Operation path planning method and device, storage medium and automatic tooth implantation system

Abstract

The invention provides a surgical path planning method and device, a storage medium and an automatic tooth implantation system, relates to the technical field of oral treatment equipment, and is used for planning a surgical path. The surgical path planning method comprises the following steps: obtaining a recording path by using recording equipment; wherein the recording path passes through recording areas corresponding to a plurality of to-be-operated planting points; in response to an instruction of planning a path of a target planting point location, determining a planned path of the surgical instrument from the current position to the target planting point location; wherein the planning path at least partially passes through the recording path.

Description

Technical Field

[0001] The present disclosure relates to the technical field of oral treatment equipment, and in particular to a surgical path planning method, device, storage medium and automatic dental implant system. Background Art

[0002] In recent years, with the rapid development of computer technology, oral implant surgery has gradually become intelligent and modern. Oral implant robots offer advantages such as precision, flexibility, and minimally invasiveness, facilitating precise implant surgery and providing key technical support for this procedure.

[0003] In the prior art, when using an oral implant robot for surgery, to prevent the drill from colliding with the patient's tissue, it is often necessary to control the robot's robotic arm to move the drill along a reasonable surgical path. Therefore, planning this surgical path is a pressing issue. Summary of the Invention

[0004] The present disclosure proposes a surgical path planning method, device, storage medium and automatic dental implant system to achieve surgical path planning.

[0005] In a first aspect, the present disclosure provides a surgical path planning method, comprising: obtaining and saving a recorded path using a recording device; wherein the recorded path passes through recording areas corresponding to multiple implant sites to be operated on; in response to an instruction to plan a path to a target implant site, determining a planned path for the surgical instrument to reach the target implant site from a current position; wherein the planned path of the target implant site at least partially passes through the recorded path; and the target implant site is any one of multiple implant sites to be operated on.

[0006] In the second aspect, the present disclosure provides a surgical path planning device, comprising: an acquisition unit, for obtaining and saving a recorded path using a recording device; wherein the recorded path passes through recording areas corresponding to multiple implantation sites to be operated on; a first determination unit, for determining the planned path of the surgical instrument from the current position to the target implantation site in response to an instruction for planning the path of the target implantation site; wherein the planned path of the target implantation site passes through the recorded path.

[0007] In a third aspect, the present disclosure provides an electronic device, comprising:

[0008] one or more processors;

[0009] a memory communicatively coupled to the one or more processors;

[0010] One or more computer programs, wherein the one or more computer programs are stored in the memory, and when the one or more computer programs are executed by the electronic device, the electronic device is caused to execute the method provided in the first aspect above.

[0011] In a fourth aspect, the present disclosure provides a computer-readable storage medium storing computer instructions, which when run on a computer, cause the computer to execute the method provided in the first aspect above.

[0012] In a fifth aspect, the present disclosure provides an automatic dental implant system, including: an oral implant robot and the surgical path planning device as described above; wherein, the oral implant robot controls a surgical instrument to move to a starting position of the target implant position for surgical operation according to a planned path of the target implant position provided by the surgical path planning device.

[0013] The embodiments of the present disclosure can achieve automatic planning of the surgical path, which is beneficial to reducing the usage threshold of the oral implant robot and improving the surgical efficiency.

[0014] According to the following detailed description of exemplary embodiments with reference to the accompanying drawings, other features and aspects of the present disclosure will become clear. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 A schematic diagram of an application scenario of a surgical path planning method provided for an exemplary embodiment;

[0016] Figure 2 A flowchart of a surgical path planning method provided for an exemplary embodiment;

[0017] Figure 3 A schematic diagram of a recorded path provided for an exemplary embodiment;

[0018] Figure 4 A schematic diagram of a recorded path provided for another exemplary embodiment;

[0019] Figure 5 A block diagram of a surgical path planning device provided for an exemplary embodiment;

[0020] Figure 6 A schematic diagram of an electronic device provided for an exemplary embodiment. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0021] The present disclosure will be described in further detail below with reference to the accompanying drawings. The same reference numerals in the drawings denote elements having the same or similar functions. Although various aspects of the embodiments are shown in the drawings, the drawings are not necessarily drawn to scale unless otherwise specified.

[0022] In addition, for better illustration of the present disclosure, numerous specific details are provided in the following detailed implementation manners. Those skilled in the art should understand that the present disclosure can still be implemented without some specific details. In some instances, methods, means, components, circuits, etc. well-known to those skilled in the art are not described in detail so as to highlight the gist of the present disclosure.

