KR102075609B1 - Control method for automated robot of dental equipmet - Google Patents

Abstract

The present invention relates to a method for controlling a dental equipment automation robot. More specifically, the method comprises: a step (a) of adjusting the position of a handpiece through free movement by an operation module including a robot arm and the handpiece mounted on the robot arm; a step (b) of storing position adjustment data of the handpiece from the step (a) in a memory unit; a step (c) of setting a drilling depth of a drill mounted on the handpiece by a data input unit; and a step (d) of storing drilling depth data set by the step (c) in the memory unit; and a step (e) of allowing a driving control unit to operate the operation module in accordance with the position adjustment data and the drilling depth data stored in the memory unit. In other words, the position of a handpiece is adjusted through free movement of a robot arm having the handpiece for dental implantation mounted thereon, a drilling depth to be drilled by a drill of the handpiece is set, and position adjustment data and depth data are stored, and with the stored data, the robot arm and the handpiece are automatically controlled to the position, direction and depth to be implanted, thereby realizing stable implantation and increasing precision of the implantation.

Description

Control method for automated robot of dental equipmet}

The present invention adjusts the position of the handpiece through the free movement of the robot arm equipped with the handpiece for dental implant surgery, setting the cutting depth to be placed by the position adjustment data and the drill of the handpiece and stores the depth data By using the data stored in this way, the robot arm and the handpiece are automatically controlled to the position, direction, and depth to be implanted, thereby providing a stable implant procedure and a method for automating an automated robot control method that can increase the precision of the procedure. .

In general, the dental implant method is to determine the position and direction to be performed in the oral cavity of the patient in need of treatment by fastening a drill according to the implant system to a handpiece connected to the dental implant motor. The procedure is performed by the operator's hand to the desired depth.

In this case, the above procedure is performed in a narrow oral cavity, so it is difficult to secure the field of vision to be treated, and the diameter of the hole is widened by changing the size from a drill having a large diameter to a drill having a large diameter for a single implant procedure. . In this case, the cutting of the bone due to shaking due to handpiece rolling (up and down movement) in the process of changing the diameter of the drill and repeating the procedure may cause errors such as position, direction, angle and depth. The occurrence of such an error not only makes the procedure difficult, but also has a problem that does not give anxiety or trust to the patient.

Republic of Korea Registration Room No. 20-0408638 (released on February 6, 2006)

The present invention has been made to solve the above problems,

The robot arm equipped with the handpiece for dental implant surgery can be adjusted to freely move the position of the handpiece, and the position data and the depth of cut to be placed by the drill of the handpiece are set and stored. One object of the present invention is to enable stable implant surgery by automatically controlling the robot arm and the handpiece to the position, direction, and depth to be placed using the data.

The present invention is to cut the bone to a desired diameter by sequentially increasing the size of the drill from a small diameter drill to a large diameter drill for implantation, in this case the precision of the procedure by precisely controlling the handpiece to the stored position, direction and depth Another purpose is to increase the

According to the present invention, there is provided a method for controlling an automated robot with a device, the method comprising: (a) adjusting a position of the handpiece through free movement by a motion module comprising a robot arm and a handpiece mounted on the robot arm; (b) storing the position adjustment data of the hand fish according to step (a) in the memory unit; (c) setting a cutting depth by a drill mounted to the handpiece by a data input unit; (d) storing the cutting depth data set by the step (c) in the memory unit; And (e) driving the operation module by the driving control unit according to the position adjustment data and the cutting depth data stored in the memory unit.

After storing the data by the memory unit according to the present invention, characterized in that it further comprises the step of selecting the drill mode or the insertion mode by the handpiece according to a specific speed by the execution mode selection unit.

The memory unit according to the present invention is characterized by designating a memory address for storing the position adjustment data, the cutting depth data and the selection mode.

After the position adjustment of the handpiece by the operation module according to the present invention, an input data selection unit for determining the position adjustment data is further provided, and if there is an error of the position adjustment data by the input data selection unit (a) Returning to the step is characterized in that to perform the position adjustment of the handpiece again through the free movement by the operation module.

