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Method and device for determining working pose of mechanical arm

A technology of robotic arm and working position, which is applied in the field of determining the working position and posture of the robotic arm, which can solve problems such as intraoperative risks and achieve the effect of improving surgical safety and avoiding posture changes

Active Publication Date: 2021-12-10
APEIRON SURGICAL CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

If the end of the robotic arm moves in a random posture, it may have a large angle of displacement during the movement, resulting in intraoperative risks

Method used

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  • Method and device for determining working pose of mechanical arm
  • Method and device for determining working pose of mechanical arm
  • Method and device for determining working pose of mechanical arm

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Embodiment Construction

[0028] An exemplary embodiment of the present invention will be described in more detail below with reference to the accompanying drawings. While the exemplary embodiments of the present invention are shown in the drawings, it is understood that the present invention can be implemented in various forms and is not intended to be illustrated herein. Instead, these embodiments are provided in order to be more specifically understood, and the scope of the invention can be communicated to those skilled in the art.

[0029] Before the planting of the teeth surgery, the position of the implant is typically planned according to the CT (Computed Tomography, Electronic Computer Fault Scan) image of the patient's oral cavity, and a virtual implant is placed in the corresponding position of the CT image by the surgical planning software. This virtual implant is referred to as planning implants, and the position of the planned implant in the patient's mouth is determined as an implant placemen...

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Abstract

The embodiment of the invention discloses a method and a device for determining the working pose of a mechanical arm, and relates to the technical field of dental implant robots. According to the method, the initial pose of the tail end of the mechanical arm relative to a base is obtained, and then a plurality of candidate poses, meeting preset implant conditions, of the tail end of the mechanical arm are determined. Then, based on a target point at the tail end of the mechanical arm, the moving distance between the target point under each candidate pose and the target point under the initial pose is calculated; and the candidate pose corresponding to the shortest moving distance is determined as the target pose of the implant standby nest. Therefore, in the implanting operation process, the initial posture of the tail end of the mechanical arm is fully referred, and the mechanical arm can be quickly converted into the target posture and then moves into the oral cavity. Large-angle posture change in the oral cavity can be avoided, and the operation safety is improved.

Description

Technical field [0001] The present invention relates to the field of planting robotics, and in particular, to a method and apparatus for determining a mechanical arm working position. Background technique [0002] In the implantation of implants, it is first necessary to provide a car through the vehicle to the implant position, and the axis therethrough when the needle needs to coincide with the axis of the planned implant. Among them, the needle is fixed by the mobile phone fixing structure and the mobile phone to the end of the robotic arm of the mechanical arm. In planting surgery, it is necessary to control the end movement of the robot arm by the mechanical arm trolley to move the needle to the axis of the implant placement position. superior. Due to the limited space of the oral cavity. If the end of the robot is moved in a random position, it may produce a large angular displacement during exercise, resulting in intraoperative risk. Inventive content [0003] In view of ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61C8/00A61B34/30A61B34/20B25J5/00
CPCA61C8/0089A61B34/70A61B34/20B25J5/007
Inventor 王迎智袁平周毅
Owner APEIRON SURGICAL CO LTD