Accurate positioning and intelligent navigation method for oral implanting robot

Abstract

The invention provides an accurate positioning and intelligent navigation method for an oral implanting robot. The method comprises the following steps: (1) planning a digital tooth implanting scheme;(2) designing a personalized fixing structure of a positioning marker; (3) designing a standard positioning bracket of the positioning marker; (4) generating the positioning marker; (5) acquiring position coordinates of an implant in a three-dimensional implanting scheme; (6) constructing an oral collision model; (7) constructing and correcting an actual scene coordinate system; (8) planning a motion path of the robot and performing offline programming; and (9) performing implanting operation of the robot. According to the method, accurate calculation of target position coordinates of an endeffector of the robot in a global coordinate system in the three-dimensional implanting scheme is realized before an operation, the precision of an optical positioning and navigation system is corrected by utilizing contact position feedback of the robot, and the collision model of the end effector of the implanting operation and dynamic planning of the motion of the robot are constructed.

Description

technical field [0001] The invention relates to the technical field of oral implant robots, in particular to a precise positioning and navigation method for a robot performing an implant operation in a region where some teeth are missing, especially the posterior teeth. Background technique [0002] Oral implantation refers to the surgical implantation of artificial implants in the jawbone of the missing teeth, and the connection of abutments and crowns to restore the patient's chewing, appearance and other functions. Dental implants are the preferred way to restore missing teeth, and are known as the "third tooth" of human beings after deciduous teeth and permanent teeth. In the process of oral implantation, the core surgical operation is to prepare the implant cavity in the jawbone and implant the implant. At present, the related operations are mainly completed by free hand, static guide plate guidance, dynamic video navigation, and oral implant robot. operate. [0003] ...

AI Technical Summary

Problems solved by technology

[0006] In order to overcome the deficiencies of existing technologies, in order to further solve the problem of the precise acquisition of target position coordinates, optical positioning and navigation system of the end effector (implantation mobile phone and dental drill) in the three-dimensional implantation plan under the global coordinate system of the robot system, in order to further solve the problem of robotic implant surgery Due to a series of problems such as insufficient precision, collision safety between the robot and the patient's mouth, and too long opening time during the operation, the present invention proposes a method that can realize the precise coordinates of the target position of the robot end effector in the global coordinate system in the three-dimensional implant plan before the operation. Computing, correcting the accuracy of optical positioning and navigation systems using robot contact position feedback, building end-effector collision models for implant operations, and intelligent navigation methods for robot motion dynamic planning

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