. A second serial link for detecting in real time; And Using the information on the plurality of rotation angles between the link arms detected in real time in the first serial link, the three-dimensional position and direction of the guide stent is calculated in real time, and in real time on the second serial link. A position calculator for calculating a three-dimensional position and a direction of the hand piece in real time using information on the plurality of rotation angles between the detected link arms; Implant placement system using a standardized guide stent comprising a. The method of claim 11, Each of the first serial link and the second serial link A plurality of encoders between the link arms for detecting a three-dimensional rotation angle of the link arm and transmitting information on the three-dimensional rotation angle to a position calculation unit stored in the system; Implant placement system using a standardized guide stent comprising a. 13. The method of claim 12, The position calculation unit The position and direction of the guide stent fixed to the end of the first serial link are calculated from the three-dimensional rotation information received from the encoder of the first serial link, and is previously calculated in the system based on the guide stent. Calculating the three-dimensional position and orientation of the hole to be formed on the alveolar bone of the patient using the stored implant placement position Implant placement system using a standardized guide stent characterized in that. 13. The method of claim 12, The position calculation unit The position and direction of the hand piece are calculated from the three-dimensional rotation information received from the encoder of the second serial link, and the position and direction of the drill tip stored in the system with respect to the hand piece are used for the hand piece. To calculate the three-dimensional position of the drill tip being mounted and the direction of travel of the drill Implant placement system using a standardized guide stent characterized in that. The method of claim 11, The implant placement system The virtual hole image representing the 3D position and direction to be formed on the alveolar bone on the X-ray photographed image in which the guide mark of the stent is displayed, and the hand piece drill indicating the 3D position and the moving direction of the end of the hand piece drill. An image display unit displaying a virtual image of the image; Implant placement system using a standardized guide stent characterized in that it further comprises. The method of claim 11, The implant placement system A speaker unit for generating a warning sound when the three-dimensional position and the moving direction of the end of the hand piece drill are different from the three-dimensional position and the direction in which the hole is to be formed on the alveolar bone; Implant placement system using a standardized guide stent characterized in that it further comprises. The method of claim 11, And each of the first serial link and the second serial link is manually controlled by externally applied forces. The method of claim 11, And the first serial link and the second serial link each have six degrees of freedom. a) Calculate the position and orientation of the standardized guide stent for implant placement, and use the implant placement position pre-stored in the system based on the guide stent to determine the three-dimensional position and orientation of the hole to be formed on the patient's alveolar bone. Calculating; b) calculate the position and direction of the hand piece to be moved in accordance with the doctor's movement, and use the position and direction of the drill end stored in the system relative to the hand piece to determine the three-dimensional position of the drill end mounted on the hand piece; Calculating a traveling direction of the drill; c) visually or aurally confirming that the three-dimensional position and direction of the hole to be formed on the alveolar bone coincides with the three-dimensional position and direction of travel of the end of the hand piece drill; Control method of implant implantation system comprising a. The method of claim 19, Step c) Visually confirming whether the virtual hole image representing the three-dimensional position and the direction to be formed on the alveolar bone coincides with the virtual drill image representing the three-dimensional position and the moving direction of the end of the handpiece drill. Control method of the implant placement system, characterized in that. The method of claim 19, Step c) When the three-dimensional position and the moving direction of the end of the hand piece drill is different from the three-dimensional position and direction of the hole to be formed on the alveolar bone to generate an audible sound and to confirm acoustically Control method of the implant placement system, characterized in that. The method of claim 19, The control method of the implant placement system is After step c), d) the hand piece drill is operated to visually or audibly check if a hole is formed in the alveolar bone at a predetermined depth; Control method of implant implantation system, characterized in that it further comprises.

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