[0023] In the related art, for the planning of the surgical path, the oral implant robot itself cannot make a good plan for the surgical path and usually relies on the personal experience of the doctor using the oral implant robot, which results in a high threshold for using the oral implant robot. In addition, during the operation using the oral implant robot, there is usually a process of the drill bit entering and exiting multiple times, which leads to low surgical efficiency.

[0024] To overcome at least one of the above problems, this embodiment provides a surgical path planning method, which can obtain a planned path to the selected implant position based on the recorded path and the current position of the surgical instrument. The planned path at least partially passes through the recorded path, so as to realize the automatic planning of the surgical path and facilitate reducing the threshold for using the oral implant robot. Moreover, when the current position of the drill bit is inside the mouth, the selected implant position is inside the mouth, and the part of the recorded path passing through the recording area of this implant position is also inside the mouth. Therefore, the planned path obtained based on the above positions is also inside the mouth. Therefore, this embodiment can use the same drill bit to accurately move to the starting positions of multiple implant positions one by one inside the mouth, without the same drill bit exiting and entering multiple times to perform surgical operations, thus saving the time for exiting and entering again and improving the surgical efficiency.

[0025] For ease of understanding, the application scenario of this embodiment will be described first below. Please refer to Figure 1, the application scenario of this embodiment includes an oral implant robot 100, a first visual marker 130, a second visual marker 200, a visual positioning and navigation device 300, and a surgical path planning device 400. The oral implant robot includes a robotic arm 110. At the end of the robotic arm 110 facing the patient's oral cavity, a mobile terminal 120 is installed. The mobile terminal 120 is equipped with a surgical instrument and a first visual marker 130. The surgical instrument includes, but is not limited to, a drill bit. The oral implant robot 100 can control the robotic arm 110 to drive the surgical instrument to move along the planned path provided by the surgical path planning device 400. The second visual marker 200 is installed at a preset position in the patient's oral cavity, and the second visual marker 200 serves as a position reference. The visual positioning and navigation device 300 is used to track the first visual marker 130 and the second visual marker 200 in real time. Based on the information of tracking the second visual marker 200 and the first visual marker 130, the visual positioning and navigation device 300 can determine the relative position relationship between the mobile terminal 120 and the preset position in the patient's oral cavity, and further determine the relative position relationship between the drill bit and the implant point in the patient's oral cavity, and send it to the surgical path planning device 400.

[0026] Among them, the surgical path planning device is the execution subject of the surgical path planning method. The surgical path planning device can be a part of the oral implant robot, such as a functional module or functional entity in the control system of the oral implant robot. Or, the surgical planning device can also be an electronic device communicatively connected to the oral implant machine. Or, the surgical planning device can also be a functional module or functional entity in the electronic device.

[0027] The electronic device includes, but is not limited to: a tablet computer (portable android device, PAD), a personal digital assistant (PDA), a handheld device with wireless communication function, a computer, and a wireless terminal in remote medical.

[0028] It can be understood that: the application scenario of the surgical path planning method provided in this embodiment is not limited to this. Here in this embodiment, it is just an example.

[0029] Figure 2 is a flowchart of surgical path planning according to an embodiment of the present disclosure. Please refer to Figure 2 , the surgical path planning of this embodiment includes the following steps S210 to step S220.

[0030] Step S210, obtaining a recorded path with a recording device and saving it; wherein, the recorded path passes through the recording areas corresponding to multiple implant points to be operated on.

[0031] Step S220: In response to an instruction for planning a path to a target implant position, determine a planned path for the surgical instrument to reach the target implant position from the current position; wherein, the planned path at least partially passes through the recorded path; the target implant position is any one of multiple implant positions to be operated on.

[0032] In step S210, the surgical path planning device can be communicatively connected to the recording device. The recording device can be a surgical navigation and positioning device or other electronic devices, as long as it can implement its corresponding functions. The recording device pre-records the path of the surgical instrument movement by the user (such as a doctor) moving the end effector of the surgical robot in or out of the patient's mouth by means of teaching by dragging, etc., and obtains the recorded path. The surgical path planning device receives the recorded path sent by the recording device and saves it.

[0033] Alternatively, the surgical path planning device itself is integrated with a recording device, which can record the path of the surgical instrument movement caused by the user manually dragging the end effector of the oral implant robot and save it.

