Intelligent laser oral implant robot for clinical application

Abstract

The invention discloses an intelligent laser oral implanting robot for clinical application. The intelligent laser oral implanting robot comprises a robot system, a CT imaging system, an optical positioning and tracking system, a supporting device and a control platform. The robot system comprises a base, a fixing frame, a mechanical arm and a laser transmitter, and the laser transmitter is used for drilling holes in bone tissues; the CT imaging system comprises a radiation source and a detector and is used for scanning and collecting oral information of a patient before an operation; the optical positioning and tracking system comprises an infrared emitter, an infrared stereo camera and a dynamic reference frame and is used for dynamically scanning and collecting oral cavity information of a patient in an operation; the control platform receives data information collected by the CT imaging system and the optical positioning and tracking system, and the working state of the robot system is planned and timely adjusted. Advanced image reconstruction, intelligent path planning, dynamic navigation and laser cutting technologies are combined, the accuracy of the laser cutting path can be ensured, and accurate cutting and precision control of the alveolar bone are achieved.

Description

Technical Field

[0001] The present invention belongs to the technical field of medical robot equipment, and in particular relates to an intelligent laser oral implant robot for clinical applications. Background Art

[0002] During oral implant surgery, traditional methods often rely on the doctor's experience and manual operation, and have high requirements for surgical precision. Due to the complex anatomy and delicate operations involved in the operation, it is difficult to ensure the precise positioning of the implant and the accurate drilling of the alveolar bone, which not only increases the complexity of the operation, but may also lead to implant failure. Existing intelligent implant technology usually lacks real-time image feedback and dynamic navigation, making it difficult for doctors to control the process and adjust the implant plan. The mechanical drills commonly used in surgery are still a major challenge in achieving precise positioning and safety in complex oral environments. Therefore, the design and development of an intelligent implant robot that can integrate image acquisition, three-dimensional reconstruction, real-time dynamic navigation and laser cutting has important clinical application value.

[0003] Existing oral implant technology mainly relies on mechanical hole preparation. This method is mature, but it has certain limitations: mechanical hole preparation contact cutting can easily cause bone tissue damage, affecting the effect of early treatment. In addition, traditional surgery lacks real-time image feedback, and doctors cannot dynamically adjust operations during the operation, resulting in low surgical accuracy and complete reliance on the doctor's operating experience. Laser technology has been introduced into the field of dentistry in recent years. Its non-contact and precise ablation characteristics make it show great potential in alveolar bone hole preparation. However, current laser cutting equipment is mostly used independently and is difficult to effectively integrate with other steps of oral implant surgery. Summary of the invention

[0004] In order to solve the above problems, the present invention proposes an intelligent laser oral implant robot, whose robot system integrates CBCT image acquisition, deep learning-based image segmentation, three-dimensional reconstruction, dynamic navigation and laser cutting technology. The optical tracking and positioning system monitors the surgical area in real time, and combines intelligent path planning and laser control to achieve precise cutting of the alveolar bone and precise implantation of the implant. The present invention uses laser hole preparation, which does not require the replacement of drill bits, reduces cross infection, and achieves precise hole preparation. The method is easy to operate, highly safe, and highly accurate, and provides an intelligent and standardized solution for oral implant surgery, which greatly improves the success rate of the operation and the patient's recovery effect.

[0005] In order to solve the above technical problems, a technical solution adopted by the present invention is:

[0006] An intelligent laser oral implant robot for clinical applications, comprising a robot system, a CT imaging system, an optical positioning and tracking system, a support device and a control platform;

[0007] The robot system comprises a base, a fixing frame fixedly arranged on one side of the top surface of the base, a mechanical arm connected to the fixing frame, and a laser transmitter installed at the execution end of the mechanical arm, wherein the laser transmitter is used to drill holes in bone tissue;

[0008] The CT imaging system comprises a ray source and a detector, which are arranged opposite to each other, the ray source emits scanning rays, the detector receives the scanning rays, and performs ray scanning on objects between the two, which is used for scanning and collecting oral information of patients before surgery;

[0009] The optical positioning and tracking system includes an infrared transmitter, an infrared stereo camera and a dynamic reference frame. The infrared transmitter is fixedly arranged inside or outside the patient's oral cavity. The dynamic reference frame is fixedly arranged on the infrared transmitter and located outside the patient's oral cavity. The infrared stereo camera is fixedly arranged on the fixed frame. The infrared transmitter emits infrared light of a specific wavelength. The infrared stereo camera captures the infrared light for dynamic scanning and collection of oral information of the patient during surgery.

