KR101838229B1 - Integrated system for manufacturing a guide template for dental implant surgery - Google Patents

Abstract

Disclosed is an integrated system for manufacturing a guide template, which comprises a plurality of robot arms capable of performing 6 degrees of freedom (DOF) motions connected in the order of ″rotation-tilting-tilting-rotation-tilting-rotation″ from a base to a final terminal. The robot arms include: a robot arm for perforation and cutting, whose processing tools are mounted on a working platform; a robot arm for mounting a bushing assembly, whose gripper is mounted on the working platform; and a robot arm for laser beam cutting, whose laser is mounted on the working platform. The robot arms are disposed around a fixing support for an object to be processed to make linear movement in both directions of a linear movement route and stop at a predetermined point. The robot arm for perforation and cutting uses the processing tools to make a hole or surface processing on an oral model disposed on the upper surface of the fixing support for an object to be processed in order to install and fix the bushing assembly; the robot arm for mounting a bushing assembly uses the gripper to insert and fix the bushing assembly into the hole made on the oral model; and the robot arm for laser beam cutting uses the laser to cut a thermoplastic sheet closely attached to the oral model in order to remove the same from the oral model. The present invention is able to fundamentally solve defects on a guide template.

Description

[0001] The present invention relates to an integrated system for manufacturing a guide template for a dental implant,

[0001] The present invention relates to an automated integrated system capable of collectively producing guide templates capable of guiding surgical procedures to be carried out precisely as planned, in the case of dental implants.

An implant is an artificial tooth made of a material having excellent biocompatibility (mainly titanium or titanium alloy) on the alveolar bone of a missing tooth portion and is fixed by fusion with the alveolar bone tissue, and then the artificial tooth is formed on the artificial tooth root It is a dental surgical procedure that allows the person to carry on his / her daily life with almost the same sensation as his or her own tooth, or the artificial tooth itself.

These implants have advantages in that they do not damage the surrounding teeth except the teeth requiring the operation, have a long life span and are very similar to the natural teeth, compared with the denture or bridge method, and more recently, Has become much more popular.

The method of implanting the implant is briefly described. First, the patient's gingiva is cut to expose the alveolar bone, the position of the implant is determined on the exposed alveolar bone, and then a part of the alveolar bone Thereby forming a hole for implanting the implant. Then, a fixture is placed on the hole formed in the alveolar bone, the gingiva is covered, and the alveolar bone is sufficiently fused with the fixture and the alveolar bone to be fused for a proper period. Thereafter, the fixture is fixed and the abutment and the artificial tooth (Crown) is mounted, the implant procedure is completed. Here, according to the implant procedure, the healing abutment is placed on the fixture placed on the alveolar bone, and the gingival suture is performed and the incision is cut later.

On the other hand, in order to implant artificial root with biomechanical, histological, functional, and aesthetic superiority in implant treatment, it is necessary to perform perforation work with precise position, direction and depth. For this purpose, a surgical template called guide template A surgical guide is often used.

To create such a guide template, you need to prepare your own oral model first. Traditionally, impression material is used to acquire the maxillary and / or mandibular submucosa of the recipient and then plaster casts on the submucosa to mimic the shape of the maxillary and / or mandible of the recipient. In recent years, models are produced directly on 3D models based on 3D image data, such as rapid prototyping machines and 3D printers.

On the prepared oral cavity model, a tooth missing part requiring implant treatment is directly transferred. A hole is drilled in accordance with the implant operation plan, and a bushing for guiding the direction and depth of the drill is detachably fixed do.

Then, when a cured resin is applied and cured so as to enclose a fixed bushing and at least several teeth around the tooth, and a resin material is taken out from the oral cavity model by removing a member fixed with the bushing, a bushing for inducing an implant- The mounted guide template is completed.

Patent Document 1 is an invention related to a guide template registered by the present applicant and Patent Document 2 is an invention relating to a fixation pin assembly for fixing a bushing on an oral cavity model so that the bushing can be separated in a state embedded in a guide template. Patent Document 3 is a plate for coordinate synchronization for precisely drilling holes on an oral cavity model in accordance with an implant treatment plan established by using a computer program. Patent Document 4 discloses a plate for synchronizing coordinates, As a multi-axis drilling machine, applicants have filed and registered many other inventions related to guide templates.

However, since the conventional guide template is made by applying a hardening resin by hand on the oral cavity model, it is difficult to make the thickness to be constant, and therefore, there is a tendency to apply the hardening resin to some extent excessively in order to avoid the danger that the strength is not sufficient. have. Therefore, when the guide template is made thick and inserted into the patient's mouth, the user feels uncomfortable, and the curing time is long.

In addition, as for the application of the curable resin by hand, it is difficult to make a guide template in which the complicated structure of the oral tissues follows the shape of the guide. In such a case, there is a case in which the curable resin is not stably mounted correctly. In order to solve such a problem, Patent Document 1 attaches an elastic body to the inner surface of the guide template. Although the construction of such an elastic body has led to considerable good effects, additional work of attaching the elastic body is required, and occasionally, the elastic body is often dropped.

In addition, when the curable resin is applied to the bushing surface, the bushing embedded in the guide template may be detached from the bushing surface.

Such a conventional problem is largely due to the fact that the guide template is manufactured by applying a curable resin and that the guide template is manually handled. Therefore, there is a need for a new solution capable of solving the problems of the prior art in a lump.

Korean Patent No. 10-1039287 (issued on June 7, 2011) Korean Patent No. 10-0993666 (published Nov. 10, 2010) Korean Registered Patent No. 10-1353335 (published on Jan. 17, 2014) Korean Patent No. 10-1344472 (published on December 24, 2013)

As described above, the present invention improves the problem of applying the curable resin on the oral cavity model by hand, which is involved in the process of making the guide template. Thus, it is possible to fit the oral cavity without precisely shaking in the oral cavity, It is an object of the present invention to provide a device system for manufacturing a guide template for implantation of a new structure which does not require additional work for firmly fixing the bushing.

