WO2018044145A1

WO2018044145A1 - Integrated system of manufacturing guide template for dental implant procedure

Info

Publication number: WO2018044145A1
Application number: PCT/KR2017/009708
Authority: WO
Inventors: 이태경
Original assignee: 이태경
Priority date: 2016-09-05
Filing date: 2017-09-05
Publication date: 2018-03-08
Also published as: KR101838229B1

Abstract

Disclosed is an integrated system, which is for manufacturing a guide template and includes a plurality of robot arms capable moving with six degrees of freedom, in the sequence of "rotating-tilting-tilting-rotating-tilting-rotating", from a base to a working end on the distal end. The plurality of robot arms includes: a robot arm, which is for drilling and cutting, and includes a machining tool mounted to the working end; a robot arm, which is for mounting a bushing assembly, and includes a gripper mounted to the working end; and a robot arm, which is for laser cutting, and includes a laser mounted to the working end. The plurality of robot arms are disposed around a fixing stand for an object to be processed, the fixing stand being capable of stopping at a predetermined position while moving linearly in both directions along a straight moving path. The robot arm for drilling and cutting uses the machining tool to process a hole for fixedly installing a bushing assembly on an oral cavity model disposed on a top surface of the fixing stand for an object to be processed, or to perform surface processing. The robot arm for mounting the bushing assembly uses the gripper to insert and fix the bushing assembly into the processed hole defined in the oral cavity model. The robot arm for laser cutting uses the laser to cut a thermoplastic sheet pressed against the oral cavity model so that the thermoplastic sheet can be separated from the oral cavity model.

Description

INTEGRATED SYSTEM FOR MANUFACTURING A GUIDE TEMPLATE FOR DENTAL IMPLANT SURGERY}

The present invention relates to an automated integrated system capable of producing batches of guide templates that can guide the surgical procedure during implantation, particularly dental implant procedures, to proceed precisely as planned.

Implants are implanted artificial teeth (fixtures) made of highly biocompatible materials (usually titanium or titanium alloys) on the alveolar bone of the missing tooth, fused with the alveolar bone tissue, and then formed by artificial teeth on the artificial tooth. It is a general term for dental surgery or artificial tooth itself, which allows people to live a daily life with a sense almost identical to their own teeth.

This implant has advantages such as long life and very similar to natural teeth, without damaging the surrounding teeth except for the teeth that need to be treated, compared to the method using a denture or a bridge. This is much lower and is getting more attention.

Briefly describing the method of implantation, first, the patient's gingival (gum) is incised to expose the alveolar bone, the position to insert the implant on the exposed alveolar bone is determined, and then a portion of the alveolar bone is made using a drilling tool such as a drill. By removing the hole, a hole for implanting the implant is formed. After fixing the fixture in the hole formed in the alveolar bone and covering the gingival, wait for a suitable period of time so that the fixture and the alveolar bone are sufficiently fused, and then expose the firmly fixed fixture and place the abutment and abutment on it. The implant procedure is completed by attaching the (crown). Here, according to the implant technique, the procedure of suturing the gingival and later dissecting the gingival may be omitted by installing a healing abutment on the fixture placed in the alveolar bone.

On the other hand, in order to implant the prosthesis in an excellent biomechanical, histological, functional, and aesthetic manner during implantation, a perforation operation must be performed at a precise position, direction, and depth. In many cases, a surgical guide is used.

In order to create such a guide template, the oral model that is the model must be prepared first. Traditionally, the impression material was used to obtain the upper and / or lower jaw of the subject, and then plaster was poured on it to simulate the upper and / or lower jaw of the subject. Recently, a model is directly produced by a rapid molding machine or a 3D printer based on 3D image data.

On the prepared oral model, the area of the tooth defect that requires the implant procedure is transferred as it is.The hole is drilled in accordance with the implant procedure plan, and the bushing for inducing the direction and depth of the drilling drill is detachably fixed. do.

Then, after curing by applying a curable resin to cover the fixed bushing and at least a few of the teeth around it, remove the member fixing the bushing and remove the resin from the oral model, the bushing for inducing the drill for drilling the implant The mounted guide template is complete.

Patent document 1 is an invention regarding the guide template which the applicant has registered, and patent document 2 is an invention regarding the fixing pin assembly for fixing a bushing on an oral model so that a bushing may be separated in a state embedded in a guide template. In addition, Patent Document 3 is a coordinate synchronization plate for precisely drilling a hole on the oral model according to an implant procedure plan established using a computer program, and Patent Document 4 is a hole in the oral model according to the synchronized coordinate information. As a multi-axis drilling machine, the present applicant has filed and registered many other inventions related to the guide template.

However, the conventional guide template is difficult to make a constant thickness because it is made by applying the curable resin on the oral model by hand, because of this, there is a tendency to apply a somewhat excessive curable resin in order to avoid the risk that the portion is made thin and the strength is not sufficient. have. Therefore, the guide template is made thick, and when it is inserted into the mouth of the patient feels uncomfortable and takes a long time to cure.

In addition, the application of the curable resin by hand was difficult to create a guide template that follows the shape of the complex oral tissue as it is, and in this case it may not be mounted correctly without shaking when inserted into the patient's mouth. In order to solve this problem, Patent Document 1 attaches an elastic body to the inner surface of the guide template. The construction of these elastomers has brought about quite good effects, but requires additional work of attaching the elastomers, often causing them to fall off.

In addition, since the bushing embedded in the guide template may be detached when the curable resin is not completely adhered to the bushing surface, an operation of applying an adhesive to the bushing surface was required.

This conventional problem is largely due to the fact that the guide template is produced by applying a curable resin and is manually worked. Therefore, there is a need for a new solution that can collectively solve the problems of the prior art.

The present invention improves the problem of the process of applying the curable resin on the oral model by hand included in the process of making a guide template in the prior art, as described above, it can be precisely inserted into the oral cavity without shaking evenly, It is an object of the present invention to provide an apparatus system for manufacturing a guide template for a new type of implant procedure that does not require additional work to securely secure the bushing.