[0010] A control system is set up in the control platform to receive data information collected by the CT imaging system and the optical positioning and tracking system, and to plan and timely adjust the working status of the robot system.

[0011] Furthermore, the robot system also includes a control panel fixedly mounted on a fixed frame, for manually inputting instructions for controlling the operation of the robot.

[0012] Furthermore, the laser transmitter is provided with an indication laser transmitter and a laser sensor respectively. The indication laser transmitter transmits indication laser and the laser sensor receives the indication laser, so as to accurately position the laser transmitter above the starting point of drilling.

[0013] Furthermore, the laser transmitter is also provided with a cleaning nozzle, which is connected to an external cleaning liquid supply device through a pipeline and is used for cleaning the drilled hole.

[0014] Furthermore, the laser generator adopts a dental laser with any wavelength of 1-3 μm.

[0015] Furthermore, the CT imaging system also includes a track, a travel drive device slidably mounted on the track, and a rotating bracket slidably connected to the top of the travel drive device. The radiation source and the detector are respectively fixedly mounted on the inner walls on both sides of the rotating bracket relative to each other. The travel drive device is connected to the track through a gear rack transmission mechanism, and the rotating bracket is connected to the travel drive device through a gear pair transmission mechanism.

[0016] Furthermore, the CT imaging system adopts cone beam CT.

[0017] A control method for an intelligent laser oral implant robot for clinical application is also provided, comprising the following steps:

[0018] The radioactive marker registration device is placed in the patient's mouth, and the patient is scanned using a CT imaging system to obtain high-resolution three-dimensional images;

[0019] Build a U-Net model in the control platform, train and test the model using the Teeth3DS+ dataset, preprocess the raw image data obtained from the CT imaging system to improve image quality and reduce artifacts, segment new medical images using the trained U-Net model, and generate contour and mask 2D graphics;

[0020] Read the segmentation results of 2D medical image sequences and perform 3D reconstruction: Set the rendering window and interactive mode to initialize the modeling environment, read the 2D image file and define the image parameters, apply Gaussian smoothing technology to process the image to obtain smoother reconstruction results, calculate the image contour, and visualize the oral 3D model;

[0021] The mandibular nerve canal is accurately segmented on the panoramic image obtained by 3D reconstruction. Based on the segmentation results, combined with the patient's anatomical structure and repair needs, the position and angle of the virtual implant are planned and simulated. The alveolar bone information in the 3D model is used to automatically measure the amount of alveolar bone grinding at the implant site. The depth and diameter of the implant are adjusted according to the measurement results, and the surgical path of the robot system is planned.

[0022] The robot system runs according to the planned surgical path. The optical positioning and tracking system obtains the patient's oral imaging data in real time, feeds it back to the control system, and dynamically navigates the robot arm. The doctor manually inputs operating instructions to control the movement of the robot arm. The control system flexibly adjusts the movement trajectory of the robot arm based on the received operating instructions and the real-time feedback information from the optical positioning and tracking system.

[0023] Start the automatic entry program of the robotic arm. The robotic arm automatically enters the patient's mouth according to the stored preoperative planning path, and positions the laser emitter above the starting point of drilling. The control system activates the laser emitter to generate a high-energy laser beam to cut the bone tissue. When the predetermined depth is reached, the laser emission stops, the hole is cleaned, and any remaining debris is removed.

[0024] Furthermore, corresponding controls are provided in the control platform, so that the doctor can view and adjust various parameters obtained from preoperative path planning in the two-dimensional image interactive window and complete the equipment status synchronization process service.

[0025] Furthermore, during the process of cutting bone tissue, the robot system monitors the laser drilling speed, force level and density changes of bone tissue in real time, and adjusts the laser energy output as needed.