In particular, it is an object of the present invention to provide a guide template production system capable of automatically proceeding with individual tasks, which tend to adversely affect the quality of the final product as the guide template proceeds, There is a purpose.

The manufacturing integrated system of guide templates according to the present invention includes a plurality of robot arms capable of 6 degrees of freedom movement in the order of "rotation-tilting-tilting-rotation-tilting-rotation" from the base to the working end of the end A plurality of robot arms for boring and cutting a work tool mounted on the work end, a robot arm for mounting a bushing assembly having a gripper mounted on the work end, And a robot arm for laser cutting equipped with a laser at the working end, wherein the plurality of robot arms are arranged around a workpiece fixing stand capable of stopping at a predetermined point while linearly moving along both directions of a linear movement path Wherein the robot arm for perforating and cutting is provided with a hole for fixing or mounting the bushing assembly on the oral cavity model disposed on the upper surface of the workpiece fixing table with the processing tool, The bushing assembly is inserted and fixed in a hole machined on the mouth model with a gripper, and the robot arm for cutting a laser cuts the thermoplastic sheet adhered on the mouth model with the laser so that the thermoplastic sheet can be separated from the oral cavity model .

A bushing assembly supply unit for supplying the bushing assembly may be installed within the working range of the robot arm for mounting the bushing assembly.

The marking robot arm further includes a marking pen which is attached to the surface of the thermoplastic sheet closely attached to the oral cavity model with the marking pen, An opaque cutting line may be displayed and the thermoplastic sheet may be cut off with the laser of the robot arm for cutting the cut along the cutting line.

If necessary, the marking robot arm may write information related to surgery on the surface of the thermoplastic sheet closely attached to the oral cavity model with the marking pen.

Here, the output of the laser is lower than the output capable of cutting the thermoplastic sheet without the cutting line at a time, and the output of the laser at this time may be in the range of 2 to 6 W per 0.01 π square.

The working end of the robot arm for perforating and cutting may further include a spray nozzle for spraying compressed air.

A plurality of air passages are formed in a peripheral region surrounding the oral cavity model on the upper surface of the workpiece fixing stand. Air or air is sucked through the air passageway and air pressure of a positive or negative pressure is applied around the oral cavity model Can be selectively formed.

Also, the coordinate synchronization plate to which the oral cavity model is coupled may be seated in a predetermined direction and position with respect to the upper surface of the work fixture, and the plurality of air passages may be formed to surround the coordinate synchronization plate.

According to one embodiment of the present invention, the bottom surface of the plate for coordinate synchronization is provided with patient information on the oral cavity model, processing information on the oral cavity model, information on the bushing assembly corresponding to each hole processed on the oral cavity model Information to be written on the surface of the thermoplastic sheet adhered on the oral cavity model, and information on the cutting path of the laser.

Accordingly, the manufacturing integrated system of the guide template of the present invention may be provided with a reading device for reading the information mark.

In the manufacturing integrated system of the guide template of the present invention, the drilling and cutting robot arm and the robot arm for mounting the bushing assembly are arranged to face each other on the front of the movement path about the linear movement path of the workpiece fixing table, And then the robot arm for laser cutting and the robot arm for marking may be arranged to face each other.

In addition, the manufacturing integrated system of the guide template of the present invention may further comprise a thermoplastic sheet feeding and molding device for feeding and heating the thermoplastic sheet one by one onto the oral cavity model.

Here, the thermoplastic sheet feeding and molding apparatus may be arranged behind the linear movement path of the work fixing table.

Wherein the thermoplastic sheet feeding and molding apparatus includes a horizontal beam crossing a linear movement path of the work fixing table and a column at both ends of the horizontal beam, a plurality of thermoplastic sheets arranged on a rear surface of the body, A feeding roller that is rotatably installed below the horizontal beam of the body and that transports the uppermost thermoplastic sheet loaded on the cartridge forward; The upper and lower parts of which are spaced apart from each other by a predetermined distance and are movable up and down with respect to the oral cavity model of the object to be fixed, 1 fixing plate and second fixing plate; And an electric heating device protruding from the horizontal beam of the body so as to face the forming holes of the first fixing plate and the second fixing plate.

A pair of rods that are slidable with respect to a mounting surface of the robot arms are fixed to both sides of the first fixing plate, a through hole through which the pair of rods are passed is formed in the second fixing plate, A first spring for maintaining a gap between the first fixing plate and the second fixing plate is provided between the first fixing plate and the second fixing plate and the second fixing plate is provided between the second fixing plate and the mounting surface, And one end of a pair of wires moving in the vertical direction is fixed to the first fixing plate.

Here, a position at which the elastic modulus of the first spring is larger than that of the second spring, and a position at which the elastic modulus of the second spring is larger than the elastic modulus of the first spring, The thermoplastic sheet may be designed to correspond to the thermoplastic sheet immediately before it is brought into close contact with the oral cavity model.

The electrical heating apparatus can heat the thermoplastic sheet to a temperature in the range of 70 to 80 占 폚.

According to the guide template manufacturing integrated system of the present invention having the above-described structure, the bushing can be installed at a precise position on the oral cavity model according to the operation information designed on the computer program, the thermoplastic sheet can be accurately cut, It is possible to fundamentally solve the problem that the guide template is defective.

In addition, the guide template manufacturing integrated system of the present invention eliminates most of the manual work in the manufacturing process of the guide template in the related art and automatically progresses the individual work which has been separately performed, so that the quality of the final product is uniformly improved Time and cost can be saved.

In addition, the present invention can be configured to display an opaque cutting line before cutting with a laser. Since the cutting line has an effect of increasing the absorption rate of the laser, the output of the laser can be largely lowered, It is possible to solve various problems that may occur when using a laser, and it is also possible to manufacture a guide template with a transparent thermoplastic sheet in which the laser light is hardly effective.