In particular, the present invention is to provide a system for producing a guide template that can automatically proceed to the individual tasks that were easy to adversely affect the quality of the final product according to the manual process when manufacturing the guide template as described above There is a purpose.

The integrated system for manufacturing a guide template according to the present invention includes a plurality of robot arms capable of six degrees of freedom motion connected in the order of "rotation-tilting-tilting-rotation-tilting-rotation" from the base to the end of the work end. The plurality of robot arms may include a drilling and drilling robot arm mounted with a machining tool on the work end, and a bushing assembly mounting robot arm mounted with a gripper on the work end. And a laser cutting robot arm equipped with a laser at the work stage, wherein the plurality of robot arms are disposed around a workpiece holder that can stop at a predetermined point while moving linearly along both directions of a linear movement path. The drilling and cutting robot arm is machined with holes or surface processing for fixing the bushing assembly on the oral model disposed on the upper surface of the workpiece holder with the machining tool, and the robot arm for mounting the bushing assembly is A gripper inserts and secures the bushing assembly to a machined hole on the oral cavity model, wherein the laser cutting robot arm cuts the thermoplastic sheet adhered to the oral cavity model so that the thermoplastic sheet can be separated from the oral cavity model. It features.

In addition, a bushing assembly supply stand for supplying the bushing assembly may be installed within a working range of the robot arm for mounting the bushing assembly.

And a marking robot arm mounted with a marking pen on the working end, as one of the plurality of robot arms, wherein the marking robot arm is attached to the surface of the thermoplastic sheet adhered to the oral model with the marking pen. An opaque cut line may be displayed and the thermoplastic sheet may be cut out with the laser of the laser cutting robot arm along the cut line.

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

Here, the output of the laser is characterized in that it is lower than the output capable of cutting the thermoplastic sheet without the cut line at a time, the output of the laser may be in the range of 2 ~ 6W per 0.01πmm2.

And, the working end of the drilling and cutting robot arm may be further provided with a spray nozzle for injecting compressed air.

In addition, a plurality of air passages are formed in a peripheral area surrounding the oral cavity model on the upper surface of the workpiece holder. The compressed air or the air is sucked out through the air passages to generate a positive or negative air pressure around the oral cavity model. May be optionally formed.

In addition, the coordinate synchronization plate to which the oral cavity model is coupled to the upper surface of the workpiece holder may be seated in a predetermined direction and position, the plurality of air passages may be formed to surround the coordinate synchronization plate.

According to an embodiment of the present invention, the bottom surface of the coordinate synchronization plate, the patient information for the oral cavity model, the processing information for the oral cavity model, the information on the bushing assembly corresponding to each hole machined on the oral cavity model And an information mark including at least one of information to be written on the surface of the thermoplastic sheet adhered to the oral cavity model, and information about a cutting path of the laser.

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

In addition, the integrated manufacturing system of the guide template of the present invention is disposed so that the robot arm for drilling and cutting and the robot arm for mounting the bushing assembly face each other in front of the movement path about the linear movement path of the workpiece holder, Subsequently, the laser cutting robot arm and the marking robot arm may be disposed to face each other.

In addition, the integrated manufacturing system of the guide template of the present invention may further include a thermoplastic sheet feeding and molding apparatus for supplying and applying heat to the thermoplastic sheet one by one on the oral cavity model.

Here, the thermoplastic sheet supplying and forming apparatus may be disposed behind the linear movement path of the workpiece holder.

The thermoplastic sheet supplying and forming apparatus includes: a horizontal beam traversing a linear movement path of the workpiece holder, a body having pillars at both ends of the horizontal beam, and a rear surface of the body, wherein the plurality of thermoplastic sheets are An elastically stacked cartridge; and a feeding roller rotatably installed under the horizontal beam of the body, for feeding the upper thermoplastic sheet loaded on the cartridge to the front; and a surface corresponding to an upper surface of the cartridge. It is disposed on the front of the body spaced apart above and below each other as a reference, can be moved up and down with respect to the oral model of the workpiece fixed object, and formed with a molding hole having a larger size that the oral model can be exposed A first fixing plate and a 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.

In addition, a pair of rods slidably movable with respect to the installation surfaces of the robot arms are fixedly installed on both sides of the first fixing plate, and the second fixing plate is formed with a through hole through which the pair of rods pass. A first spring for maintaining a distance between the first fixing plate and the second fixing plate wraps around the rod and is provided between the first fixing plate and the second fixing plate, and a second spring surrounding the rod between the second fixing plate and the mounting surface. A spring is provided and one end of the pair of wires moving in the vertical direction is fixed to the first fixing plate.

Here, the elastic modulus of the first spring is greater than the elastic modulus of the second spring, the position where the elastic modulus of the state in which the second spring is compressed becomes larger than the elastic modulus of the first spring to the molding hole Through the thermoplastic sheet may be designed to correspond to just before the close contact with the oral cavity model.

And, the electric heating device can heat the thermoplastic sheet to a temperature in the range of 70 ~ 80 ℃.

Guide template manufacturing integrated system of the present invention having the configuration as described above can be installed in the correct position on the oral cavity model according to the work information designed on the computer program, and can accurately cut the thermoplastic sheet can be accidentally generated during manual operation This can fundamentally solve the failure of the guide template.

In addition, the guide template manufacturing integrated system of the present invention eliminates most of the manual work in the manufacturing process of the conventional guide template, while automatically progressing the individual operations that were performed separately in a batch, the quality of the final product is uniformly improved and manufactured. This saves time and money.

In addition, the present invention may be configured to display an opaque cutting line in advance before cutting with the laser, the cutting line can significantly lower the output of the laser because it has the effect of increasing the absorption rate of the laser, thereby high power Various problems that may occur when using a laser can be solved, and it is also advantageous that a guide template can be manufactured from a thermoplastic sheet made of a transparent material in which laser light is difficult to work effectively.

1 shows a series of steps in preparing an oral model for producing a guide template.

