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Human-computer cooperative robot tooth-implant method and human-computer cooperative robot tooth-implant system based on augmented reality

A technology of human-machine collaboration and augmented reality, applied in dentistry, dental implants, manipulators, etc., can solve the problems of insufficient flexibility of dental implant surgery, unintuitive navigation and implantation, and high labor intensity of doctors, so as to achieve enhanced coordination of surgery and flexible solutions Sexual insufficiency, the effect of reducing dependence on doctor experience

Pending Publication Date: 2018-06-29
ZHEJIANG UNIV OF TECH
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Problems solved by technology

[0009] In order to solve the problems that the existing dental implant surgery depends on the doctor’s experience, the doctor’s labor intensity is high, the operation efficiency is not high, the dental implant surgery based on the guide plate is not flexible enough, and the image-based navigation is not intuitive when implanting, etc., the present invention proposes a A human-machine collaborative robot dental implant method and a human-machine collaborative robot dental implant system based on augmented reality that can realize the superimposition of the three-dimensional implant plan and the patient's oral cavity and automatically track and position, mainly realize the surgical operation by robots, and allow doctors to intervene in a timely manner

Method used

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  • Human-computer cooperative robot tooth-implant method and human-computer cooperative robot tooth-implant system based on augmented reality
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  • Human-computer cooperative robot tooth-implant method and human-computer cooperative robot tooth-implant system based on augmented reality

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Embodiment Construction

[0039] The present invention will be further described below in conjunction with the accompanying drawings.

[0040] refer to Figure 1 to Figure 7 , a dental implant method based on augmented reality technology, comprising the following steps:

[0041] (1) Data acquisition

[0042] Obtain the oral CT data of patient 8, the CT slice thickness is not greater than 1 mm, and save it in DICOM data format; take an oral impression to obtain a plaster model, and scan the plaster model to obtain the data of the patient's inner oral surface, or directly use an intraoral scanner to scan the patient The oral cavity is scanned to obtain the data of the inner surface of the patient's mouth;

[0043] (2) Three-dimensional reconstruction to obtain oral tissue model

[0044] Use medical image processing software such as MIMICS to process the CT data of the patient’s oral cavity to obtain the reconstructed 3D jaw and tooth models; use triangle mesh processing software such as Geomagic to proc...

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Abstract

A human-computer cooperative robot tooth-implant method based on augmented reality includes the following steps: (1) acquiring data; (2) carrying out three-dimensional reconstruction to obtain an oraltissue model; (3) designing a implanting scheme; (4) designing and manufacturing a positioning marker; (5) generating a manipulator off-line program instruction according to the implanting scheme; (6) allowing a patient to wear the positioning marker, and calibrating the position of a manipulator; (7) carrying out surgical operation by the manipulator according to an instruction, and adjusting according to a real-time micro motion position of a patient; and (8) allow a doctor to observe the correspondence condition between a three-dimensional implanting scheme and the actual position in the patient oral cavity from worn AR spectacles, and interfering adjustment by the man-machine fusion technique. The invention provides the human-computer cooperative robot tooth-implant method and a human-computer cooperative robot system based on augmented reality, wherein the method and the system can realize superposition of the three-dimensional implanting scheme and the patient oral cavity and automatic tracking and positioning, realize surgical operation by a robot and allow the doctor to intervene timely.

Description

technical field [0001] The invention relates to the field of dental implant technology, in particular to a human-machine collaborative robot dental implant technology and a human-machine collaborative robot dental implant system based on Augmented Reality (AR, Augmented Reality) for dental implant surgery. Background technique [0002] After the tooth is missing, the traditional fixed denture repair is to grind the two healthy teeth at the front and back of the missing tooth into a fixed post, which is used as a retention pillar for the restoration of the dental bridge, so that the two healthy adjacent teeth are damaged. In the case of too many missing teeth, removable dentures are generally required. Its disadvantage is that the dentures need to be taken out for cleaning, which is not very beautiful. In addition, the removable dentures have weak bite, foreign body discomfort, and are easy to loosen and wear out the oral mucosa. Wait. [0003] Modern dental implant technolo...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61C8/00A61C19/00B25J9/16
CPCA61C8/0089A61C19/00B25J9/1697
Inventor 刘云峰王卫彬程康杰姜献峰董星涛
Owner ZHEJIANG UNIV OF TECH
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