[0026] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0027] The present invention proposes an intelligent laser oral implant robot for clinical applications, whose robot system combines advanced image reconstruction, intelligent path planning, dynamic navigation and laser cutting technology. It acquires high-resolution images of the patient's oral cavity through cone beam CT (CBCT), uses deep learning models for image segmentation and three-dimensional reconstruction, uses optical tracking and positioning technology to monitor the working area in real time, and combines dynamic navigation to ensure the accuracy of the laser cutting path. By setting a coordinate laser, it is possible to achieve accurate cutting and precision control of the alveolar bone while ensuring the safety of the robot arm's operation. The entire surgical process is monitored and adjusted in real time by an intelligent control system to ensure the precise entrance of the implant. The present invention greatly improves the accuracy, efficiency and safety of oral implant surgery, and provides an automated solution for clinical oral implants. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a schematic diagram of the structure of the intelligent laser oral implant robot of the present invention.

[0029] Figure 2 It is a schematic structural diagram of the laser transmitter of the present invention.

[0030] Figure 3 This is a functional flow chart of the intelligent laser oral implant robot of the present invention.

[0031] In the figure: 1. Robot system; 101. Robotic arm; 102. Base; 103. Control panel; 104. Fixed frame; 105. Laser emitter; 106. Coordinate laser; 107. Laser sensor; 108. Cleaning nozzle; 109. Cleaning liquid supply device; 2. CT imaging system; 201. Radiation source; 202. Detector; 203. Rotating bracket; 204. Track; 205. Travel drive device; 3. Optical positioning and tracking system; 301. Infrared emitter; 302. Infrared stereo camera; 303. Dynamic reference frame; 4. Support device; 401. Support body; 402. Seat; 403. Connecting rod; 404. Footrest; 405. Chair back; 406. Electric telescopic rod; 5. Control platform. DETAILED DESCRIPTION

[0032] The preferred embodiments of the present invention are described in detail below in conjunction with the accompanying drawings so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making a clearer and more definite definition of the protection scope of the present invention.

[0033] It should be noted that when a component is referred to as being "mounted on" another component, it may be directly on the other component or there may be a central component. When a component is considered to be "set on" another component, it may be directly set on the other component or there may be a central component at the same time. When a component is considered to be "fixed to" another component, it may be directly fixed on the other component or there may be a central component at the same time.

[0034] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which the present invention belongs. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "or / and" used herein includes any and all combinations of one or more of the related listed items.

[0035] See also Figure 1 The present invention provides an intelligent laser oral implant robot for clinical applications, including a robot system 1, a CT imaging system 2, an optical positioning and tracking system 3, a supporting device 4 and a control platform 5.

[0036] The robot system 1 includes a fixed frame 104, a robot arm 101, a base 102, a laser emitter 105 and an operation panel 103. The base 102 is fixed on the bottom surface and serves as the installation base of the entire device. The robot arm 101 adopts an existing multi-degree-of-freedom industrial robot arm, the head end of which is fixedly connected to the top end of the fixed frame 104, and the laser emitter 105 is fixedly installed at the execution end of the robot arm 101. The robot arm 101 drives the laser emitter 105 to perform drilling operations on the patient's oral bone tissue at a preset posture and angle. The operation panel 103 is connected to the top of the fixed frame 104 and suspended on one side above the support device 4, so that the doctor can issue various action instructions to the robot arm 101 during the operation. The laser emitter 105 adopts a dental laser with an arbitrary wavelength of 1-3μm. By continuously emitting a laser beam at a specified position of the cavity bone tissue, a cylindrical hole can be gradually formed in the bone tissue to achieve drilling.

[0037] The support device 4 is fixedly arranged on the left front side of the top surface of the base 102, and adopts a device similar to the existing dental treatment chair, which is used to support the patient for surgical operation. The support device 4 includes a support body 401, a seat 402 rotatably connected to the top of the support body 401 through a rotating shaft, a connecting rod 403 rotatably connected to the lower end of the seat 402, a footrest 404 rotatably connected to the end of the connecting rod 403, and a backrest 405 rotatably connected to the top of the seat 402. Among them, the rotating pair between the seat 402 and the connecting rod 403 and the rotating pair between the seat 402 and the backrest 405 are both provided with a ratchet mechanism to achieve angle adjustment and position locking between the two components on each rotating pair, thereby adjusting the overall posture of the support device 4. The relative angular position between the footrest 404 and the connecting rod 403 is achieved by manual adjustment, and the relative position of the two is fixed by the damping force of the rotating assembly between the two. The middle part of the support body 401 is rotatably connected to an electric telescopic rod 406, and the telescopic end of the electric telescopic rod 406 is rotatably connected to the middle part of the top of the seat 402. By adjusting the overall length of the electric telescopic rod 406, the angle of the seat 402 on the support body 401 can be adjusted accordingly, thereby adjusting the overall angle of the support device 4 to meet the patient's comfort needs whether lying or sitting.