2 is a view showing a series of steps for producing a guide template using the oral model prepared through the process of FIG.

3 is a perspective view of the completed guide template.

Figure 4 is a perspective view showing the overall structure of the robot arm provided in the present invention.

5 is a side view of the robot arm of FIG.

Figure 6 is a photograph taken a guide template made of a transparent thermoplastic sheet.

Figure 7 illustrates the overall configuration of a guide template manufacturing integrated system according to the present invention.

8 is a view showing the top and bottom surfaces of the coordinate synchronization plate, respectively.

9 is a perspective view showing in detail the thermoplastic sheet feeding and forming apparatus included in the integrated guide template manufacturing system according to the present invention.

10 is a side view of the thermoplastic sheet feeding and forming apparatus of FIG.

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

In describing the embodiments of the present invention, descriptions of well-known configurations that will be obvious to those skilled in the art will be omitted so as not to obscure the subject matter of the present invention. In addition, when referring to the drawings it should be considered that the thickness of the lines or the size of the components shown in the drawings may be exaggerated for clarity and convenience of description.

In describing the components of the embodiments of the present invention, terms such as first, second, A, B, (a), and (b) may be used. These terms are only for distinguishing the components from other components, and the nature, order or order of the components are not limited by the terms. If a component is described as being "connected", "coupled" or "connected" to another component, that component may be directly connected or connected to that other component, but between components It will also be understood that the intervening may be "connected", "coupled" or "connected" indirectly.

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

FIG. 1 is a diagram illustrating a series of steps for preparing an oral cavity model MD for manufacturing the guide template 10, and FIG. 2 is a guide template using the oral cavity MD prepared through the process of FIG. 1. 10 is a diagram showing a series of steps for producing.

The first step is to prepare an oral model (MD) modeled after the patient's intraoral tissue. As described above, the oral cavity model (MD) is a digital oral cavity made of a rapid molding machine or a 3D printer based on three-dimensional image data as well as an analog plaster model made by pouring plaster on a sound mold made of an impression material. Both models (MD) can be used. However, considering the manufacturing cost and time, and the minimum precision (shape followability) required, traditional gypsum models are sufficient, so it is not necessary to use digital expensive oral models.

Then, when the oral cavity model MD is prepared, the bushing 40 for inducing the progress of the drilling drill at the precise position where the implant procedure is planned is detachably fixed on the oral cavity model MD. That is, the treatment plan established in 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. After the hole is precisely machined, the bushing assembly to which the bushing 40 is coupled to the fixing pin is detachably inserted into the hole. For details, reference may be made to Patent Documents 2, 3, and 4.

When the oral cavity (MD) in which the bushing 40 is fixed at the correct position according to the procedure plan is prepared (see FIG. 1), the bushing 40 is included as shown in FIG. The first thermoplastic sheet S1 is disposed to cover at least a portion of the oral cavity MD, and a vacuum is applied between the first thermoplastic sheet S1 and the oral cavity MD while applying heat to the first thermoplastic sheet S1. By forming (VC), the first thermoplastic sheet S1 is brought into close contact with the surface of the oral cavity MD.

Here, the first thermoplastic sheet (S1) should be in close contact with the bushing 40, the oral model so as to secure a sufficient area that does not shake when the completed guide template 10 is inserted into the patient's mouth (MD) must be wrapped. Of course, the first thermoplastic sheet (S1) can be made to cover the entire oral cavity (MD), of course, but if the number of teeth of the patient is already sufficient or already another prosthesis can be made to cover only a portion.

And, heating the first thermoplastic sheet (S1) to a suitable temperature is intended to give flexibility, a temperature that is not melted and is not too difficult to hold and work by using a hand or a tool, for example in the range of 70 ~ 80 ℃ It is enough to apply heat. As such, when the first thermoplastic sheet S1 having appropriate flexibility is placed on the oral cavity model MD and a vacuum (negative pressure) is formed therebetween, the first thermoplastic sheet S1 is oral cavity model ( MD) (including the bushing). In particular, since the pressure (atmospheric pressure) acts uniformly on the surface of the first thermoplastic sheet S1, the first thermoplastic sheet S1 can be brought into close contact with each other without being lifted along the complicated shape of the oral cavity MD.

Next, as shown in FIG. 2E, the second thermoplastic sheet S2 is disposed on the first thermoplastic sheet S1 in close contact with the oral cavity MD, and the second thermoplastic sheet S2 is disposed in the same manner as in the previous step. 2 While applying heat to the thermoplastic sheet S2 (70 to 80 ° C.), a vacuum VC is formed between the second thermoplastic sheet S2 and the first thermoplastic sheet S1 to form the surface of the first thermoplastic sheet S1. The second thermoplastic sheet S2 is attached thereto.

As such, manufacturing the guide template 10 in two layers of the first thermoplastic sheet S1 and the second thermoplastic sheet S2 should be thin in order to closely adhere the thermoplastic sheet on the oral cavity MD. This is because the guide template 10 of sufficient strength cannot be made with only one thermoplastic sheet.

If desired, it is also possible to further join the third and fourth thermoplastic sheets on the second thermoplastic sheet S2 in the same way, but reducing the number of thermoplastic sheets that are possible bonded simplifies the manufacturing process and saves manufacturing time and effort. Of course it will be advantageous in terms of reduction.

For this purpose, it may be preferable to use the thickness of the second thermoplastic sheet (S2) thicker than the thickness of the first thermoplastic sheet (S1). This allows the thin first thermoplastic sheet S1 to be closely adhered to the surface of the oral cavity MD having a complicated shape by using the thickness of the first thermoplastic sheet S1 as a thinner, and thus the basic shape of the guide template 10. This is because it is possible to secure sufficient structural strength even with only two layers of thermoplastic sheets S1 and S2 by accurately holding and then attaching a thicker second thermoplastic sheet S2 thereon.