BRIEF DESCRIPTION OF THE DRAWINGS Figure 1 shows a series of steps for preparing a mouthmatrix for making a guide template.
FIG. 2 is a view showing a series of steps for manufacturing a guide template using the oral cavity model prepared through the process of FIG. 1; FIG.
3 is a perspective view showing a completed guide template;
4 is a perspective view showing the overall structure of a robot arm provided in the present invention.
Figure 5 is a side view of the robot arm of Figure 4;
6 is a photograph of a guide template made of a transparent thermoplastic sheet.
7 is a view showing the overall structure of an integrated guide template manufacturing system according to the present invention;
8 is a diagram showing an upper surface and a lower surface of a coordinate synchronization plate.
9 is a perspective view showing in detail the thermoplastic sheet feeding and molding apparatus included in the guide template manufacturing integrated system according to the present invention.
Figure 10 is a side view of the thermoplastic sheet feeding and forming apparatus of Figure 9;

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

In describing the embodiments of the present invention, a description of well-known structures that can be easily understood by those skilled in the art will be omitted so as not to obscure the gist of the present invention. In addition, when referring to the drawings, it should be considered that the thicknesses of the lines and the sizes of the constituent elements shown in the drawings may be exaggerated for clarity and convenience of explanation.

In describing the components of the embodiment of the present invention, terms such as first, second, A, B, (a), and (b) may be used. These terms are intended to distinguish the constituent elements from other constituent elements, and the terms do not limit the nature, order or order of the constituent elements. When a component is described as being "connected", "coupled", or "connected" to another component, the component may be directly connected or connected to the other component, Quot; coupled "or" connected "indirectly while intervening in the context of the present invention.

First, an overall manufacturing process for making a guide template to be manufactured by the present invention will be described with reference to FIGS. 1 and 2. FIG.

FIG. 1 is a view showing a series of steps for preparing an oral cavity model (MD) for making a guide template 10. FIG. 2 is a view showing a guide template 10). ≪ / RTI >

The first step is to prepare a mouth model (MD) that mimics the patient's oral tissues. As described above, the oral cavity model (MD) is an analog type gypsum model in which gypsum is poured into a sound model made using an impression material, as well as a digital oral cavity model made of a rapid prototyping machine or a 3D printer based on three- All models (MD) can be used. However, considering the manufacturing cost, time, and the minimum precision required (geometric follow-up), the traditional gypsum model is sufficient, so it is not necessary to use the expensive digital model.

Then, when the oral cavity model MD is prepared, the bushing 40 for detachably fixing the bushing 40 on the oral cavity model MD for guiding the progress of the drill hole at the correct position where the implant operation is planned. In other words, the treatment plan established on the computer program includes various geometric information about the position, angle, and depth of the implant, as well as the length and diameter of the implant. Based on this information, The bushing assembly, to which the bushing 40 is detachably attached to the fixing pin, is fitted into the hole and fixed. Refer to Patent Documents 2, 3 and 4 for further details.

When the oral cavity model MD having the bushing 40 fixed at the correct position in accordance with the treatment plan is prepared (see FIG. 1) through the above-described process, as shown in FIG. 2 (d) A first thermoplastic sheet S1 is disposed to surround at least a portion of the oral cavity MD and a vacuum is applied between the first thermoplastic sheet S1 and the oral cavity model MD while applying heat to the first thermoplastic sheet S1. The first thermoplastic sheet S1 is adhered to the surface of the oral cavity model MD by forming the VC.

The first thermoplastic sheet S1 should be in close contact with the bushing 40 so that the first template sheet S1 can be held in contact with the entire surface of the bushing 40, (MD). It is needless to say that the first thermoplastic sheet S1 can wrap the entirety of the oral cavity MD. However, if the patient has a sufficient number of teeth, or if another prosthesis is already implanted, the first thermoplastic sheet S1 may be partially wrapped.

The heating of the first thermoplastic sheet S1 to an appropriate temperature is for imparting flexibility. The first thermoplastic sheet S1 is heated at a temperature at which it can be handled and held without being melted by hand or by using a tool, for example, Applying heat is enough. When the first thermoplastic sheet S1 having the appropriate flexibility is placed on the oral cavity model MD and a vacuum is formed therebetween, the first thermoplastic sheet S1 is deformed by the oral cavity model MD) (including a bushing). In particular, since the pressure (atmospheric pressure) acts uniformly on the surface of the first thermoplastic sheet S1, it is possible to closely adhere the first thermoplastic sheet S1 along the complicated shape of the mouth mold MD without lifting.

Next, as shown in FIG. 2 (e), the second thermoplastic sheet S2 is placed on the first thermoplastic sheet S1 adhered to the oral cavity model MD, (VC) is formed between the second thermoplastic sheet S2 and the first thermoplastic sheet S1 by applying heat to the thermoplastic sheet S2 at a temperature of 70 to 80 DEG C to heat the surface of the first thermoplastic sheet S1 The second thermoplastic sheet S2 is attached.

As described above, the guide template 10 is manufactured by two layers of the first thermoplastic sheet S1 and the second thermoplastic sheet S2. In order to adhere the thermoplastic sheet onto the oral cavity model MD, This is because the guide template 10 having sufficient strength can not be formed with only one thermoplastic sheet.

If necessary, it is possible to further join the third and fourth thermoplastic sheets on the second thermoplastic sheet S2 in the same manner, but reducing the number of thermoplastic sheets that can be bonded as much as possible simplifies the manufacturing process, Of course, it will be advantageous in terms of reducing.

To this end, it may be desirable to use the second thermoplastic sheet S2 thicker than the first thermoplastic sheet S1. This is because the thin first thermoplastic sheet S1 can be closely adhered to the surface of the complicated-shaped mouth mold MD by using the thinner first thermoplastic sheet S1 so that the basic shape of the guide template 10 The second thermoplastic sheet S2 is adhered on the second thermoplastic sheet S2, and sufficient structural strength can be ensured even with the two-ply thermoplastic sheets S1 and S2 alone.

Another advantage of making the guide template 10 more than two layers of the first / second thermoplastic sheets S1 and S2 is that the first thermoplastic sheet S1 is coated on the first thermoplastic sheet S1 with the patient information, It is possible to dispose at least one identification sheet 50 on which information including surgical reference information is recorded, and attach the second thermoplastic sheet S2 thereon. In other words, conventionally, the identification information is directly written on the surface of the guide template 10 or the label is attached. In this case, there is a possibility that the guide template 10 may be damaged by drugs, saliva, moisture, or bad influence on the patient's premises.