[0034] Optionally, in order to reduce the computational complexity, the recorded path can specifically be the path of the surgical instrument moving between a preset implant position in the mouth and a preset position outside the mouth. And the recorded path passes through the recording areas of multiple implant positions to be operated on. For example, if the recorded path starts from a preset implant position, the starting point of the recorded path can be used as the anchor point of the preset implant position.

[0035] In other examples, the recorded path can also be the path of movement between a nearby position and a preset position outside the mouth. The nearby position can be located in the recording area of the preset implant position. The nearby position is a position near the preset implant position, and the distance between the nearby position and the preset implant position is relatively small.

[0036] The surgical instrument can include a drill bit, an oral forceps, an oral scissors, etc. Hereinafter, the case where the surgical instrument includes a drill bit will be used as an example for illustration. Correspondingly, the surgical operation using the drill bit can be a drilling operation for preparing a planting cavity at the implant position.

[0037] The preset implant position can be the implant position located at the distal end among multiple implant positions to be operated on, so as to facilitate subsequent calculation of the planned paths of multiple implant positions. For example, taking the implant positions of this operation all being located in the patient's mandible as an example, the preset implant position can be the implant position farthest from the central incisors of the patient's mandible.

[0038] The preset position outside the mouth can be located outside the mouth and in an area relatively far from the preset implant position; or, the preset position outside the mouth can be located outside the mouth and in an area relatively close to the area corresponding to the central incisors.

[0039] The preset implant positions in the oral cavity and the preset positions outside the oral cavity can be set according to actual needs. Specifically, they can be preset by the user or set by the surgical path planning device.

[0040] The number of implant positions passed by the recording path can be set according to the implant positions in this surgery. Exemplarily, the recording path passes through each implant position in this surgery. For example, for a scenario where there is a need to replace the drill bit, there are 3 implant positions where the drill bit before replacement needs to perform surgical operations, and the 3 implant positions are A1, B1, and C1 respectively. If the number of implant positions where the subsequently replaced drill bit needs to perform surgical operations does not exceed the above 3 implant positions, then the total number of implant positions in this surgery is 3, and the recording path can pass through the 3 implant positions A1, B1, and C1, as Figure 3 shown; among them, A1 can be used as the preset implant position.

[0041] Again, for example, as Figure 4 shown, there are 4 implant positions in this surgery, which are A2, B2, C2, and D2 respectively. Then the recording path can pass through A2, B2, C2, and D2. Among them, A2 and B2 are in one dental area, C2 and D2 are in another dental area, and A2, B2, C2, and D2 are all located in the mandible; the distal A2 on one side can be used as the preset implant position. In other examples, the distal D2 on the other side can also be used as the preset implant position.

[0042] The recording area of the implant position can be the space near the implant position. For example, the recording area of the implant position can be a space with a semi-circular, fan-shaped, rectangular, triangular, or irregular cross-section. The cross-section is a section perpendicular to the implant axis at the implant position. Optionally, the implant position and the recording area can be in one-to-one correspondence. The recording area of the implant position can be located above the implant site.

[0043] It can be understood that: the shape of the cross-section of the recording area and the specific range of the recording area can be set according to actual needs.

[0044] In some examples, in the recording process, first, determine the implant positions that need to perform surgery in this operation.

[0045] Secondly, the user drags the end effector of the oral implant robot to make the drill bit reach the appropriate position in the patient's oral cavity; optionally, the user can drag the end effector of the oral implant robot according to the visual feedback to make the drill bit accurately located at the starting position of the preset implant position planned before surgery, or the control system controls the end effector of the robotic arm to automatically adjust the drill bit to the starting position of the preset implant site. In other examples, the drill bit can also be located at a position near the upper part of the preset implant position.

[0046] Finally, turn on the recording function. The user drags the end effector of the oral implant robot through methods such as teaching, causing the drill bit to pass through the recording areas corresponding to multiple implant positions to be operated on and reach the appropriate position at the preset position outside the mouth; turn off the path recording function and save the obtained movement trajectory of the drill bit as the recorded path. Among them, the recorded path includes the position information and movement direction information of the drill bit. Therefore, the recorded path can include the path of the drill bit from the preset implant position in the mouth to the preset position outside the mouth.

[0047] In some examples, the recorded path is based on the position direction of the tip of the drill bit. Therefore, the recorded path is a set of pose of the tip of the drill bit, and thus the same recorded path can be used for drill bits of different lengths.

