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A method and device for determining the working pose of a 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: 2022-02-08
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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  • A method and device for determining the working pose of a mechanical arm
  • A method and device for determining the working pose of a mechanical arm
  • A method and device for determining the working pose of a mechanical arm

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Embodiment Construction

[0028] Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the drawings, it should be understood that the invention may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided for more thorough understanding of the present invention and to fully convey the scope of the present invention to those skilled in the art.

[0029] Before dental implant surgery, the position of the implant is usually planned in advance according to the CT (Computed Tomography) image of the patient's oral cavity, and a virtual implant is placed at the corresponding position of the CT image through the surgical planning software. This virtual implant is called a planned implant, and the corresponding position of the planned implant in the patient's oral cavity is determined as the pla...

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Abstract

The embodiment of the present application discloses a method and a device for determining the working pose of a robotic arm, which relate to the technical field of dental implant robots. The method obtains the initial pose of the end of the robot arm relative to the base, and then determines several candidate poses of the end of the robot arm that meet preset implant conditions. Then, based on the target point at the end of the mechanical arm, calculate the moving distance between the target point in each candidate pose and the target point in the initial pose; determine the candidate pose corresponding to the shortest moving distance as the implant nest preparation target pose. Therefore, during the implant surgery, the initial posture of the end of the robotic arm is fully referred to, and it can be quickly converted to the target posture and then moved into the oral cavity. In this way, large-angle posture changes in the oral cavity can be avoided, thereby improving surgical safety.

Description

technical field [0001] The invention relates to the technical field of dental implant robots, in particular to a method and a device for determining the working posture of a mechanical arm. Background technique [0002] In implant implant surgery, it is first necessary to use a car to prepare a nest for the placement of the implant. When preparing a nest with a bur, its axis needs to coincide with the axis of the planned implant. Among them, the bur is fixed on the end of the mechanical arm of the robotic arm trolley through the mobile phone fixing structure and the mobile phone. During the implant surgery, the movement of the end of the mechanical arm needs to be controlled by the robotic arm trolley so that the bur can move to the axis of the implant placement position. superior. Due to the limited space in the mouth. If the end of the manipulator moves in a random posture, it may have a large angle of displacement during the movement, resulting in intraoperative risks. ...

Claims

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Application Information

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Patent Type & Authority Patents(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