 On the other hand, the device automation robot control apparatus according to the present invention comprises a robot arm, a handpiece mounted on the robot arm, the operation module for adjusting the position of the handpiece through the free movement of the robot arm; And a controller comprising a memory unit, a data input unit, and a drive control unit, wherein the data input unit sets and inputs a cutting depth by a drill mounted to the handpiece, and the memory unit is configured by the hand by the operation module. The position adjustment data of the piece and the cutting depth data by the data input unit are stored, and the driving control unit drives the operation module according to the position adjustment data and the cutting depth data stored by the memory unit.

The controller according to the invention is characterized in that it further comprises an execution mode selection unit for selecting a drill mode or a mounting mode of the handpiece according to a specific speed.

According to the present invention, a method for controlling an automated robot according to the present invention adjusts the position of a handpiece through free movement of a robot arm equipped with a dental dental implant handpiece, and cuts depth to be placed by positioning data and a drill of the handpiece. It saves the setting and depth data, and by using the stored data, the robot arm and the handpiece can be controlled automatically by the position, direction, and depth to be placed.

In addition, the present invention is to cut the bone to the desired diameter by sequentially increasing the size of the drill from a small diameter drill to a large diameter drill for implantation, in this case the procedure by precisely controlling the handpiece to the stored position, direction and depth The precision can be increased.

1 and 2 are a perspective view showing a dental appliance automation robot control system according to the present invention,
3 is a flow chart showing a method for controlling a device automation robot according to the present invention;
4 is a detailed flow chart showing a method for controlling an automated robot according to the present invention;
5 is a conceptual view showing a device for automated dental robot control according to the present invention.

In order to explain the present invention, the operational advantages of the present invention, and the objects achieved by the practice of the present invention, the following describes exemplary embodiments of the present invention and looks at it with reference.

First, the terminology used herein is for the purpose of describing particular example embodiments only and is not intended to be limiting of the invention, and the singular forms "a", "an" and "the" may include the plural forms as well, unless the context clearly indicates otherwise. Also in this application, terms such as "comprise" or "have" are intended to indicate that there is a feature, number, step, operation, component, part, or combination thereof described on the specification, one or more other It is to be understood that the present invention does not exclude in advance the possibility of the presence or the addition of features or numbers, steps, operations, components, parts, or combinations thereof.

In describing the present invention, when it is determined that the detailed description of the related well-known configuration or function may obscure the gist of the present invention, the detailed description thereof will be omitted.

As shown in Figures 1 to 4, the dental instrument automation robot control method according to the invention (a) step (S100), adjusting the position of the handpiece (H) through the free movement of the robot arm (RA) (B) step (S200) of storing the position adjustment data of the piece (H), (c) step (S300) of setting the cutting depth by the drill (D) of the handpiece (H), storing the depth data ( and d) driving the robot arm RA and the handpiece H according to the step S400 and the stored positioning data and the cutting depth data.

First, as shown in Figures 1 to 4 (a) step (S100) according to the present invention is composed of a robot arm (RA) and the handpiece (H) mounted through the cradle 100 to the robot arm (RA). By the operation module 20 is to adjust the position of the handpiece (H). In this case, through the free movement of the robot arm (RA) and the handpiece (H), the operator adjusts the position, direction and angle for cutting the bone in the oral cavity of the patient in the drill mounted on the handpiece (H) .

To this end, as shown in FIGS. 1 and 2, a control box CB is provided, and the controller 10 is embedded in the control box CB. In addition, the front of the control box (CB) is provided with a user interface (UI), that is, a display or a touch panel to provide various interfaces for control such as data input and execution commands.

In addition, the free movement of the robot arm (RA) and the handpiece (H) can ensure user convenience by setting and implementing the direction of movement through the joystick. In addition, when the operator manually moves freely, the positioning accuracy may be degraded due to shaking or shaking, but in this case, the positioning accuracy may be improved by removing the instability through the joystick.

In this case, as shown in FIG. 5, the controller 10 embedded in the control box CB controls the dental robot arm RA and the handpiece H according to the present invention, and for this purpose, the data input unit 11. And a memory unit 13 and a drive control unit 15. In addition, the execution mode selection unit 17 is provided to perform the procedure by distinguishing the drill mode 17a and the implantation mode 17b.