[0038] like Figure 2 As shown, the laser emitter 105 is provided with an indication laser emitter 106 and a laser sensor 107. After the robot arm 101 positions the working position of the laser emitter 105 inside the patient's mouth and before the laser emitter 105 emits a drilling laser beam, the coordinate laser 106 emits an indication laser and senses the light reflected by the oral bone tissue through the laser sensor 107, thereby accurately positioning the laser emitter 105 above the starting point of drilling according to the preset path planned by the system. At the same time, the laser emitter 105 is also provided with a cleaning nozzle 108, which is connected to an external cleaning liquid supply device 109 through a pipeline. After the laser emitter 105 completes the drilling operation, the cleaning liquid supply device 109 works, and the cleaning liquid is sprayed through the cleaning nozzle 108 to clean the hole to remove possible residual debris.

[0039] The CT imaging system 2 uses cone beam CT (Cone Beam Computed Tomography, CBCT) for scanning and collecting oral information of patients before surgery, so as to realize subsequent three-dimensional oral image reconstruction and surgical path planning, so as to formulate a personalized surgical route for each patient, and form a precise control program for the movement of the robot arm 101 and the working position positioning of the laser emitter 105. The CT imaging system 2 includes a ray source 201, a detector 202, a rotating bracket 203, a track 204 and a travel drive device 205. The track 204 is fixedly arranged parallel to the front side of the top surface of the base 102, and the travel drive device 205 is slidably installed on the track 204, and is used to drive the CT imaging system 2 to move left and right as a whole, so as to realize the position conversion between the scanning working position and the non-working position. Specifically, a rack is fixedly provided on the side of the track 204, a power drive device is provided inside the travel drive device 205, and a gear meshing with the rack is connected to the bottom power output end of the power drive device, so that power output is achieved through the gear rack transmission mechanism, thereby achieving precise control of the horizontal moving distance of the CT imaging system 2 as a whole. The bottom two sides of the rotating bracket 203 are arranged on the top of the travel drive device 205 through the sliding cooperation of the arc track and the arc slide groove, so that the rotation can rotate around its own axis within a certain angle range. The direct ray source 201 and the detector 202 are respectively fixedly provided on the two sides of the inner wall of the rotating bracket 203. The rotation of the rotating bracket 203 is driven by the power system on the top of the travel drive device 205, and the spatial posture of the ray source 201 and the detector 202 can be adjusted, so that the object located between the two can be ray scanned at a preset angle to achieve three-dimensional image scanning in all directions. Specifically, a driven half-gear located between the arc-shaped tracks is provided on the bottom surface of the rotating bracket 203, and the top power output end of the power drive device of the travel drive device 205 is connected to a driving gear meshing with the external gear. Power transmission is realized through the gear pair transmission, thereby realizing precise control of the rotation angle of the rotating bracket 203.

[0040] The optical positioning tracking system 3 is used to accurately identify the anatomical structure in the patient's oral surgical area during surgery, and cooperate with the preset surgical path to achieve precise guidance and control of the robot arm 101, thereby improving the surgical effect and safety. The optical positioning tracking system 3 includes an infrared transmitter 301 (an infrared LED is used in this embodiment), an infrared stereo camera 302, and a dynamic reference frame 303. The infrared transmitter 301 is installed at a fixed position inside or outside the patient's mouth, and emits infrared light of a specific wavelength when working; the infrared stereo camera 302 is fixedly set on the fixed frame 104, and generates a real-time three-dimensional image by capturing the light emitted by the infrared transmitter 301; the dynamic reference frame 303 is fixedly set on the infrared transmitter 301, as a reference for the infrared emission position and angle, to help the system calibrate and track changes in the target position.

