Autonomous dental implant robot positioning precision evaluation device and method

Abstract

The angle precision measuring die is a hemisphere to ensure angle diversity and placement stability, and the displacement precision measuring die is a cube to ensure displacement difference standard and placement stability; the dental implant robot plans robot target paths according to the CT images of the two molds, the target angle of the robot in angle measurement is a vector from the center of a target hole to the center of a sphere, and the distance between the target position and the center of the target hole is the length of the implant instrument; the target angle of the robot in position measurement is a vector perpendicular to the upper surface of the mold, and the distance between the target position and the circle center of the target hole is the length of the planting instrument; an optical tracker and a calibration tool are used for completing calibration of the mechanical arm and the front end of the mechanical arm; an optical tracker and a calibration tool are used to complete space registration of the CT image and the actual mold; according to a pre-operation planning path, mechanical arm calibration and a space registration result, the planting instrument is fed into a hole of the measuring mold; and if the robot does not enter the hole and collides with the mold, the robot stops executing.

Description

technical field [0001] The invention relates to the technical field of medical image processing, in particular to an autonomous dental implant robot positioning accuracy evaluation device and a method adopted by the autonomous dental implant robot positioning accuracy evaluation device. Background technique [0002] Dental implant surgery has extremely high requirements on the doctor's operational accuracy and clinical experience. However, due to the narrow operating space of the oral cavity and the obstruction of soft and hard tissues in the buccal area, it is difficult to achieve precise implantation and the process is long. Implantation equipment is easy to cause operational fatigue. Any small mistakes and precision deviations in the process will affect the long-term tooth function and aesthetic effect, and even cause damage to important tissue structures such as neural tubes and adjacent teeth roots. Therefore, dental implant robots have set off a boom in research and de...

AI Technical Summary

Problems solved by technology

Steps ①-⑤ are the key and foundation that affect the accuracy of planting, which is equivalent to finding the starting point for the robot to perform planting. However, at this stage, there is no general, streamlined, and standard test method to verify the accuracy of steps ①-⑤, which leads to the overall planting process. The error composition of ①-⑦ is difficult to separate and quantify

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