In addition, another advantage of making the guide template 10 into two or more layers of the first and second thermoplastic sheets S1 and S2 is that the patient information or the procedure time, the manufacturer's logo, It is possible to arrange one or more identification sheets 50 on which information including the surgical reference information is recorded, and to attach the second thermoplastic sheet S2 thereon. That is, in the related art, identification information is directly written or labeled on the surface of the guide template 10. In this case, there is a risk of being damaged by drugs, saliva, and moisture or adversely affecting the premises of the patient.

In contrast, the applicant's guide template 10 seals the identification sheet 50 in which various pieces of information including patient information or procedure time, manufacturer logo, and surgical reference information are recorded between the overlapping thermoplastic sheet layers S1 and S2. Since it is possible to put in, the problem in the prior art as described above is completely solved.

The first thermoplastic sheet (S1) and the second thermoplastic sheet (S2) as described above is at least any one selected from polyethylene (PE), polyvinyl chloride (PVC), acrylic (Acrylic), ABS (ABS), polycarbonate (Polycarbonate) One or more resin materials may be used, and the thickness of the first thermoplastic sheet S1 may be in the range of 0.3 to 0.75 mm, and the thickness of the second thermoplastic sheet S2 may be in the range of 0.5 to 3.0 mm.

When the first thermoplastic sheet S1 and the second thermoplastic sheet S2 are bonded to each other by using the oral cavity model MD as a form through the above-described series of processes, the first thermoplastic sheet S1 and the second thermoplastic sheet S2 are formed. By cutting the unnecessary edges of), the guide template 10 as shown in FIG. 3 is completed. Here, the guide template 10 is cut so as to surround a part of the undercut (U) beyond the maximum melt portion (H) of at least one of the buccal (B) and lingual (L) of the teeth to guide the template (10). When installed in the premises to the undercut (U) portion is elastically fitted so that there is no shaking. For reference, reference numeral “O” not described in FIG. 3 refers to an occlusal surface.

Through the above description, the overall manufacturing process of the guide template 10 to be manufactured by the present invention has been introduced in detail, and the present invention has been directed by a plurality of operators who had to take charge of the process by automating a series of manufacturing processes of the guide template 10 as described above. It's about an integrated system of guide template creation with almost no manual effort.

Looking at the manufacturing process of the above-described guide template 10, in order to manufacture the guide template 10, a process for processing a hole for fixing the bushing assembly 45 on the oral cavity (MD), the oral cavity (MD) The process consists of inserting and fixing the bushing assembly 45 in the hole processed on the surface, attaching the thermoplastic sheet S to the oral cavity model MD, and cutting the unnecessary portion of the thermoplastic sheet S. Can be.

Here, since the present invention can generate various geometric information about the position, angle and depth of the implant as well as the length and diameter of the implant as digital information through an operation plan established on a computer program, the digital information is used. Automated manufacturing processes can be implemented.

Therefore, many processes in the manufacturing process of the above guide template 10 can be automated by using a robot arm driven according to the input numerical information. In other words, automation is performed by applying digital information of an implant procedure plan established on a computer program as numerical information input to the robot arm.

The overall configuration of the robotic arm used in the present invention is shown in FIGS. 4 and 5. However, although the driving structure itself of the robot arm is the same, the work tool installed at the far end of the robot arm should be different 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, a tool suitable for each manufacturing process will be described later.

The device shown in FIGS. 4 and 5 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 correspond to six movements connected from the base 110 to the end of the work tool 170 in the order of "rotation-tilting-tilting-rotation-tilting-rotation (RTTRTR)". Is implemented. Here, "rotation" refers to a motion that can be rotated 360 ° without changing the distance between the arms connected to each other, "tilting" means that the angle between the arms can be changed within a certain range by the rotational movement of the arms connected to each other in the joint area It means exercise.

The structure of the robot arm 100 shown with reference to FIG. 4 will be described in more detail. However, in the detailed description, the configuration of the motor that is the power source of the rotation and tilting motion is omitted since it corresponds to a well-known configuration.

The base 110 rotates 360 ° about the vertical axis (Z axis). In addition, the first arm 120 connected to the base 110 performs a tilting motion (rotational movement about an axis of rotation on the XY plane perpendicular to the Z axis) in a vertical direction in which the height of the base 110 is changed. The second arm 130 connected to the first arm 120 may also be tilted in the same direction as the first arm 120.

The third arm 140 rotates 360 ° in a plane perpendicular to the longitudinal direction of the second arm 130, and the fourth arm 150 tilts about an axis perpendicular to the axis of rotation of the third arm 140. You exercise. In addition, the work end 160 connected to the end of the fourth arm 150 may perform a 360 ° rotational movement on a plane perpendicular to the length direction of the fourth arm 150, and the work end 160 may include a plurality of working steps. Suitable work tools 170 are mounted.

Robot arm 100 of the above structure is a structure suitable for processing the work object mounted on the worktable 200 from above. That is, as can be seen in the side view of Figure 5, the robot arm 100 of the present invention is a "rotation-tilting-tilting-rotation-to work along the inside and outside of the arch form having the horseshoe shape of the oral cavity model (MD) 6 degrees of freedom motion in the order of "tilting-rotation" (RTTRTR).

Production integrated system of the guide template 10 of the present invention is capable of manufacturing the automated guide template 10 by providing a plurality of robot arms having the above structure, the appropriate tool according to the contents of each process Robotic arms such as are included.

Firstly, the first robot arm is a robot arm 200 for drilling and cutting. The drilling and cutting robot arm 200 is a robot arm for machining a hole for fixedly installing the bushing assembly 45 on the oral cavity model MD. Therefore, the working end 160 of the drilling and cutting robot arm 200 may be equipped with a drill or a milling cutter, which is a machining tool 202 capable of drilling a hole by the rotation of the motor. In the embodiment of the present invention, it is more preferable that the milling cutter is mounted as the machining tool 202, which uses the milling cutter to drill holes and additionally in accordance with the oral state at the time of operating the oral cavity MD. This is because it is advantageous in that work to be processed can be performed.