[0041] The control platform 5 uses an existing computer workstation to control the working status of the robot system 1, the CT imaging system 2, the optical positioning tracking system 3 and the support device 4 through a preset program. The workstation is equipped with a control system, an image analysis and processing module, and a corresponding image analysis and processing program. By analyzing and processing the image scanning data received from the CT imaging system 2, and formulating the surgical path planning according to the data processing results, and displaying the processed image information on the display, the processor of the workstation controls the robot arm 101 to perform surgical operations and start and stop the laser transmitter 105 according to the surgical path planning; by analyzing and processing the image data received from the optical positioning tracking system 3, the patient's imaging data is obtained in real time, and the robot arm 101 is dynamically navigated to ensure that the position and angle of the laser beam irradiation are completely consistent with the preoperative plan. When working, the control platform 5 can control and adjust the running trajectory of the robot arm 101 and the posture of the support device 4 according to the manual instructions of the control panel 103.

[0042] like Figure 3 As shown, the present invention also provides a control method for an intelligent laser oral implant robot for clinical application, comprising the following steps:

[0043] S1. Oral 3D image reconstruction:

[0044] S1.1. Oral information collection:

[0045] The radioactive marker registration device is placed in the patient's mouth, and the CT imaging system 2 (cone beam CT) is used as the main image acquisition device. According to the patient's specific conditions and clinical needs, appropriate scanning parameters (including scanning range, layer thickness, voltage and current, etc.) are set to scan the patient and obtain high-resolution three-dimensional images.

[0046] S1.2, Image segmentation based on deep learning:

[0047] First, the U-Net model was constructed using the deep learning framework PyTorch, and the model was trained and tested using the Teeth3DS+ dataset. Next, the raw image data obtained from the CT imaging system 2 needed to be preprocessed, such as denoising, normalization, and correction, to improve image quality and reduce artifacts. The trained U-Net model was used to segment new medical images and generate contour and mask two-dimensional graphics for the next step of oral three-dimensional reconstruction.

[0048] S1.3. Read the segmentation results of the two-dimensional sequence medical images and perform three-dimensional reconstruction:

[0049] Use Python's VTK library to perform 3D reconstruction of oral images. First, initialize the VTK environment by setting the rendering window and interactive mode. Next, read the 2D image file and define the image reading interface (such as vtk.vtkPNGReader), set parameters such as image size, prefix, and file path. After that, in order to improve the effect of 3D modeling, you can adjust the spacing between images, especially increase the spacing in the z direction. Next, apply Gaussian smoothing technology to process the image to obtain a smoother reconstruction result. Finally, use the Marching Cubes algorithm to calculate the contour, and visualize the oral 3D model through the VTK display pipeline.

[0050] S2. Surgical Pathway Planning:

[0051] The mandibular nerve canal is accurately segmented on the panoramic image obtained by 3D reconstruction to ensure that the nerve is not damaged during the operation. Based on the segmentation results, the doctor plans the position and angle of the virtual implant in combination with the patient's anatomical structure and repair needs. Simulation tools such as MATLAB are used to verify the feasibility and safety of the implant plan. The alveolar bone information in the 3D model is used to automatically measure the amount of alveolar bone grinding at the implant site. The depth and diameter of the implant are adjusted according to the measurement results to achieve the best bone integration effect. The corresponding controls are designed so that the doctor can easily view and adjust these parameters in the 2D image interactive window. Finally, the device status synchronization process service is completed to ensure that the information of all relevant devices during the operation is consistent. Design a multi-threaded DICOM storage service process to achieve efficient data storage and management. Ensure that all key data can be accurately recorded for later analysis and research.

[0052] S3, dynamic navigation and laser drilling:

[0053] S3.1, Optical tracking and positioning system:

[0054] The optical positioning and tracking system 3 is a key component to ensure high precision and safety. Through the above-mentioned setting of the various functional components of the optical positioning and tracking system 3, the system can accurately identify the anatomical structure in the surgical area and achieve precise guidance and control of the robot arm 101, thereby improving the surgical effect and safety.