However, if the position adjustment is completed through the free movement in step (a) (S100), but there is an error in the position adjustment data, the set position adjustment data is not selected, and the procedure is returned to the operation module 20 again. Position adjustment is performed again by free movement. On the contrary, if there is no error in the positioning data, the positioning data set through the next step (b) (S200) is stored in the memory unit 13. To this end, the controller 10 is provided with a data input selection unit 11a to determine the error of the position adjustment data.

As shown in Figures 1 to 4 (b) step (S200) according to the present invention (a) step of the operation module 20, that is, the robot arm (RA) and the handpiece (H) through step (S100) When the position adjustment of the handpiece H is completed and set through free movement, the set position adjustment data is stored in the memory unit 13 of the controller 10.

In this case, the memory unit 13 can designate a memory address for storing the position adjustment data. Designating such a memory address can increase the efficiency in managing the patient's data. However, the memory address designation by the memory unit 13 may be designated at the time of storing the data after setting not only the position data but also the execution mode selection (drill mode 17a or implantation mode 17b) and cutting depth data. In the designated memory address, final data such as a positioning direction, an angle, an execution mode, and a cutting depth may be stored.

As shown in Figures 1 to 4 (c) step (S300) according to the present invention is the depth of cut for cutting the bone of the patient for implant placement after the position adjustment data is stored in (b) step (S200) Will be set. In this case, the data input unit 11 sets and inputs the cutting depth through cutting the bone for implantation. The depth of cut may vary from patient to patient and from procedure to implant.

As shown in Figure 1 to Figure 4 (d) step (S400) according to the present invention is the cutting depth of the bone is set by the step (c) (S300) is input through the data input unit 11, the memory unit ( 13) the cutting depth data is stored.

The cutting depth data set as described above is stored in the memory unit 13. In this case, the position adjustment data and the cutting depth data can be stored by designating a memory address. The information stored with the designated memory address is required to change or modify some data when managing the same patient. For the data setting, the entire process, ie, free movement, position adjustment, storage of position adjustment data, cutting depth data setting and It is possible to modify or change only some data that need to be modified or changed among the data stored in the designated memory address without performing the storing process. Therefore, it is easy to manage and modify data.

In addition, the same patient can utilize the data of the patient stored in the assigned memory address, so that not only the previous information can be accurately understood, but also the operator does not perform a separate action for repositioning to obtain the patient's information. It may not be possible to enable an efficient procedure.

After storing the position adjustment data and the cutting depth data in the memory unit 13 by performing steps (a) to (d) step S400 in this manner, the drill mode 17a is executed by the execution mode selection unit 17. ) Or (d ') step S410 to select the implantation mode 17b.

In this case, the drill mode 17a is operated slowly or at a high speed in a specific direction and depth of cut through a fixed execution at a specific position to minimize the shaking of the handpiece H entering the mouth. ) Will be activated.

The insertion mode 17b is operated slowly in a specific direction and depth of cut through a fixed execution at a specific position to operate the handpiece H in a direction that can minimize the shaking of the handpiece H entering the oral cavity.

In this case, the mode data by the drill mode 17a and the implantation mode 17b store the confirmed data in the memory unit 13 in consideration of the characteristics of the fitting mechanism of each mode.

Accordingly, in step (d ′) (S410), the drill mode 17a or the implantation mode 17b is selected according to a specific speed for the procedure by the execution mode selector 17 of the controller, and the operation module is selected according to the selected mode. The procedure is performed by driving 20.

As shown in Figures 1 to 4 (e) step (S500) according to the present invention is the position adjustment data, cutting depth data, mode stored in the memory unit 13 by the drive control unit 15 of the controller 10 The operation is performed by driving the operation module 20 according to the data.

In this case, the diameter of the hole is widened by changing the size from a drill having a small diameter to a drill having a large diameter for a single implant procedure. Therefore, the bone is first cut using a small diameter drill, and then the drill diameter is increased to a larger size and the bone is cut several times.

That is, in the control method and control apparatus of the jig automation robot according to the present invention, when the same procedure is performed several times by changing the size of the drill during the implant procedure, the data initially set is stored in the memory unit 13. The same procedure can be implemented according to the data stored in the memory unit 13 in the subsequent procedure.