[0048] Among them, during the recording process, the tip of the drill bit tries to sweep through the recording areas of multiple implant positions. Under the condition of ensuring safety, the tip of the drill bit can be relatively close to the implant position. Optionally, the tip of the drill bit tries to sweep over the tops of all the implant sites required for this operation.

[0049] In some other examples, the recorded path can also include the path of the drill bit from the preset position outside the mouth to the preset implant position in the mouth.

[0050] The number of recorded paths can be set according to the distribution of the implant positions. When multiple implant positions to be operated on are distributed in multiple target tooth regions, the number of recorded paths can be less than or equal to the number of target tooth regions. Among them, the target tooth region is the tooth region where the implant positions to be operated on are distributed.

[0051] According to convention, the dental arch can be divided into four regions, which can be the upper right region, upper left region, lower left region, and lower right region of the patient (or called region 1, region 2, region 3, and region 4) respectively.

[0052] In some scenarios, the number of target tooth regions for this operation can be determined, and the number of recorded paths can be equal to the number of target tooth regions. For example, a part of the implant positions for this operation are distributed in the upper right region, and another part of the implant positions are distributed in the lower right region. Then the number of target tooth regions for this operation is 2. Correspondingly, the number of recorded paths is 2. One recorded path passes through the recording area of the implant positions in the upper right region, and the other recorded path passes through the recording area of the implant positions in the lower right region.

[0053] In some other scenarios, to further improve efficiency and facilitate subsequent calculations, when multiple implant sites to be operated on are distributed in multiple target tooth regions, if two target tooth regions are located in the upper jaw, the two target tooth regions in the upper jaw can correspond to one recording path; if two target tooth regions are located in the lower jaw, the two target tooth regions in the lower jaw can correspond to one recording path. For example, if all the target tooth regions are located in the lower jaw, the number of recording paths can be 1; if all the target tooth regions are located in the upper jaw, the number of recording paths can be 1; if some of the target tooth regions are located in the upper jaw and some are located in the lower jaw, the number of recording paths can be 2. In other scenarios, when implant sites are distributed in the upper jaw and the lower jaw respectively, the upper jaw and the lower jaw can also correspond to one recording path.

[0054] For example, as Figure 4 shown, the implant sites A2 and B2 of this operation are distributed in the lower left area, and the implant sites C2 and D2 are distributed in the lower right area. All the implant sites of this operation are located in the lower jaw, so the number of recording paths can be 1, and this recording path passes through the recording areas of A2, B2, C2, and D2.

[0055] In step S220, in response to an instruction for the user to select an implant site, the implant site selected by the user from multiple implant sites can be used as the target implant site. In response to an instruction for planning the path of the target implant site, the current position of the drill bit and the starting position of the target implant site can be obtained, and several intermediate points are planned between the current position of the drill bit and the starting position of the target implant site, and the current position of the drill bit, the starting position of the target implant site, and the above-planned intermediate points are stitched together to obtain the planned path to reach the target implant site. Among them, the current position of the drill bit refers to the current position of the tip of the drill bit.

[0056] Among them, the planned path can indicate the relative pose of the drill bit with respect to the jaw bone where the implant site is located, that is to say, the drill bit and the patient's jaw bone are in a follow-up relationship. When the drill bit reaches the starting position of the target implant site based on the planned path from the current position, at least part of the planned path of the target implant site passes through the recording path. When the current position of the drill bit is inside the mouth, the planned path of the target implant site is an internal path from the current position of the drill bit to the starting position of the target implant site; the internal path can be understood as a path that travels inside the mouth.

[0057] Exemplarily, the surgical path planning device can provide an interactive interface, and the user can select implant sites through this interactive interface. After the user selects an implant site, the surgical path planning device can pop up a window to prompt the user whether to plan a path for the selected implant site. If the confirmation information from the user is received, the path planning for the target implant site will start, so as to avoid triggering path planning due to factors such as accidental touch by the user.

[0058] In other examples, after the user selects the implantation site, the surgical path planning device may also automatically plan a path for the target implantation site.