In contrast, the guide template 10 of the present applicant seals the identification paper 50 on which various information including patient information, procedure timing, manufacturer logo, and operation reference information are recorded between the overlapping thermoplastic sheet layers S1 and S2 Therefore, the above-described problem in the conventional art is completely solved.

The first thermoplastic sheet S1 and the second thermoplastic sheet S2 may be at least one selected from the group consisting of polyethylene (PE), polyvinyl chloride (PVC), acrylic, ABS and polycarbonate One having a thickness of 0.3 to 0.75 mm and a thickness of 0.5 to 3.0 mm may be used as the first thermoplastic sheet S1 and the second thermoplastic sheet S2.

When the first thermoplastic sheet S1 and the second thermoplastic sheet S2 are bonded to each other with the mouth model MD as a mold through the above-described series of steps, the first thermoplastic sheet S1 and the second thermoplastic sheet S2 The guide template 10 as shown in Fig. 3 is completed. Cutting the guide template 10 so as to cover a part of the undercut U beyond the maximum air circumferential portion H of at least one of the buccal side B and the lingual side L of the tooth can be performed by the guide template 10 So as to be elastically fitted in the undercut (U) portion when mounted on the inside of the housing, so that there is no shaking. For reference, reference numeral "O" not illustrated in Fig. 3 refers to occlusal surface.

The entire manufacturing process of the guide template 10 to be manufactured by the present invention has been described in detail through the above description. The present invention can automate a series of manufacturing processes of the guide template 10, And more particularly, to an integrated guide template production system that substantially eliminates manual work.

The manufacturing process of the guide template 10 includes the steps of machining a hole for fixing the bushing assembly 45 on the oral cavity model MD to manufacture the guide template 10, A step of inserting and fixing the bushing assembly 45 into the hole formed in the mouth mold MD, a step of attaching the thermoplastic sheet S to the oral cavity model MD, and a step of cutting the unnecessary portion of the thermoplastic sheet S .

Here, the present invention can produce various geometric information on the position, angle, and depth of the implant, as well as the length and diameter of the implant through the procedure plan established on the computer program. Therefore, An automated manufacturing process can be realized.

Therefore, many processes during the manufacturing process of the guide template 10 as described above can be automated by using a robot arm driven in accordance with the inputted numerical information. That is, by applying digital information of the implant treatment plan established on the computer program as numerical information inputted to the robot arm, automation is performed.

The overall configuration of the robot arm used in the present invention is shown in Figs. 4 and 5. Fig. However, even if the driving structure of the robot arm itself is the same, the working space provided at the end of the robot arm must be changed according to each manufacturing process of the guide template 10. Therefore, hereinafter, the driving structure of the common robot arm will be described first, and then the work area suitable for each manufacturing process will be described below.

The apparatus shown in Figures 4 and 5 is a robotic arm 100 with six degrees of freedom. The six degrees of freedom of the robot arm 100 according to the present invention are obtained by performing the six degrees of freedom from the base 110 to the end of the work tool 170 in six motions in the order of "Rotating-Tilting-Tilting-Rotating-Tilting- ≪ / RTI > Here, "rotation" means a movement capable of 360 ° rotation without changing the distance between the arms connected to each other, and "tilting" means that the arm connected to each other pivotally moves at a joint, It means exercise.

The structure of the robot arm 100 shown in Fig. 4 will be described in more detail. However, in the detailed description, the configuration of the motor serving as a power source of the rotation and tilting motions corresponds to a well-known configuration, and will be omitted.

The base 110 rotates 360 degrees about the vertical axis (Z-axis). The first arm 120 connected to the base 110 performs a tilting movement in the vertical direction in which the height of the base 110 is changed (a rotation movement about a rotation axis on the XY plane perpendicular to the Z axis) The second arm 130 connected to the first arm 120 can also be tilted in the same direction as the first arm 120.

The third arm 140 is rotated 360 degrees on a plane perpendicular to the longitudinal direction of the second arm 130 and the fourth arm 150 is tilted about an axis perpendicular to the rotation axis of the third arm 140 Exercise. The work end 160 connected to the distal end of the fourth arm 150 may be rotated 360 degrees on a plane perpendicular to the longitudinal direction of the fourth arm 150 and the work end 160 may be rotated A suitable workpiece 170 is mounted.

The robot arm 100 having the above structure is suitable for machining the workpiece placed on the work table 200 from above. 5, the robot arm 100 according to the present invention includes a rotary-tilting-tilting-rotation-type tilting-type tilting-type tilting- Tilt-rotate (RTTRTR) "in this order.

An integrated manufacturing system of the guide template 10 of the present invention can manufacture an automated guide template 10 by providing a plurality of robot arms having the above structure. And the like.

First, the first robot arm is a robot arm 200 for perforating and cutting. The robot arm for perforating and cutting 200 is a robot arm for machining holes for fixing the bushing assembly 45 on the oral cavity MD. Therefore, a drill or a milling cutter, which is a machining tool 202 capable of drilling a hole by rotation of the motor, can be mounted on the work end 160 of the robot arm 200 for perforating and cutting. In the embodiment of the present invention, it is more preferable that the milling cutter is mounted with the cutting tool 202 because it is possible to use the milling cutter to perforate the hole, It is advantageous in that it can be carried out even to a work of processing.

In addition, the working end 160 of the robot arm 200 for perforating and cutting can be provided with a spraying nozzle 204 for spraying compressed air in addition to the processing tool 202. The injection nozzle 204 injects compressed air to appropriately scatter dust generated during cutting to prevent accumulation on the oral cavity MD and to remove dust in the perforated hole. Cleaning the oral cavity MD with the injection nozzle 204 is also desirable for the attachment of the thermoplastic sheet S as well as the installation of the bushing assembly 45.

Here, the injection nozzle 204 may be constituted by a simple hose-shaped injection tube, unless it necessarily has a shape of a nozzle. Therefore, the term spray nozzle used in the present invention needs to be widely understood as a mechanism capable of spraying compressed air.