Therefore, not only can the procedure's identity and accuracy be improved, but it also enables stable and reliable implant treatment by eliminating the error caused by handpiece (H) rolling or shaking, which can occur when the operator's manual operation. Can be.

The control device for implementing the device automation robot control method as described above is configured as shown in FIG.

Hereinafter, in describing the device automation robot control apparatus, duplicated descriptions will be omitted for clarity of the invention with respect to the configuration described in the above-described control method. However, the same component indicates that the same function and function.

As shown in Fig. 1, Fig. 2 and Fig. 5, the dental appliance automation robot control apparatus according to the present invention comprises a robot arm (RA), a handpiece (H) mounted on the robot arm (RA), robot arm The controller 10 includes an operation module 20 for adjusting the position of the handpiece H through free movement of the RA, a memory unit 13, a data input unit 11, and a drive control unit 15. It is made to include.

First, the robot arm RA of the operation module 20 is a product used previously, and the operation or function thereof will be omitted. In addition, the handpiece (H) of the operation module 20 is coupled to the cradle 100 mounted on the robot arm (RA). Handpiece (H) is configured to be detachable to a variety of drills can be used interchangeably in accordance with the type of procedure or patient.

Next, the data input unit 11 of the controller 10 sets and inputs the cutting depth by the drill mounted on the handpiece H, and the memory unit 13 inputs the handpiece H by the operation module 20. Position adjustment data) and cutting depth data by the data input unit 11 are stored. The drive control unit 15 drives the operation module 20 according to the position adjustment data and the cutting depth data stored by the memory unit 13.

In this case, the memory unit 13 may be an internal memory, and may include a hard disk drive, a flash memory, an electrically erasable programmable read-only memory (EEPROM), a static RAM (SRAM), a ferro-electric RAM (FRAM), and a PRAM (Phase-). in combination with nonvolatile memory such as change RAM (MRAM), magnetic RAM (MRAM), or the like, or volatile memory such as dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), and double date rate-SDRAM (DDR-SDRAM). Can be configured.

In addition, the controller 10 is provided with an execution mode selector 17 for selecting the drill mode 17a or the implantation mode 17b of the handpiece H according to a specific speed, and selects a mode according to the procedure type. If necessary, the selected mode data can be stored in the memory unit 13, and a memory address can be designated.

As described above, the present invention has been described with reference to one embodiment shown in the drawings, but this is merely exemplary, and those skilled in the art may various modifications and other equivalent embodiments therefrom. Will understand.

Therefore, the true technical protection scope of the present invention will be defined by the technical spirit of the appended claims.

RA: Robot Arm H: Handpiece
CB: Control Box UI: User Interface
10: controller
11: data input section 11a: data input selection section
13: memory section
15: drive control unit 17: run mode selection unit
17a: Drill Mode 17b: Placement Mode
20: motion module
100: holder

Claims (6)

(A) adjusting the position of the handpiece (H) through the free movement by the operation module 20 consisting of the robot arm (RA) and the handpiece (H) mounted on the robot arm (RA) ( S100);
(b) storing the position adjustment data of the handpiece (H) by the step (a) in the memory unit (S200);
(c) setting the cutting depth by the drill mounted to the handpiece (H) by the data input unit (11) (S300);
(d) storing the cutting depth data set by the step (c) (S300) in the memory unit (S400); And
and (e) driving the operation module 20 by the driving controller 15 according to the position adjustment data and the cutting depth data stored in the memory unit 13 (S500).
After storing the data by the memory unit 13, by the execution mode selection unit 17 to select the drill mode (17a) or the implantation mode (17b) by the handpiece (H) according to a specific speed (S410) ),
And the memory unit 13 designates a memory address for storing the position adjustment data, the cutting depth data, and the selection mode.
delete delete The method of claim 1,
After adjusting the position of the handpiece H by the operation module 20, a data input selection unit 11a for determining the position adjustment data is further provided.
If there is an error in the position adjustment data by the data input selection unit 11a, the process returns to the step (a) to perform the position adjustment of the handpiece H again through free movement by the operation module 20. Automated robot control method, characterized in that.
delete delete

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