Method for generating tooth preparation track of robot-assisted tooth preparation function sharp slope
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A robot-assisted and functional technology, applied in dentistry, instruments, orthodontics, etc., can solve problems that affect the treatment effect and success rate
Pending Publication Date: 2020-07-31
HARBIN UNIV OF SCI & TECH
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Problems solved by technology
However, the current situation of imbalanced doctor-patient ratio in my country cannot meet the current huge demand for tooth preparation. Therefore, it is necessary to introduce robots and auxiliary software to replace or assist doctors to complete tooth preparation work efficiently, which can not only alleviate the problem of doctor-patient imbalance, It can also effectively improve the quality of tooth preparation and the effect of oral treatment
[0003] In the process of machine-assisted tooth preparation, the trajectory of the end of the robot determines the accuracy of the tooth preparation, which in turn affects the effect and success rate of the treatment
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Embodiment 1
[0089] Such as figure 1 , figure 2 , image 3 , Figure 4 , Figure 5 As shown, the specific implementation mode adopts the following technical scheme: a method for generating a tooth preparation track on a sharp inclined plane for robot-assisted tooth preparation, characterized in that: the specific implementation process of the method is:
[0090] Step 1. Preparation model preprocessing
[0091] According to the doctor’s clinical tooth preparation model, the standardized preparation model in obj format is obtained, and Geomagic Wrap reverse engineering software is used to process the standardized preparation tooth 3D model in obj format, and the generated triangular surface patch and quadrilateral surface patch are processed. Parameter processing and surface feature processing to obtain a smoother preparation model and optimize calculation speed;
[0092] a) Establish surface mapping relationship:
[0093] Calculate the unit normal vector n of the reference two-dimens...
Embodiment 2
[0146] Such as Figure 6 , Figure 7 , Figure 8 , Figure 9 , Figure 10 , Figure 11 , Figure 12 , Figure 13 , Figure 14 , Figure 15 , Figure 16 , Figure 17 As shown, the method of the present invention is exemplified below by taking specific experimental data as an example.
[0147] According to the number N of quadrilateral surface patches S generated in the preprocessing stage s , the number of triangular surface pieces T N t and the number of special intersections M and N m As a division parameter, it is found that the triangular surface patch T and the special intersection point M are distributed on both sides of the arc change, and the functional oblique surface is divided into the left adjacent surface, the middle acute inclined surface and the right adjacent surface with the lip side as the reference direction, where The parameters of the three surfaces are: the left adjacent surface is N s =35,N t = 3, N m =2; the middle sharp slope is N s =64...
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Abstract
The invention discloses a method for generating a tooth preparation track of a robot-assisted tooth preparation function sharp inclined plane, and relates to the technical field of robot-assisted tooth preparation. According to the invention, the method comprises the steps: planning a functional sharp inclined plane tooth preparation stage into three-dimensional curved surface track planning of the robot; based on a doctor standardized posterior tooth manual preparation body model, acquiring the curved surface data of the functional sharp inclined surface after preprocessing; dividing the functional sharp inclined surface into three curved surfaces according to the adjacent relationship and functions among teeth, and respectively obtaining the interpolation result of each curved surface; completing the tooth preparation trajectory planning of the three curved surfaces according to the molded value points of the curved surfaces and the characteristics of the curved surface patches, andestablishing the sharp bevel tooth preparation trajectory generation method for the robot-assisted tooth preparation function. According to the method, the curvature of the processed preparation bodymodel is smoother, the operation rate of the tooth preparation track is optimized, and the preparation precision of the tooth preparation curve is effectively improved.
Description
technical field [0001] The patent of the present invention relates to a method for generating a tooth preparation track on a sharp inclined plane for robot-assisted tooth preparation, and belongs to the technical field of robot-assisted tooth preparation. Background technique [0002] Dental caries is an important cause of tooth defects, seriously affecting people's oral health. Oral restoration is an important means of treating tooth defects. Tooth preparation is a necessary treatment link in the restoration process. It refers to the operation process in which the doctor quantitatively removes the teeth with caries and forms the expected three-dimensional shape. In the traditional tooth preparation process, it is necessary to rely on the manual operation of doctors combined with rich clinical experience to make a large number of repeated fine adjustments to carious teeth. However, the current situation of imbalanced doctor-patient ratio in my country cannot meet the curren...
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