In addition, the working end 160 of the drilling and cutting robot arm 200 may be provided with a spray nozzle 204 for spraying compressed air in addition to the processing tool 202. The spray nozzle 204 sprays compressed air to properly scatter the dust generated during the cutting process so as not to accumulate on the oral cavity MD, and to remove the dust in the perforated holes. Cleaning the oral cavity MD with the spray nozzle 204 is preferable not only for the installation of the bushing assembly 45 but also for the bonding of the thermoplastic sheet S. FIG.

Here, the injection nozzle 204 may be configured as a simple hose-type injection tube, if not necessarily having a nozzle shape. Therefore, the term injection nozzle used in the present invention needs to be widely understood as a mechanism capable of injecting compressed air.

The second robot arm is a robot arm 210 for mounting a bushing assembly. The robot arm 210 for mounting the bushing assembly is a robot arm for inserting and fixing the bushing assembly 45 in a hole machined on the oral cavity MD. Accordingly, the work end 160 of the bushing assembly mounting robot arm 210 is equipped with a gripper 212 capable of lifting the bushing assembly 45. As the gripper 212 device, a mechanical forceps that can be opened and closed or an electronic forceps that temporarily fix the bushing assembly 45 fitted in the insertion hole with an electromagnet may be used.

The gripper 212 picks up the bushing assembly 45 mounted on the bushing assembly supply base 214 fixedly positioned at a predetermined point and inserts it into the machined hole on the oral cavity MD. At least one hole is machined in the oral cavity MD, and the robot arm 210 for mounting the bushing assembly is a bushing assembly 45 supplied above the bushing assembly supply base 214 in all the holes provided in the oral cavity MD. Will be installed one by one. The bushing assembly feeder 214 may be installed at any point within the working range of the robotic arm 210 for mounting the bushing assembly.

The bushing assembly 45, which is supplied to the bushing assembly supply base 214, manually arranges the bushing assembly 45 according to the work order one by one, and arranges it in order according to the work order in the cartridge 268. It is also possible for the plurality of bushing assemblies 45 to be automatically supplied one by one.

The robot arm 230 for laser cutting is provided as the third robot arm. The laser cutting robot arm 230 is a robot arm for cutting an unnecessary portion of the thermoplastic sheet S in close contact with the outer surface of the oral cavity MD.

Here, in the past, when cutting the thermoplastic sheet S, a cutting tool such as a knife, a saw, or a dental bur was used. However, in the present invention, the working stage 160 of the laser cutting robot arm 230 is used. The laser 232 is mounted to perform cutting. That is, the robot arm 230 for cutting the laser is to melt and cut the thermoplastic sheet S by using the heat of the laser 232. When the thermoplastic sheet S is cut by the laser 232, the cutting state of the cut edge is processed. Excellent post processing can be reduced or omitted.

In addition, in order for the guide template 10 to be stably mounted in the oral cavity, the guide template 10 must be accurately cut to sufficiently cover the undercut U in the buccal side B and / or the lingual side L of the tooth. Since it is a small part of a few millimeters, it is also because cutting accurately using the laser 232 is advantageous to prevent the risk of wearing the guide template 10 due to small machining mistakes that can occur during manual operation.

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

Output of the laser 232 to cut 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 bonded at once and not to severely melt them. Must have an energy in the range of 20 to 60 W per 0.01πmm2. However, in order to prevent damage to the oral cavity MD from the safety of work and strong laser output, the lower the output of the laser 232 is preferable.

Accordingly, the present invention further provides an embodiment including a marking robot arm 220 having a marking pen 222 at the working end 160 as a method 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 cutting with the laser cutting robot arm 230.

In order for the heat of the laser 232 to act on the thermoplastic sheets S1 and S2 effectively, the laser light needs to be well absorbed by the thermoplastic sheets S1 and S2. Therefore, if the opaque cutting line is drawn in advance with the marking pen 222, the laser light absorption at the cutting line portion is locally increased, so that even if the output of the laser 232 is lowered, the thermoplastic sheets S1 and S2 at once. It becomes possible to cut). By displaying an opaque cut line, the output of the laser 232 can be reduced to about 2 to 6 W per 0.01 pi mm 2.

Marking the opaque cut line with the marking pen 222 brings many other advantages. One is that since the output of the laser 232 is considerably lowered, the melting of the thermoplastic sheet S1, S2 other than the portion where the opaque cut line is marked does not occur, and the cutting quality is remarkably improved.

In addition, the thermoplastic sheets S1 and S2 can be made of a completely transparent material. In other words, if the thermoplastic sheets S1 and S2 are completely transparent, the laser light is hardly absorbed and most of them are transmitted. Therefore, it is very difficult to apply a laser of considerable high power since it is very difficult to apply them. It is easy to apply the laser 232 to the thermoplastic sheets S1 and S2.

When the guide template 10 is made of transparent thermoplastic sheets S1 and S2, the appearance is beautiful, and even if a label (identification paper) for displaying surgical information is placed between the thermoplastic sheets, readability is not degraded. It is easy to observe the surgical tissue during the applied surgery, and almost eliminates the objection that the patient can feel, which is not only functional and aesthetically advantageous, but also very clinically practical. FIG. 6 is a photograph of an example in which the guide template 10 is manufactured from the thermoplastic sheets S1 and S2 of a transparent material.

In addition, if necessary, using the marking pen 222 provided in the robotic arm 220 for marking, information related to surgery may be directly written on the surface of the thermoplastic sheet S that is in close contact with the oral cavity MD. It is possible. This can be said to utilize the marking robot arm 220 as if it is a pen plotter.

FIG. 7 is a diagram illustrating an integrated system for manufacturing a guide template according to the present invention to which all of the above-described robot arms are applied.

Referring to FIG. 7, it can be seen that four robot arms of different types are arranged on both sides of a path through which the workpiece holder 240 moves.

