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Double-arm collaborative robot control method and system for assisting oral medical image

A medical imaging and control system technology, applied in the field of medical robots, can solve problems such as poor consistency of oral images and exposure stability

Pending Publication Date: 2021-11-16
BEIJING UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Benefits of technology

The technical effect of this invention relates to an improved method that allows for better detection and prevention against contamination due to viruses during orthodontic treatments without compromising on their ability to accurately detect them effectively.

Problems solved by technology

This patents describes different technical solutions aimed towards reducing interruptions during patient care due to various factors like viruses, bacteria, fungi, etc., while also improving efficiency and precision in diagnosing and treating orally ill people. Robotic systems used in medicine may help improve this process without requiring physical interactions from healthcare workers.

Method used

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  • Double-arm collaborative robot control method and system for assisting oral medical image
  • Double-arm collaborative robot control method and system for assisting oral medical image
  • Double-arm collaborative robot control method and system for assisting oral medical image

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Embodiment Construction

[0020] The present invention will be described in detail below in conjunction with the accompanying drawings and embodiments.

[0021] as attached figure 1 As shown, the trajectory tracking control process of the photosensitive plate clamping robot system of the present invention mainly includes: pretreating the inside of the patient's oral cavity before treatment, performing CT scanning on it to reconstruct the patient's 3D oral cavity model, and obtaining the patient's oral cavity lesion. Calibrate the end gripping of the robot, and convert the angle of the lesion from the oral coordinate system to the end gripping coordinate system to perform hand-eye calibration. The pose of the marker is estimated and converted from the camera coordinate system to the base coordinate system of the robot arm. When the pose detected by the camera of the marker changes, the end-clamped robotic arm will track the trajectory of the patient's teeth. After the manipulator moves to the designate...

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Abstract

The invention discloses a double-arm collaborative robot control method and system for assisting oral medical images. The system comprises a collaborative robot, a motion controller of the collaborative robot, an image bulb tube clamping mechanism, a photosensitive plate tail end clamping mechanism, an oral cavity posture detection module, an oral cavity posture detection sensor, a human-computer interaction interface and a server. A collaborative robot clamped by a tail end light sensing plate is used for tracking an intraoral tooth position of a patient, so that the tail end clamping is made to be close to a focus area as much as possible, and precise positioning and self-adaptive dynamic tracking are carried out; and based on the control method of multi-modal information, the collaborative robot is used for being close to a shooting part to assist image operation, and the image bulb tube is controlled to perform shooting operation by comparing and matching the signals reflecting the image parameters. The system can realize automatic tracking of the focus tooth position, solves the problems of poor consistency and exposure stability in the oral cavity imaging process, and effectively reduces virus cross infection caused by contact between doctors and patients.

Description

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Claims

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Application Information

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Owner BEIJING UNIV OF TECH