The second robot arm is a robot arm 210 for mounting the bushing assembly. The bushing assembly mounting robot arm 210 is a robot arm for inserting and fixing the bushing assembly 45 into the hole machined on the mouth model MD. Thus, a gripper (212) device is mounted on the working end (160) of the robotic arm (210) for mounting the bushing assembly to lift the bushing assembly (45). The gripper 212 may be a mechanical tongue that can be folded and unfolded, or an electronic tongue that temporarily fixes the bushing assembly 45 fitted in the insertion hole with an electromagnet.

The gripper 212 pulls up the bushing assembly 45 mounted on the bushing assembly supply stand 214 fixedly positioned at a predetermined point and inserts it into the hole machined on the mouth model MD. At least one hole is machined in the mouth model MD and the robot arm 210 for mounting the bushing assembly is provided with a bushing assembly 45 which is fed onto the bushing assembly supply stand 214 in all the holes provided in the mouth model MD, Are inserted one by one. The bushing assembly supply stand 214 can be installed at any point within the working range of the robot arm 210 for mounting the bushing assembly.

The bushing assembly 45 supplied to the bushing assembly feeder 214 is configured such that the operator manually places the bushing assemblies 45 one by one according to the job order, It is also possible that a plurality of bushing assemblies 45 are supplied one by one automatically.

The third robot arm is provided with a robot arm 230 for laser cutting. The laser cutting robot arm 230 is a robot arm for cutting unnecessary portions of the thermoplastic sheet S adhered to the outer surface of the oral cavity model MD.

Although a cutting mechanism such as a knife or a saw or a dental bur is used for cutting the thermoplastic sheet S in the related art, in the present invention, A laser 232 is mounted to perform a cutting operation. That is, the robot arm 230 for cutting a laser is used to melt and cut the thermoplastic sheet S using the heat of the laser 232. When the thermoplastic sheet S is cut with the laser 232, The post-processing can be reduced or omitted.

Further, in order for the guide template 10 to be stably mounted in the oral cavity, it must be cut accurately so as to sufficiently cover the undercuts U at the buccal side B and / or the lingual side L of the teeth. Because it is a small part of a few millimeters, it is also advantageous to precisely cut using the laser 232 to avoid the risk of screwing the guide template 10 due to a small number of machining errors that can occur during manual operation.

Further, the present invention may further include a marking robot arm 220 as a fourth robot arm.

In order to prevent the thermoplastic sheets S1 and S2 having a total thickness of 0.5 to 3.0 mm, in which the first thermoplastic sheet S1 and the second thermoplastic sheet S2 are joined, from being severely melted while being cut at one time, Should have an energy in the range of 20 to 60W per 0.01πmm2. However, in order to prevent work safety problems and damage to the oral cavity model MD by a strong output laser, the lower the output of the laser 232 is, the better.

The present invention provides an embodiment further comprising a marking robot arm 220 having a marking pen 222 on a work end 160 as a means for lowering the output of the laser 232. [

The marking pen 222 is a kind of writing means for displaying an opaque cutting line on the surface of the second thermoplastic sheet S2 before the cutting operation by the robot arm 230 for laser cutting.

In order for the heat of the laser 232 to act effectively on the thermoplastic sheets S1 and S2, the laser light needs to be absorbed well in the thermoplastic sheets S1 and S2. Therefore, when the opaque cutting line is drawn in advance with the marking pen 222, the laser light absorption rate at the cutting edge portion locally increases, so even if the output of the laser 232 is lowered, the thermoplastic sheets S1 and S2 ) Can be cut. If an opaque cutting line is displayed, the output of the laser 232 can be lowered to about 2 to 6 W per 0.01 mm 2.

Marking the opaque cut line with the marking pen 222 has many other advantages. In other words, since the output of the laser 232 is considerably lowered, melting of the thermoplastic sheet S1 and S2 other than the part where the opaque cutting line is marked is not caused, thereby remarkably improving the cutting quality.

It is also possible to use a completely transparent material of the thermoplastic sheets S1 and S2. In other words, if the thermoplastic sheets S1 and S2 are completely transparent, laser light is hardly absorbed, and most of the laser light is transmitted. Therefore, it is very difficult to apply a laser with a considerably high output. However, when an opaque cutting line is displayed, It is easier to apply the laser 232 to the thermoplastic sheets S1 and S2.

When the guide template 10 is made of the transparent thermoplastic sheets S1 and S2, the appearance becomes clear, and even if a label (identification sheet) for displaying the surgical information is inserted between the thermoplastic sheets, the readability is not deteriorated. Because it is easy to observe the surgical tissue during the applied surgery, and it can eliminate the sense of rejection that the patient can feel, it is not only functional and aesthetically advantageous but also clinically very practical. Fig. 6 is a photograph of an example in which the guide template 10 is actually made of thermoplastic sheets S1 and S2 of transparent material.

Further, if necessary, information directly related to the operation may be directly written on the surface of the thermoplastic sheet S which is in close contact with the oral cavity model MD by using the marking pen 222 provided on the marking robot arm 220 It is possible. This can be said to utilize the marking robot arm 220 as if it were a pen plotter.

FIG. 7 is a view showing an integrated system for manufacturing a guide template according to the present invention, to which various kinds of robot arms as described above are applied.

7, it can be seen that the four robot arms of different kinds are arranged on both sides of the path along which the workpiece holder 240 moves.

The work fixture 240 can perform a linear movement along both directions of the straight line. Various known techniques can be applied to the transport mechanism for linearly moving the work fixing table 240. 7, a guide rod 252 is inserted in the middle of the workpiece holder 240 to guide the linear movement of the workpiece holder 240 while the feed screw 254 is moved to one side or both sides of the workpiece holder 240, A transfer mechanism that converts the rotational motion of the transfer screw 254 into a linear motion of the workpiece holder 240 can be applied. Alternatively, although not shown, it is also possible to linearly move the work fixing table 240 using a linear motor.