The workpiece holder 240 may move linearly in and out along both directions of a straight line. As a transfer mechanism for linearly moving the workpiece holder 240, various known techniques may be applied. As shown in FIG. 7, the guide rod 252 penetrates in the middle of the workpiece holder 240 to induce a linear movement of the workpiece holder 240 while transferring the screw 254 to one or both sides of the workpiece holder 240. The screw is coupled to the transfer mechanism for converting the rotational movement of the feed screw 254 to the linear movement of the workpiece holder 240 can be applied. Alternatively, although not shown, it is also possible to linearly move the workpiece holder 240 using a linear motor.

Here, although not shown, the transfer mechanism needs to include a sensor (for example, a hall sensor) that identifies or grasps the position of the workpiece holder 240 so that the workpiece holder 240 can be positioned at a predetermined point. . Since a technique for moving a component such as the workpiece holder 240 to a predetermined point (coordinate) is also known, a detailed description thereof will be omitted here.

On the workpiece holder 240, the coordinate synchronization plate 300 to which the oral cavity MD is coupled is seated. The workpiece holder 240 has a recessed surface that is concave to match the external shape of the coordinate synchronization plate 300, and thus the coordinate synchronization plate 300 is always in a predetermined direction and position with respect to the workpiece holder 240. Seated at a constant coordinate

Here, the coordinate synchronization plate 300 corresponds to the coordinate synchronization plate 300 of Patent Document 3 described above. An embodiment of a coordinate synchronization plate 300 is shown in FIG. 8. When the configuration of the coordinate synchronization plate 300 is briefly described, the coordinate synchronization plate 300 is coupled to the upper surface of the plate 310 as an element formed on the upper surface of the plate 310 and the plate 310, the predetermined thickness Three object fixing element 320 to prevent rotation or departure of the oral cavity model (MD).

The image data acquired through CT imaging also includes an image of the object fixing element 320, and three reference points extracted from the image of each object fixing element 320 are used to determine the spatial coordinates of the oral cavity model MD. Used as a reference point. Using the image data of the oral cavity model (MD) coupled to the coordinate synchronization plate 300, an implant treatment plan is established on a computer program, and the coordinate synchronization plate 300 is always constant with respect to the workpiece holder 240. Seated by the coordinates, the workpiece holder 240 is moved exactly to the position determined by the transfer mechanism, so that all the spatial coordinates are synchronized with respect to the coordinate synchronization plate 300 as the machining of each robot arm as planned Can be done accurately. For the details of the coordinate synchronization plate 300 can refer to Patent Document 3.

Then, looking at the bottom of the coordinate synchronization plate 300 shown in Figure 8 it can be seen that the 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 marker 330 directly on the bottom surface of the coordinate synchronization plate 300 by printing or laser engraving.

The information included in the information marker 330 includes information on the patient who is the owner of the oral cavity model MD, various processing information related to hole processing or surface processing performed on the oral cavity model MD, and the oral cavity model MD. At least among information about the bushing assembly 45 corresponding to each hole processed on the image, information to be written on the surface of the thermoplastic sheet S in close contact with the oral cavity MD, and information about the cutting path of the laser 232. It may be any one or more pieces of information.

As described above, various processing information including holes to be processed in the oral cavity model (MD) may be transmitted to each robot arm directly over a network as digital information generated according to an implant procedure plan established on a computer program. By leaving the information mark 330 on the bottom surface of the individual coordinate synchronization plate 300, it is also possible to load the machining information into each robot arm by reading it into the reading device 340 before starting the machining. 8 shows a bar code as an example of the information marker 330 containing digital information. In addition, other types of information signs equivalent to the bar code, for example, a QR code or a color code, may be used.

A plurality of air passages 242 are formed in the peripheral area surrounding the coordinate synchronization plate 300 on the upper surface of the workpiece holder 240. Each air passage 242 is connected to a pneumatic device (not shown) to eject compressed air or to suck air in the upper region of the workpiece holder 240, the positive or negative air pressure around the coordinate synchronization plate 300 May be selectively formed.

When the air is sucked through the air passage 242, the process of adhering the thermoplastic sheet S mounted on the oral cavity model MD coupled on the coordinate synchronization plate 300 is performed (FIG. 2 (d)). Reference}. On the contrary, the compressed air is blown out through the air passage 242 when the unnecessary portion of the thermoplastic sheet S is cut by the laser 232, and then the cut sheet is blown off by wind.

Referring to FIG. 7, the robot arm 200 for drilling and cutting and the robot arm 210 for mounting the bushing assembly are located in front of the movement path 250 around the linear movement path 250 of the workpiece holder 240. The laser cutting robot arm 230 and the marking robot arm 220 are disposed to face each other. This is to arrange the four robot arms 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 placed next to the robot arm 210 for mounting the bushing assembly.

Furthermore, the present invention may further comprise a thermoplastic sheet feeding and forming apparatus 260, which is disposed behind the linear movement path 250 of the workpiece holder 240, according to one embodiment of FIG. 7. The thermoplastic sheet supplying and forming apparatus 260 is an automated apparatus that is in charge of automatic feeding and thermoforming by placing the thermoplastic sheet S on the oral cavity MD and placing them one by one.

According to the embodiment, the robot arm for drilling and cutting robot arm 200 / bushing assembly mounting robot arm 210 arranged so as to face each other according to the manufacturing process sequence of the guide template 10 and the robot arm for laser cutting. It is also possible for the thermoplastic sheet supplying and forming apparatus 260 to be disposed between the lines 230 of the robotic arm 220 for marking. However, in the illustrated embodiment, in order to minimize dust scattered during the operation of the drilling and cutting robot arm 200 in the thermoplastic sheet (S), the linear movement path 250 of the workpiece holder 240 is the rearmost. The thermoplastic sheet supply and molding apparatus 260 is disposed in the chamber.

9 and 10 are views showing details of the configuration of the thermoplastic sheet supplying and forming apparatus 260. Hereinafter, the configuration of the illustrated thermoplastic sheet supplying and forming apparatus 260 will be described in detail.

