KR20170143303A

KR20170143303A - Apparatus of manufacturing guide template for dental implant surgery

Info

Publication number: KR20170143303A
Application number: KR1020160077368A
Authority: KR
Inventors: 이태경; 토시아키 요시노; 유욱재; 정제교; 최진혁
Original assignee: 이태경; 토시아키 요시노
Priority date: 2016-06-21
Filing date: 2016-06-21
Publication date: 2017-12-29
Also published as: KR101845488B1; WO2017222289A1

Abstract

The guide template manufacturing apparatus includes a robot arm capable of performing six degrees of freedom movement in the order of "rotation-tilting-tilting-rotation-tilting-rotation" from a base to a working end at an end; And a laser cutting machine and a marking pen mounted on the working stage, wherein a cutting line opaque with the marking pen is displayed on the surface of the thermoplastic sheet closely attached to the oral cavity model, and the thermoplastic resin So that the sheet can be separated from the oral cavity model.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to an apparatus for manufacturing a guide template for a dental implant,

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for manufacturing a guide template capable of guiding an implant, particularly, a surgical procedure at the time of dental implant operation, to proceed precisely as planned.

Implant refers to implantation of an artificial root (fixture) made of a metal (mainly titanium or titanium alloy) having excellent biocompatibility on the alveolar bone of a defective tooth portion to be fixed by fusion with the alveolar bone tissue and then forming an artificial tooth 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 a bone model that is a book. 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.

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 an apparatus 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 an apparatus for manufacturing a guide template which can automatically perform a finishing operation which is likely to adversely affect the quality of a final product as the guide template proceeds by hand.

The apparatus for manufacturing a guide template according to the present invention comprises: a robot arm capable of performing six degrees of freedom movement in the order of "rotation-tilting-tilting-rotation-tilting-rotation" from a base to a working end at an end; And a laser cutting machine and a marking pen mounted on the working stage, wherein a cutting line opaque with the marking pen is displayed on the surface of the thermoplastic sheet closely attached to the oral cavity model, and the thermoplastic resin So that the sheet can be separated from the oral cavity model.

Here, the output of the laser cutter is lower than the output capable of cutting the thermoplastic sheet without the cut line at one time. According to an embodiment of the present invention, the output of the laser cutter is in the range of 2 - 6W. &Lt; / RTI >

The thermoplastic sheet may be made of a transparent material.

The cutting line is preferably displayed such that the thermoplastic sheet includes an undercut portion of the tooth on the oral cavity model.

Meanwhile, the thermoplastic sheet may include a first thermoplastic sheet directly adhered to the oral cavity model, and a second thermoplastic sheet bonded to the outside of the first thermoplastic sheet and having a greater thickness.

In one embodiment of the present invention, the thickness of the first thermoplastic sheet is in the range of 0.3 to 0.75 mm, and the thickness of the second thermoplastic sheet may be in the range of 0.5 to 3.0 mm.

The material of the thermoplastic sheet may be at least one resin selected from the group consisting of polyethylene (PE), polyvinyl chloride (PVC), acrylic, ABS, and polycarbonate.

The apparatus for manufacturing a guide template according to the present invention having the above-described structure can accurately cut a thermoplastic sheet according to operation information designed on a computer program, and it is possible to fundamentally solve the problem of defective guide templates due to mistakes that may occur during manual operation have.

In particular, the apparatus for manufacturing a guide template of the present invention is configured to display an opaque cutting line before cutting with a laser, and the cutting line has an effect of increasing the absorption rate of the laser, , Thereby solving many problems that may arise when using high power lasers.

In addition, the present invention has the advantage that it is possible to manufacture a guide template with a thermoplastic sheet of transparent material, in which the laser beam irradiated is hardly acted effectively by previously displaying an opaque cutting line on the surface of the thermoplastic sheet.

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 a guide template manufacturing apparatus according to the present invention.
Fig. 5 is a side view of the guide template production apparatus of Fig. 4; Fig.
6 is a photograph of a guide template made of a transparent thermoplastic sheet.

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.

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). &Lt; / 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, And the bushing 40 is detachably fixed by the fixing pin after the hole is precisely machined. 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.

Heating the first thermoplastic sheet S1 to an appropriate temperature is for imparting flexibility. It is sufficient to apply heat at a temperature at which there is no problem in hand-holding, for example, 70 to 80 占 폚 without melting, Do. 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, which is thicker than the first thermoplastic sheet S1 adhered to the oral cavity model MD, is disposed, (VC) between the second thermoplastic sheet S2 and the first thermoplastic sheet S1 while applying heat to the second thermoplastic sheet S2 (70 to 80 占 폚) to form the first thermoplastic sheet S1 The second thermoplastic sheet S2 is adhered to the surface of the second thermoplastic sheet S2.

Here, the thickness of the second thermoplastic sheet S2 is thicker than that of the first thermoplastic sheet S1. This is accomplished by closely adhering closely to the surface of the complicated-shaped oral cavity model MD using the thin first thermoplastic sheet S1 to precisely capture the basic shape of the guide template 10 and then to form the thick second thermoplastic sheet S2 So as to reinforce the structural strength.

If necessary, the third and fourth thermoplastic sheets may be further bonded on the second thermoplastic sheet S2 in the same manner. Alternatively, two layers of the first / second thermoplastic sheets S1 and S2 having different thicknesses may be used The creation of the guide template 10 will be key.

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 The problem in the prior 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.

Here, a cutting mechanism such as a knife, a saw, a dental bur, or a laser (LS) may be used for cutting the mutually bonded first thermoplastic sheet S1 and the second thermoplastic sheet S2. Particularly, in order for the guide template 10 to be stably mounted in the oral cavity, the undercut U must be accurately cut so as to sufficiently cover the undercuts U at the buccal side B and / or the lingual side L of the teeth. There is a risk that the guide template 10 will be damaged due to a small machining mistake that may occur in manual operation.