Here, although not shown, the feed mechanism needs to have a sensor (e.g., a hall sensor) that identifies or grasps the position of the work fixture 240 so that the work fixture 240 can be positioned at a predetermined point . A technique for moving a certain component such as the workpiece fixture 240 to a predetermined point (coordinate) is also a known technique, and thus a detailed description thereof will be omitted here.

On the work fixing table 240, a plate 300 for coordinate synchronization, to which an oral model MD is coupled, is seated. The workpiece support table 240 is formed with a concave seating surface that coincides with the outline of the coordinate synchronization plate 300 so that the coordinate synchronization plate 300 always has a constant direction and position with respect to the workpiece support table 240, And is set at a constant coordinate.

Here, the coordinate synchronization plate 300 corresponds to the coordinate synchronization plate 300 of the above-described Patent Literature 3. One embodiment of the coordinate synchronization plate 300 is shown in Fig. The coordinate synchronization plate 300 includes a plate body 310 having a predetermined thickness and an element formed on the upper surface of the plate body 310 so as to be coupled to the upper surface of the plate body 310. [ And three object fixation elements 320 that prevent rotation or departure of the oral cavity model MD.

The image data obtained through the CT photographing or the like naturally also includes the image of the object fixing element 320. The three reference points extracted from the image of each object fixing element 320 are used to represent the spatial coordinates It is used as a reference point. The implantation plan is established on the computer program using the image data in the state in which the mouth model MD is coupled to the coordinate synchronization plate 300 and the plate 300 for coordinate synchronization always has a constant And the workpiece fixing table 240 moves accurately to a predetermined position by the transfer mechanism. Consequently, all the space coordinates are synchronized with respect to the coordinate synchronization plate 300, and as the processing of each robot arm is planned And can be accurately performed. For details of the coordinate synchronization plate 300, reference can be made to Patent Document 3.

In the bottom surface of the coordinate synchronization plate 300 shown in FIG. 8, it can be seen that an information marker 330 such as a bar code is attached in the form of a sticker. Although not shown, it is also possible to display the information mark 330 directly on the bottom of the coordinate synchronization plate 300 by printing or laser engraving.

The information included in the information mark 330 may include information on the patient who is the owner of the oral cavity model MD, various kinds of processing information on the hole or face processing performed on the oral cavity model MD, Information about the bushing assembly 45 corresponding to each hole machined on the molten metal sheet, information to be written on the surface of the thermoplastic sheet S adhered on the oral cavity model MD, information about the cutting path of the laser 232 May be any one or more of the information.

As described above, various kinds of machining information including holes to be machined into a mouth model (MD) can be transmitted directly to each robot arm on a network as digital information generated according to an implant procedure plan established on a computer program, It is also possible to read the information markers 330 on the bottom surface of each coordinate synchronization plate 300 and read the information markers 330 to the reading device 340 before starting the processing so that the processing information is loaded on each robot arm. Here, FIG. 8 shows a bar code as an example of the information marker 330 containing digital information, and other types of information markers equivalent to bar codes, for example, a QR code and a color code can be used.

A plurality of air passages 242 are formed in a peripheral area surrounding the coordinate synchronization plate 300 on the upper surface of the work fixing table 240. Each of the air passages 242 is connected to a pneumatic device (not shown) to eject compressed air or suck air in the upper surface area of the work fixing table 240 to generate air pressure (positive pressure or negative pressure) As shown in FIG.

When the air is sucked through the air passage 242, the process of tightly attaching the thermoplastic sheet S put on the oral cavity model MD on the coordinate synchronization plate 300 is carried out (Fig. 2 (d) Reference}. On the other hand, the compressed air is ejected through the air passage 242 when the unnecessary portion of the thermoplastic sheet S is cut by the laser 232 and then the cut paper sheet is blown off by the wind.

7, a robot arm 200 for punching and cutting and a robot arm 210 for mounting a bushing assembly are provided in front of a moving path 250 around a linear movement path 250 of a work fixing table 240 And then the laser cutting robot arm 230 and the marking robot arm 220 are arranged to face each other. That is, the four robot arms are arranged on the linear movement path 250 of the workpiece holder 240 in accordance with the manufacturing process sequence of the guide template 10 described above. Here, a bushing assembly supply stand 214 is disposed beside the robot arm 210 for mounting the bushing assembly.

Further, the present invention can further include a thermoplastic sheet feeding and forming apparatus 260, and is disposed behind the linear movement path 250 of the work fixing table 240 according to the embodiment of FIG. The thermoplastic sheet feeding and molding device 260 is an automatic device for performing automatic feeding and thermoforming of a thermoplastic sheet S on an oral cavity MD by placing heat on the thermoplastic sheet S one by one.

According to the embodiment, in accordance with the manufacturing process sequence of the guide template 10, a series of the robot arm for perforation and cutting robot arm 200 / bushing assembly mounting robot 210 arranged to face each other, It is also possible for the thermoplastic sheet feeding and molding apparatus 260 to be disposed between a row of the robot arm 230 for marking and the robot arm 220 for marking. However, in the illustrated embodiment, in order to minimize the scattering of dust scattered during the operation of the punching and cutting robot arm 200, the end of the linear movement path 250 of the work fixing table 240 A thermoplastic sheet feeding and forming device 260 is disposed.

Fig. 9 and Fig. 10 are diagrams showing details of the configuration of the thermoplastic sheet feeding and molding apparatus 260. Fig. The configuration of the illustrated thermoplastic sheet feeding and forming apparatus 260 will be described in detail.

The thermoplastic sheet feeding and forming apparatus 260 has a gantry type body 262 with columns 266 at both ends of the horizontal beam 264. The column 266 of the gantry type body 262 is positioned on both sides of the linear movement path 250 of the workpiece fixture 240 so that the horizontal beam 264 is moved along the linear movement path 250 of the workpiece fixture 240 Cross.

If the body 262 is referred to as the front side facing the workpiece holder 240 when the workpiece fixing table 240 is stopped in front of the thermoplastic sheet feeding and forming apparatus 260, the rear surface of the body 262 is provided with a plurality of thermoplastic sheets S is loaded thereon. Inside the cartridge 268 is provided an elastic means for pushing up the stacked thermoplastic sheet S so that the top thermoplastic sheet S is always positioned on the top surface of the cartridge 268.