The thermoplastic sheet supplying and forming apparatus 260 has a gantry type body 262 with pillars 266 erected at both ends of the horizontal beam 264. The column 266 of the gantry type body 262 is located on both sides of the linear movement path 250 of the workpiece holder 240, so that the horizontal beam 264 moves the linear movement path 250 of the workpiece holder 240. Will cross.

When the workpiece holder 240 stops in front of the thermoplastic sheet feeding and forming apparatus 260, if the body 262 faces the workpiece holder 240 as the front surface, a plurality of thermoplastic sheets ( The cartridge 268 loaded with S) is disposed. The cartridge 268 is provided with elastic means for pushing up the loaded thermoplastic sheet S upwards so that the top thermoplastic sheet S is always located on the top surface of the cartridge 268.

And, under the horizontal beam 264 of the body 262 is provided with a feeding roller 270 rotatably installed with both poles 266 as a point. A rubber roller 272 is mounted in the center of the feeding roller 270, and the rubber roller 272 is in contact with the top thermoplastic sheet S loaded in the cartridge 268. Accordingly, when the feeding roller 270 rotates, the uppermost thermoplastic sheet S in contact with the rubber roller 272 is transferred to the front of the body 262. The feeding structure of the thermoplastic sheet S can be said to be almost the same as the feeding structure in a general copier.

The first fixing plate 274 and the second fixing plate 276 are disposed on the front surface of the body 262 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 transferred by the feeding roller 270 enters between the first fixing plate 274 and the second fixing plate 276. In addition, the first fixing plate 274 and the second fixing plate 276 are large enough to expose the oral cavity model MD and the surrounding air passage 242 on the workpiece holder 240 positioned below the first fixing plate 274 and the second fixing plate 276. Molding holes 278 are formed.

On both sides of the first fixing plate 274, a pair of rods 280, which are slidably movable relative to the bottom plate on which the above-described robot arms are installed, is fixedly installed, and the pair of rods 280 are attached to the second fixing plate 276. A through hole 282 through which is penetrated is formed. The first fixing plate 274 and the second fixing plate 276 have a structure in which a first spring 284 surrounds the rod 280 to maintain a gap between the first fixing plate 274 and the second fixing plate 276. A second spring 286 is disposed between the second fixing plate 276 and the bottom plate to surround the rod 280. In addition, a pair of wires 288 are provided on the outside of the rod 280 provided in the first fixing plate 274, the wire 288 is wound about the rotation axis of the motor disposed under the bottom plate have. Here, the elastic modulus of the first spring 284 is greater than the elastic modulus of the second spring 286.

According to the configuration of the first fixing plate 274 and the second fixing plate 276 as described above, the elastic modulus of the first spring 284 is the elastic modulus of the second spring 286 when the wire 288 is wound around the pull Because of the larger size, the first fixing plate 274 moves downward with the second fixing plate 276 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 to each other. And then move together. On the contrary, when the wire 288 is released, the first fixing plate 274 and the second fixing plate 276 gradually move upward while being separated in the reverse order. Here, both ends of the first spring 284 are fixed in a spring seating surface concave formed on the first fixing plate 274 and the second fixing plate 276, respectively, which is a spring seating surface concave when the first spring 284 is compressed. It is for allowing the first fixing plate 274 and the second fixing plate 276 to contact each other by being located inside.

When the first fixing plate 274 is in contact with the second fixing plate 276, the thermoplastic sheet S supplied therebetween is fixed, and when the first fixing plate 274 and the second fixing plate 276 are further lowered in the state. The thermoplastic sheet S may be in close contact with the oral cavity MD through the forming hole 278. Here, as the second spring 286 is compressed, the thermoplastic sheet S is positioned at a position where the elastic modulus of the compressed state becomes larger than the elastic modulus of the first spring 284. When designed to be in close contact with the MD, the thermoplastic sheet S is pressed to surround the oral cavity MD in a fixed state between the first fixing plate 274 and the second fixing plate 276. Here, the thermoplastic sheet (S) is heated to an appropriate temperature by the electric heating device 290 to be described later to be flexible, the air is sucked by the air passage 242 provided on the upper surface of the workpiece holder 240 to form a negative pressure As a result, the thermoplastic sheet S is brought into close contact with the oral cavity MD by atmospheric pressure. The thermoplastic sheet S in close contact with the oral cavity MD is cured at room temperature, and when the first and second fixing plates 276 are raised in this state, the thermoplastic sheet S is fixed therebetween. The thermoplastic sheet S wrapped around the oral cavity MD is left as it is.

The above-described electric heating device 290 protrudes from the upper surface of the horizontal beam 264 of the body 262 to face the forming hole 278 of the first fixing plate 274 and the second fixing plate 276. The electric heating apparatus 290 heats the thermoplastic sheet S to a suitable temperature, for example, a temperature in the range of 70 to 80 ° C. to give flexibility, thereby uniformly following the complicated shape of the oral cavity MD. ) Is a heating means for close contact. As the electric heating apparatus 290, various known techniques such as an infrared heater and a heating wire may be applied.

Manufacturing integrated system of the guide template of the present invention having the configuration as described above is a process for processing the hole for fixing the bushing assembly 45 on the oral cavity (MD), the hole machined on the oral cavity (MD) The process of inserting and fixing the bushing assembly 45, the process of attaching the thermoplastic sheet S to the oral cavity model MD, and the process of cutting out unnecessary portions of the thermoplastic sheet S are all performed automatically and the operator's manual work is minimized. Since the production of the guide template 10 is made quickly and has the advantage that the quality of the product is improved uniformly.

While the preferred embodiments and embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that the present invention can be modified without departing from the spirit or principle of the invention. Could be. Therefore, the scope of the present invention will be defined by the description of the claims and their equivalents.

The present invention is suitable for producing a guide template, which is an auxiliary device that can induce a surgical procedure to proceed precisely as planned during implantation, in particular dental implant placement procedures.