[0055] S3.2, Dynamic Navigation:

[0056] During the operation, the intelligent implant robot first obtains the patient's imaging data in real time through the optical positioning tracking system 3, which includes the light emitted by the infrared transmitter 301 and the infrared stereo camera 302 capturing and generating a three-dimensional image. Subsequently, the robot uses these real-time images for dynamic navigation to ensure that the position and angle of the laser beam irradiation are completely consistent with the preoperative plan. The doctor inputs the operation command through the control panel 103 or the touch screen of the control platform 5 to control the movement of the robot arm 101, and the movement trajectory of the robot arm 101 is flexibly adjusted according to the received command signal and the real-time feedback information of the optical positioning tracking system 3. When the laser working position of the laser transmitter 105 is close to the bone tissue, the robot arm 101 feeds back the position information to the control system of the control platform 5; the control system then adjusts the speed or direction of the robot arm 101 to avoid overload damage. During the whole process, the closed-loop feedback control mechanism continuously monitors the movement state and position state of the robot arm 101, and optimizes its movement trajectory through the PID controller, thereby ensuring the safety and accuracy of the operation.

[0057] S3.3, high-precision laser cutting:

[0058] The laser transmitter 105 is installed on the robot arm 101 of the oral implant robot and is initially calibrated to ensure that the laser beam is consistent with the path planned before the operation. After completing the initial positioning, the doctor starts the automatic entry program of the robot arm 101. The robot arm 101 automatically enters the patient's oral cavity according to the stored preoperative planning path, and accurately positions the indicator laser above the starting point of the drilling. After the indicator laser is stably in place, the control system activates the laser transmitter 105 to generate a high-energy laser beam to cut the bone tissue. At the same time, the robot system (laser sensor 107) monitors the laser drilling speed, force level, and density changes of the bone tissue in real time, and adjusts the energy output of the laser as needed to ensure the accuracy and safety of the drilling process. With the continuous action of the laser beam, a cylindrical hole is gradually formed in the bone tissue. During this process, the robot system continues to provide precise control to avoid unnecessary damage to the surrounding healthy tissue.

[0059] S3.4, cleaning holes:

[0060] When the predetermined depth is reached, the laser emission stops. After the drilling is completed, the robot system will automatically stop the laser emission. After the laser emitter 105 completes the drilling operation, the cleaning liquid supply device 109 starts working, and the cleaning liquid is sprayed through the cleaning nozzle 108 to clean the hole to remove any remaining debris. Finally, the doctor uses an endoscope or other imaging equipment to check the quality of the hole to ensure that it meets the requirements for implant placement. After confirming that the hole is qualified, the doctor implants the implant into the hole according to the planned position and angle, completing the key steps of the oral implant surgery.

[0061] The present invention combines cone beam CT (CBCT) with a deep learning model to accurately obtain oral 3D images, and optimizes the image planning and positioning of implants through image segmentation and 3D reconstruction technology. The processing methods of the prior art usually rely more on manual operations and lack the precise segmentation and real-time image feedback of deep learning models, resulting in low planning accuracy of implant positions.

[0062] The present invention uses an optical tracking positioning system and dynamic navigation technology to monitor every step of the surgical process in real time, ensuring that the laser cutting path is consistent with the previous plan, and can automatically adjust the cutting process according to real-time feedback information. This dynamic adjustment function is lacking in existing technologies. Most existing systems can only rely on preset paths and lack the ability to flexibly respond to the environment in the technology, which is prone to problems such as path deviation or uneven cutting.

[0063] The laser cutting technology of the present invention can effectively avoid the thermal damage that may be caused by mechanical needle contact cutting in the prior art, and can reduce the damage to the surrounding healthy tissue while ensuring accuracy. In the prior art, most machines rely on needle cutting, which easily causes damage to bone tissue, affecting the surgical effect and final recovery.

[0064] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0065] The above descriptions are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. An intelligent laser oral implant robot for clinical applications, characterized by: It includes a robot system, a CT imaging system, an optical positioning and tracking system, a support device and a control platform; The robot system comprises a base, a fixing frame fixedly arranged on one side of the top surface of the base, a mechanical arm connected to the fixing frame, and a laser transmitter installed at the execution end of the mechanical arm, wherein the laser transmitter is used to drill holes in bone tissue; The CT imaging system comprises a ray source and a detector, which are arranged opposite to each other, the ray source emits scanning rays, the detector receives the scanning rays, and performs ray scanning on objects between the two, which is used for scanning and collecting oral information of patients before surgery; The optical positioning and tracking system includes an infrared transmitter, an infrared stereo camera and a dynamic reference frame. The infrared transmitter is fixedly arranged inside or outside the patient's oral cavity. The dynamic reference frame is fixedly arranged on the infrared transmitter and located outside the patient's oral cavity. The infrared stereo camera is fixedly arranged on the fixed frame. The infrared transmitter emits infrared light of a specific wavelength. The infrared stereo camera captures the infrared light for dynamic scanning and collection of oral information of the patient during surgery. A control system is set up in the control platform to receive data information collected by the CT imaging system and the optical positioning and tracking system, and to plan and timely adjust the working status of the robot system.