Below the horizontal beam 264 of the body 262, there is provided a feeding roller 270 rotatably installed on both the columns 266. A rubber roller 272 is mounted at the center of the feeding roller 270 and the rubber roller 272 is in contact with the uppermost thermoplastic sheet S loaded in the cartridge 268. Accordingly, when the feeding roller 270 rotates, the top thermoplastic sheet S which is in contact with the rubber roller 272 is conveyed forward of the body 262. [ The paper feeding structure of the thermoplastic sheet S can be said to be substantially the same as the paper feeding structure in a general copying machine.

A first fixing plate 274 and a second fixing plate 276 are disposed on the front surface of the body 262 so as to be spaced apart from each other above and below the surface corresponding to the upper surface of the cartridge 268. That is, the thermoplastic sheet S conveyed by the feeding roller 270 enters between the first fixing plate 274 and the second fixing plate 276. The first fixing plate 274 and the second fixing plate 276 have a size such that the oral cavity model MD and the surrounding air passage 242 on the work fixing table 240 located below the first fixing plate 274 and the second fixing plate 276 can be exposed A molding hole 278 is formed.

A pair of rods 280 slidably movable relative to the bottom plate on which the robot arms are installed are fixed to both sides of the first fixing plate 274. A pair of rods 280 are fixed to the second fixing plate 276, A through hole 282 is formed through the through hole. A first spring 284 for holding the gap between the first fixing plate 274 and the second fixing plate 276 includes a first fixing plate 274 and a second fixing plate 276, And a second spring 286 for covering the rod 280 is also provided between the second fixing plate 276 and the bottom plate. A pair of wires 288 are provided outside the rod 280 provided on the first fixing plate 274. The wires 288 are wound around the rotation axis of the motor disposed below the bottom plate have. Here, the modulus of elasticity of the first spring 284 is greater than the modulus of elasticity of the second spring 286.

According to the configuration of the first fixing plate 274 and the second fixing plate 276 as described above, when the wire 288 is wound and pulled down, the elastic modulus of the first spring 284 is adjusted by the elastic modulus of the second spring 286 The first fixing plate 274 is moved downward with the second fixing plate 276 being spaced apart. When the elastic modulus of the compressed state becomes larger than the elastic modulus of the first spring 284 as the second spring 286 is compressed, the first fixing plate 274 moves toward the second fixing plate 276, And then moves together. On the contrary, when the wire 288 is released, the first fixing plate 274 and the second fixing plate 276 gradually separate and move upward in reverse order. The first spring 284 is fixed at its both ends in the seating surface of the spring formed in the first fixing plate 274 and the second fixing plate 276 in such a manner that when the first spring 284 is compressed, So that the first fixing plate 274 and the second fixing plate 276 can be in contact with each other.

When the first fixing plate 274 contacts the second fixing plate 276, the supplied thermoplastic sheet S is fixed therebetween. In this state, when the first fixing plate 274 and the second fixing plate 276 are further lowered The thermoplastic sheet S can be brought into close contact with the oral cavity model MD through the molding hole 278. [ The position at which the elastic modulus of the compressed state is greater than the elastic modulus of the first spring 284 as the second spring 286 is compressed is determined by the shape of the oral cavity through the molding hole 278, The thermoplastic sheet S is pressed between the first fixing plate 274 and the second fixing plate 276 in a state of being fixed between the first fixing plate 274 and the second fixing plate 276 so as to surround the oral cavity MD. Here, the thermoplastic sheet S is heated to an appropriate temperature by the electric heating device 290 to be described later, becomes flexible, and air is sucked by the air passage 242 provided on the upper surface of the work fixing table 240, The thermoplastic sheet S is brought into close contact with the oral cavity model MD by atmospheric pressure. The thermoplastic sheet S adhering to the oral cavity model MD is cured at room temperature. In this state, when the first / second fixing plate 276 is lifted, the state in which the thermoplastic sheet S is fixed therebetween is released The thermoplastic sheet S wrapped around the mouth model MD is left as it is.

The electric heating device 290 is installed on the upper surface of the horizontal beam 264 of the body 262 so as to face the forming holes 278 of the first and second fixing plates 274 and 276. The electric heating device 290 heats the thermoplastic sheet S at a suitable temperature, for example, a temperature in the range of 70 to 80 占 폚 to impart flexibility to the thermoplastic sheet S uniformly along the complicated shape of the oral cavity model MD ) Are brought into close contact with each other. As the electric heating device 290, various known technologies such as an infrared heater and an electric heating line can be applied.

The manufacturing system of the guide template according to the present invention having the above-described configuration includes a step of machining a hole for fixing the bushing assembly 45 on the oral cavity model MD, The step of inserting and fixing the bushing assembly 45, the step of attaching the thermoplastic sheet S to the mouth model MD, and the step of cutting the unnecessary part of the thermoplastic sheet S are all performed automatically and the manual work of the operator is minimized The guide template 10 can be manufactured quickly and the quality of the product can be uniformly improved.

While the present invention has been particularly shown and described with reference to preferred embodiments thereof, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined by the appended claims. It will be possible. Accordingly, the scope of the present invention will be determined by the description of the claims and their equivalents.