10: guide template 40: bushing

45: bushing assembly 50: identification sheet

100: robot arm 110: base

120: first arm 130: second arm

140: third arm 150: fourth arm

160: working group 170: working tool

200: Robot arm for drilling and cutting

202: machining tool 204: spray nozzle

210: Robot arm for mounting the bushing assembly

212: Gripper 214: Bushing Assembly Supply Base

220: marking robot arm 222: marking pen

230: robot arm for laser cutting

232: laser 240: workpiece holder

242: air passage 250: straight path

252: guide rod 254: feed screw

260: thermoplastic sheet feeding and forming apparatus

262: body 264: horizontal beam

266: pillar 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 seat 286: second spring

288 wire 290 electric heater

300: coordinate synchronization plate

310: Plate 320: Object Fixed Element

330: information marker 340: reader

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

A plurality of robot arms capable of six degrees of freedom motion connected in the order of "rotation-tilting-tilting-rotation-tilting-rotation" from the base to the distal working end,

The plurality of robot arms,

A robot arm for drilling and cutting in which a working tool is mounted on the working end;

A robot arm for mounting a bushing assembly in which a gripper is mounted on the work end; And

A laser cutting robot arm mounted to the working stage with a laser;

Including;

The plurality of robot arms are disposed around the workpiece holder which can stop at a predetermined point while moving linearly along both directions of the linear movement path,

The drilling and cutting robot arm is a hole or surface processing for fixing the bushing assembly on the oral model arranged on the upper surface of the workpiece holder with the machining tool,

The bushing assembly mounting robot arm inserts and fixes the bushing assembly in a hole machined on the oral model with the gripper,

And the laser cutting robot arm cuts the thermoplastic sheet in close contact with the oral model with the laser to separate the oral model from the oral model.
The method of claim 1,

In the working range of the robot arm for mounting the bushing assembly, a bushing assembly supply base for supplying the bushing assembly is installed.
The method of claim 1,

As one of the plurality of robot arms, further comprising a marking robot arm mounted with a marking pen on the working end,

The marking robot arm displays an opaque cut line on the surface of the thermoplastic sheet adhered to the oral model with the marking pen, and cuts the thermoplastic sheet with the laser of the laser cutting robot arm along the cut line. The integrated manufacturing system of the guide template characterized by.
The method of claim 3,

The marking robot arm writes the information related to the surgery on the surface of the thermoplastic sheet in close contact with the oral model with the marking pen.
The method of claim 3,

And the output of the laser is lower than the output capable of cutting out the cutless thermoplastic sheet at one time.
The method of claim 5,

Wherein the output of the laser is in the range of 2-6 W per 0.01πmm 2.
The method of claim 3,

And the thermoplastic sheet is a transparent material.
The method of claim 1,

The integrated end of the template manufacturing system, characterized in that the working end of the drilling and cutting robot arm further comprises a spray nozzle for injecting compressed air.
The method of claim 1,

A plurality of air passages are formed on an upper surface of the workpiece holder, and a plurality of air passages are formed in a peripheral area surrounding the oral cavity model. A manufacturing integrated system of templates, which can be formed.
The method of claim 9,

The coordinate synchronization plate to which the oral cavity model is coupled to the upper surface of the workpiece holder is seated in a predetermined direction and position, wherein the plurality of air passages are formed to surround the coordinate synchronization plate of the template Manufacturing integrated system.
The method of claim 10,

On the bottom surface of the coordinate synchronization plate, patient information on the oral cavity model, processing information on the oral cavity model, information on a bushing assembly corresponding to each hole processed on the oral cavity model, and thermoplastics adhered to the oral cavity model. And an information mark including at least one of information to be written on a sheet surface and information about a cutting path of the laser.
The method of claim 11,

And a reading device for reading the information mark.
The method of claim 3,

The drilling arm and the robot arm for mounting the bushing assembly face each other in front of the movement path about the linear movement path of the workpiece holder, followed by the laser cutting robot arm and the marking. The integrated system for manufacturing a template, wherein the robotic arms are disposed to face each other.
The method according to any one of claims 1 to 13,

And a thermoplastic sheet supplying and forming apparatus for supplying and applying heat to the thermoplastic sheet one by one above the oral cavity model.
The method of claim 14,

Wherein said thermoplastic sheet feeding and forming apparatus is disposed behind a straight movement path of said workpiece holder.
The method of claim 14,

The thermoplastic sheet supply and molding apparatus,

A horizontal beam traversing a linear movement path of the workpiece fixture, and a body having pillars on both ends of the horizontal beam;

A cartridge disposed on a rear side of the body and having a plurality of the thermoplastic sheets elastically stacked therein;

A feeding roller rotatably installed below the horizontal beam of the body and configured to transfer the uppermost thermoplastic sheet loaded on the cartridge forward;

It is disposed on the front of the body spaced above and below each other based on the surface corresponding to the upper surface of the cartridge, can move up and down with respect to the oral model on the workpiece holder, and more that the oral model can be exposed A first fixing plate and a second fixing plate having a molding hole having a size; And

An electric heating device protruding from the horizontal beam of the body to face a forming hole of the first fixing plate and the second fixing plate;

Integrated manufacturing system of the template comprising a.
The method of claim 16,

A pair of rods fixed to both sides of the first fixing plate are slidably movable with respect to the installation surface of the robot arms,

The second fixing plate is formed with a through hole through which the pair of rods pass,

A first spring is provided between the first fixing plate and the second fixing plate to surround the rod to maintain a gap between the first fixing plate and the second fixing plate.

Between the second fixing plate and the installation surface is provided with a second spring surrounding the rod,

One end of the pair of wires moving in the vertical direction is fixed to the first fixing plate, the integrated manufacturing system of the template.
The method of claim 17,

The elastic modulus of the first spring is greater than the elastic modulus of the second spring, the position where the elastic modulus of the compressed state of the second spring is larger than the elastic modulus of the first spring through the forming hole A system for integrating manufacturing a template, wherein the thermoplastic sheet is about to be in close contact with the oral cavity model.
The method of claim 16,

Wherein said electric heating device heats said thermoplastic sheet to a temperature in the range of 70-80 [deg.] C.