2. The intelligent laser oral implant robot for clinical application according to claim 1, characterized in that: The robot system also includes a control panel fixedly arranged on the fixing frame, which is used for manually inputting instructions for controlling the operation of the robot.

3. The intelligent laser oral implant robot for clinical application according to claim 1, characterized in that: The laser transmitter is provided with an indication laser transmitter and a laser sensor respectively. The indication laser transmitter transmits indication laser and the laser sensor receives the indication laser, so as to accurately position the laser transmitter above the starting point of drilling.

4. The intelligent laser oral implant robot for clinical application according to claim 1, characterized in that: The laser emitter is also provided with a cleaning nozzle, which is connected to an external cleaning liquid supply device through a pipeline and is used for cleaning the drilled hole.

5. The intelligent laser oral implant robot for clinical application according to claim 1, 3 or 4, characterized in that: The laser generator adopts a dental laser with any wavelength of 1-3 μm.

6. The intelligent laser oral implant robot for clinical application according to claim 1, characterized in that: The CT imaging system also includes a track, a travel drive device slidably mounted on the track, and a rotating bracket slidably connected to the top of the travel drive device. The radiation source and the detector are fixedly mounted on the inner walls of both sides of the rotating bracket respectively and relatively. The travel drive device is connected to the track through a gear rack transmission mechanism, and the rotating bracket is connected to the travel drive device through a gear pair transmission mechanism.

7. The intelligent laser oral implant robot for clinical application according to claim 1 or 6, characterized in that: The CT imaging system adopts cone beam CT.

8. A control method for an intelligent laser oral implant robot for clinical applications, characterized in that: The following steps are involved: The radioactive marker registration device is placed in the patient's mouth, and the patient is scanned using a CT imaging system to obtain high-resolution three-dimensional images; Build a U-Net model in the control platform, train and test the model using the Teeth3DS+ dataset, preprocess the raw image data obtained from the CT imaging system to improve image quality and reduce artifacts, segment new medical images using the trained U-Net model, and generate contour and mask 2D graphics; Read the segmentation results of 2D medical image sequences and perform 3D reconstruction: Set the rendering window and interactive mode to initialize the modeling environment, read the 2D image file and define the image parameters, apply Gaussian smoothing technology to process the image to obtain smoother reconstruction results, calculate the image contour, and visualize the oral 3D model; The mandibular nerve canal is accurately segmented on the panoramic image obtained by 3D reconstruction. Based on the segmentation results, combined with the patient's anatomical structure and repair needs, the position and angle of the virtual implant are planned and simulated. The alveolar bone information in the 3D model is used to automatically measure the amount of alveolar bone grinding at the implant site. The depth and diameter of the implant are adjusted according to the measurement results, and the surgical path of the robot system is planned. The robot system runs according to the planned surgical path. The optical positioning and tracking system obtains the patient's oral imaging data in real time, feeds it back to the control system, and dynamically navigates the robot arm. The doctor manually inputs operating instructions to control the movement of the robot arm. The control system flexibly adjusts the movement trajectory of the robot arm based on the received operating instructions and the real-time feedback information from the optical positioning and tracking system. Start the automatic entry program of the robotic arm. The robotic arm automatically enters the patient's mouth according to the stored preoperative planning path, and positions the laser emitter above the starting point of drilling. The control system activates the laser emitter to generate a high-energy laser beam to cut the bone tissue. When the predetermined depth is reached, the laser emission stops, the hole is cleaned, and any remaining debris is removed.

9. The intelligent laser oral implant robot for clinical application according to claim 8, characterized in that: Corresponding controls are set in the control platform, allowing doctors to view and adjust various parameters obtained from preoperative path planning in the two-dimensional image interactive window and complete the equipment status synchronization process service.

10. The intelligent laser oral implant robot for clinical application according to claim 8, characterized in that: During the process of cutting bone tissue, the robotic system monitors the laser drilling speed, force level and changes in bone tissue density in real time, and adjusts the laser energy output as needed.

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