Navigation and positioning method for dental implant robot

Abstract

The invention provides a navigation and positioning method for a dental implant robot. The navigation and positioning method comprises the following steps of establishing a conversion matrix from a cutter target pose coordinate system to a mechanical arm base coordinate system; establishing a conversion matrix from a surgical knife coordinate system to a mechanical arm tail end TCP coordinate system; and calculating a conversion matrix from the mechanical arm tail end TCP coordinate system to the mechanical arm base coordinate system when the knife reaches the target pose, so as to generate a control instruction for each joint of a mechanical arm of the dental implant robot, so that each joint of the mechanical arm moves. According to the navigation and positioning method for the dental implant robot, a CT scanner and an optical locator are used for measuring, the coordinate system conversion relation between the patient tooth implantation path and the surgical knife is established, the mechanical arm is guided to move, the surgical knife is driven to reach the entering point position and direction of the target path, the mechanical arm is used for driving the surgical knife to move, the advantages of being easy and convenient to operate, safe and reliable are achieved, accurate positioning of the position and the direction of the surgical knife can be achieved, the working intensity of doctors is reduced, and the precision of dental implant surgery is effectively improved.

Description

technical field [0001] The invention belongs to the technical field of navigation and positioning of surgical robots, and in particular relates to a navigation and positioning method of a dental implant robot. Background technique [0002] Traditional dental implant surgery requires the doctor to hold a scalpel to operate. In order to achieve better surgical results, there are high requirements for the accuracy and stability of the doctor's operation. In addition, the doctor is prone to fatigue after performing multiple operations, which will also affect the surgical effect . Contents of the invention [0003] Aiming at the defects in the prior art, the present invention provides a navigation and positioning method for a dental implant robot, which can effectively solve the above problems. [0004] The technical scheme that the present invention adopts is as follows: [0005] The invention provides a navigation and positioning method for a dental implant robot, comprisin...

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Problems solved by technology

[0002] Traditional dental implant surgery requires the doctor to hold a scalpel to operate. In order to achieve better surgical results, there are high requirements for t...

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