Accordingly, the present invention provides an apparatus for accurately cutting a first thermoplastic sheet S1 and a second thermoplastic sheet S2 that are mutually bonded onto an oral cavity MD.

Fig. 4 is a perspective view showing an apparatus for manufacturing the guide template 10 according to the present invention, more precisely, an apparatus for cutting the guide template 10. Fig.

The illustrated apparatus is a robot 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- &Lt; / 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 working 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 a sphere 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 of the present invention includes a first thermoplastic sheet S1 and a second thermoplastic sheet S2, which are mutually bonded on an oral cavity MD, It is possible to perform 6 degrees of freedom movement in the order of "Rotating - Tilting - Tilting - Rotating - Tilting - Rotating (RTTRTR)" in order to work along the inside and outside of the Palace.

The workpiece 170 to be mounted on the work end 160 positioned at the distal end of the robot arm 100 is a laser cutter 172 and a marking pen 174. [ The laser cutter 172 is a workpiece 170 that melts and cuts the thermoplastic sheets S1 and S2 using laser heat. When the thermoplastic sheets S1 and S2 are cut with a laser, Therefore, it is possible to reduce or eliminate the post-processing, which is the most desirable cutting edge.

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 to each other at a time, The output shall have an energy in the range of 20 to 60W per 0.01πmm2. However, the lower the output of the laser cutter 172 is, in order to prevent work safety problems and damage to the oral cavity model MD by the strong output laser, the more preferable.

Accordingly, the present invention is equipped with a marking pen 174 on the work end 160 as a means for lowering the output of the laser cutter 172. The marking pen 174 is a kind of writing means for displaying an opaque cutting line 180 on the surface of the second thermoplastic sheet S2 in advance before the cutting operation by the laser cutter 172. In order for the heat of the laser 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 cut line 180 is drawn in advance with the marking pen 174, the laser light absorption rate at the cut line 180 is locally increased. Therefore, even if the output of the laser cutter 172 is lowered, The thermoplastic sheets S1 and S2 can be cut. When the opaque cutting line 180 is displayed, the output of the laser cutter 172 can be lowered to about 2 to 6 W per 0.01? Mm 2.

Displaying the opaque cut line 180 with the marking pen 174 has many other advantages. In one of them, since the output of the laser cutter 172 is considerably lowered, melting is not caused in the thermoplastic sheet S1 and S2 other than the portion where the opaque cutting line 180 is marked, and the cutting quality is remarkably improved.

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, the laser beam is hardly absorbed and most of the laser beam is transmitted. Therefore, it is very difficult to apply a laser with a considerably high output, The laser cutter 172 can be easily applied to the transparent thermoplastic sheets S1 and S2.

The appearance of the guide template 10 made of the transparent thermoplastic sheets S1 and S2 becomes clear and the readability is not deteriorated even if a label (identification paper) for displaying the surgical information is inserted between the thermoplastic sheets. Since it is easy to observe the surgical tissue and 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.

The operation of the robot arm 100 is operated in accordance with the input operation information (position information, operation order, etc.), as is the case with other general robot arms capable of automatic operation. The movement path through which the opaque property line is drawn and along which the laser cutter 172 moves is established by using three-dimensional scan data, CT data or the like taken from the patient's internal structure. As described above, the current dental procedure basically obtains the 3D scan data or the CT data, and then the overall plan is established based on this. Therefore, it is possible to design a cutting line that sufficiently encloses the undercut U on a computer program based on image data in which tissues such as teeth, gums, and the like, which have already been acquired before the creation of the guide template, To automatically perform the operation.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it will be understood by those of ordinary skill in the art that various changes in form and details may be made therein 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
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
172: laser cutter 174: marking pen
180: Cutting line 200: Workbench
MD: Impression Model
B: buccal L: lingual
O: Occlusal H: Height of contour
U: Undercut
S1: first thermoplastic sheet S2: second thermoplastic sheet
VC: Vacuum LS: Laser

Claims

A robot arm 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; And
A laser cutter and a marking pen mounted on the worktable;
/ RTI >
Characterized in that a cutting line opaque with the marking pen is displayed on the surface of the thermoplastic sheet adhered on the mouth model and the thermoplastic sheet is cut along the cutting line so that the thermoplastic sheet can be separated from the mouth mold by the laser cutter Template manufacturing apparatus.

The method according to claim 1,
Wherein an output of the laser cutter is lower than an output capable of cutting the thermoplastic sheet without the cutting line at a time.

3. The method of claim 2,
Wherein the output of the laser cutter is in the range of 2 to 6 W per 0.01 [pi] 2 mm < 2 >.

The method according to claim 1,
Wherein the thermoplastic sheet is made of a transparent material.

The method according to claim 1,
Wherein the cutting line is displayed such that the thermoplastic sheet includes an undercut portion of teeth on the oral cavity model.

6. The method according to any one of claims 1 to 5,
Wherein the thermoplastic sheet comprises a first thermoplastic sheet directly adhered to the oral cavity model and a second thermoplastic sheet bonded to an outer side of the first thermoplastic sheet and having a greater thickness.

The method according to claim 6,
Wherein the thickness of the first thermoplastic sheet is 0.3 to 0.75 mm.

8. The method of claim 7,
Wherein the thickness of the second thermoplastic sheet is 0.5 to 3.0 mm.

The method according to claim 1,
Wherein the material of the thermoplastic sheet is at least one selected from the group consisting of polyethylene (PE), polyvinyl chloride (PVC), acrylic, ABS and polycarbonate. .