10: guide template 40: bushing
45: bushing assembly 50: identification paper
100: robot arm 110: base
120: first arm 130: second arm
140: third arm 150: fourth arm
160: Work end 170: Work end
200: Robot arm for drilling and cutting
202: Machining tool 204: injection nozzle
210: Robot arm for mounting a bushing assembly
212: gripper 214: bushing assembly supply stand
220: Robot arm for marking 222: Marking pen
230: Robot arm for laser cutting
232: laser 240: workpiece holder
242: air passage 250: linear travel path
252: Guide rod 254: Feed screw
260: Thermoplastic sheet feeding and forming device
262: body 264: horizontal beam
266: column 268: cartridge
270: feeding roller 272: rubber roller
274: first fixing plate 276: second fixing plate
278: Molding hole 280: Rod
282: through hole 284: first spring
285: spring seating surface 286: second spring
288: Wire 290: Electric heating device
300: Plate for coordinate synchronization
310: plate body 320: object fixing element
330: information mark 340: reading device
MD: Impression Model
B: buccal L: lingual
O: Occlusal H: Height of contour
U: undercut S: thermoplastic sheet
S1: first thermoplastic sheet S2: second thermoplastic sheet
VC: Vacuum LS: Laser

Claims (19)

A plurality of robot arms capable of performing 6 degrees of freedom movement in the order of "rotation-tilting-tilting-rotation-tilting-rotation" from the base to the working end of the end,
Wherein the plurality of robot arms
A robot arm for punching and cutting with a machining tool mounted on the worktable;
A robot arm for mounting a bushing assembly having a gripper mounted on the worktable; And
A robot arm for laser cutting equipped with a laser at the working end;
/ RTI >
Wherein the plurality of robot arms are arranged around a work fixing table that can stop at a predetermined point while linearly moving along both directions of a linear movement path,
Wherein the drilling and cutting robot arm is provided with a hole for machining or surface processing a hole for fixing the bushing assembly on the oral cavity model disposed on the upper surface of the workpiece fixing table with the processing tool,
The robot arm for mounting the bushing assembly inserts the bushing assembly into the hole machined on the mouth model with the gripper,
Wherein the robot arm for cutting a laser cuts the thermoplastic sheet adhered on the oral cavity model with the laser so that the thermoplastic sheet can be separated from the oral cavity model. The method according to claim 1,
Wherein a bushing assembly supply block for supplying the bushing assembly is installed in a working range of the robot arm for mounting the bushing assembly. The method according to claim 1,
Further comprising, as one of the plurality of robot arms, a marking robot arm having a marking pen mounted on the work end,
Wherein the marking robot arm displays an opaque cutting line on the surface of the thermoplastic sheet adhered on the mouth model with the marking pen and cuts the thermoplastic sheet with the laser of the robot arm for cutting the cut along the cutting line Features integrated guide system for manufacturing of templates. The method of claim 3,
Wherein the marking robot arm writes information related to surgery on the surface of the thermoplastic sheet closely attached to the oral cavity model with the marking pen. The method of claim 3,
Wherein the output of the laser is lower than the output capable of cutting the thermoplastic sheet without the cutting line at one time. 6. The method of claim 5,
Wherein the output of the laser is in the range of 2 to 6 W per 0.01 pi < 2 >. The method of claim 3,
Wherein the thermoplastic sheet is a transparent material. The method according to claim 1,
Wherein the work end of the robot arm for perforating and cutting is further provided with a spray nozzle for spraying compressed air. The method according to claim 1,
A plurality of air passages are formed in a peripheral region surrounding the oral cavity model on the upper surface of the workpiece fixing stand, and air or air is sucked through the air passageway to selectively or positively pressurize or compress air around the oral cavity model Wherein the first and second molds are integrally formed. 10. The method of claim 9,
Wherein the coordinate synchronization plate to which the oral cavity model is coupled is seated in a predetermined direction and position with respect to an upper surface of the workpiece fixing table and the plurality of air passages are formed so as to surround the plate for coordinate synchronization. Manufacturing integrated system. 11. The method of claim 10,
Wherein the bottom surface of the plate for coordinate synchronization contains patient information for the oral cavity model, processing information for the oral cavity model, information about the bushing assembly corresponding to each hole machined on the oral cavity model, thermoplastic Information to be written on a sheet surface, and information on a cutting path of the laser. 12. The method of claim 11,
Further comprising a reading device for reading the information indicia. The method of claim 3,
The robot arm for perforating and cutting and the robot arm for mounting the bushing assembly are arranged to face each other on the front of the movement path about the linear movement path of the workpiece fixing table, Wherein the robot arm is arranged to face the robot arm. 14. The method according to any one of claims 1 to 13,
Further comprising a thermoplastic sheet feeding and molding device for feeding and heating the thermoplastic sheet one by one onto the oral cavity model. 15. The method of claim 14,
Wherein the thermoplastic sheet feeding and molding apparatus is disposed behind the linear movement path of the workpiece fixing table. 15. The method of claim 14,
The thermoplastic sheet feeding and molding apparatus includes:
A horizontal beam crossing a linear movement path of the work fixture, and a column at both ends of the horizontal beam;
A cartridge disposed on a rear surface of the body and having a plurality of the thermoplastic sheets elastically loaded;
A feeding roller rotatably installed below the horizontal beam of the body, for feeding the uppermost thermoplastic sheet loaded on the cartridge forward;
The cartridge being arranged on the front surface of the body so as to be spaced apart from and above the surface corresponding to the upper surface of the cartridge and being movable up and down relative to the oral cavity model on the workpiece holder, A first fixing plate and a second fixing plate on which molding holes having a size are formed; And
An electric heating device protruding from the horizontal beam of the body so as to face the forming holes of the first fixing plate and the second fixing plate;
The template integration system comprising: 17. The method of claim 16,
A pair of rods which are slidable relative to a mounting surface of the robot arms are fixedly installed on both sides of the first fixing plate,
Wherein the second fixing plate is formed with a through hole through which the pair of rods pass,
Wherein a first spring for holding a gap between the first fixing plate and the second fixing plate surrounds the rod and is provided between the first fixing plate and the second fixing plate,
A second spring for enclosing the rod is provided between the second fixing plate and the mounting surface,
And one end of a pair of wires moving in the vertical direction is fixed to the first fixing plate. 18. The method of claim 17,
Wherein a position at which the elastic modulus of the first spring is greater than an elastic modulus of the second spring and a modulus of elasticity of the second spring when the second spring is compressed is greater than an elastic modulus of the first spring, Wherein the thermoplastic sheet is just before the thermoplastic sheet adheres to the oral cavity model. 17. The method of claim 16,
Wherein the electric heating apparatus heats the thermoplastic sheet to a temperature in the range of 70 to 80 占 폚.

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