[0059] The surgical path planning method provided in this embodiment obtains a recorded path and, based on the starting position of the implant site and the current position of the drill, plans a path for the drill from its current position to the starting position of the selected target implant site. This path at least partially passes through the recorded path, resulting in a planned path to the target implant site. This automatically plans the surgical path and helps lower the threshold for using oral implant robots. When the surgical path planning method of this embodiment is applicable to scenarios with multiple implant sites, it can guide the same drill to accurately move to the starting positions of multiple implant sites one by one within the mouth to drill holes one by one. This can reduce the number of exit and re-entry operations of the drill, thereby saving time for exit and re-entry and improving surgical efficiency.

[0060] In some embodiments, before determining the planned path for the surgical instrument from the current position to the target implant site in step S220, the method further includes determining anchor points of multiple implant sites within the mouth to be operated on based on the recorded path. Accordingly, step S220 specifically includes determining the planned path for the surgical instrument to reach the target implant site based on the anchor points of the target implant site, the current position of the surgical instrument, and the starting position of the target implant site.

[0061] Anchor points are key points in path planning, usually used as points that must be passed through or control points set for smoothing the path. An anchor point for a planting site is a point that must be passed through in order to reach the planting site.

[0062] Optionally, in order to improve the flexibility of path planning, the planting point can correspond to an anchor point that must be passed through. In other examples, multiple anchor points can also be set for the planting point in order to avoid obstacles.

[0063] After obtaining the recorded path, anchor points of the multiple planting locations that the recorded path passes through can be determined based on the recorded path. For example, the point in the recorded path that is closest to the starting position of the planting location can be used as the anchor point of the planting location.

[0064] Among them, anchor points can be determined for various planting points passed by the recorded path respectively; or anchor points can be determined for the remaining planting points in the recorded path except the preset planting points.

[0065] In step S220, the current position of the drill bit, the anchor point of the target implantation position, and the starting position of the target implantation position can be obtained; a number of intermediate points are planned between the current position of the drill bit and the anchor point of the target implantation position, and at least some of the intermediate points are distributed along the recorded path; a number of intermediate points are planned between the anchor point of the target implantation position and the starting position of the target implantation position; the anchor point of the target implantation position, the current position of the drill bit, the starting position of the target implantation position, and the above-planned intermediate points are stitched together to obtain a planned path to reach the target implantation position.

[0066] Among them, for the sub-path from the current position of the drill bit to the anchor point of the target implantation position, at least part of the sub-path passes through the recorded path. If the current position of the drill bit does not pass through the recorded path, then a part of the sub-path is not in the recorded path and the other part passes through the recorded path. If the current position of the drill bit passes through the recorded path, then the sub-path passes through the recorded path.

[0067] In some embodiments, determining the anchor point of the implantation position to be operated on includes:

[0068] Step a10, obtaining the starting position of the implantation position to be operated on, and obtaining the position information of at least one trajectory point corresponding to the implantation position to be operated on in the recorded path;

[0069] Step a20, respectively determining the Euclidean distance between each trajectory point corresponding to the implantation point to be operated on and the starting position;

[0070] Step a30, determining the minimum distance from the obtained Euclidean distances, and taking the trajectory point corresponding to the minimum distance as the anchor point of the implantation position to be operated on.

[0071] In step a10, the starting position of the implantation position specifically refers to the position where the mobile terminal and the drill bit are located as a whole before the drill bit is inserted. The starting position of the implantation position needs to meet the following conditions: the axis of the drill bit is directly facing the planned position of the implant, the drill bit and the mobile terminal do not touch the gum, and the teeth or bones of the maxillofacial region. The starting position of the implantation position can also be referred to as the zero position of the implantation position.

[0072] The starting position of the implantation position can be determined in advance. Exemplarily, after determining the implantation position to be operated on and planning an implant for the implantation position, the starting position of the implantation position can be determined and saved.

[0073] Obtain the position information of one or more trajectory points corresponding to the recorded path of the implantation position to be operated on. The recorded path can include a series of discrete pose information. The position information of the trajectory points of the implantation position can be determined based on the pose information corresponding to the implantation position in the recorded path.

[0074] For example, the position information of each point in the recording path can be used as the position information of the trajectory point corresponding to one of the implant positions to be operated on.

[0075] For another example, the recording path can be divided into multiple curve segments according to the distribution of the implant points, with each implant point corresponding to one curve segment; the line segment corresponding to the implant position can be extracted, so as to obtain the position information of the trajectory point corresponding to the implant position. Among them, when dividing the recording path into segments, it can be divided according to the dental areas passed by the recording path, and the number of curve segments can be equal to the number of dental areas passed by the recording path. In other examples, according to actual needs, the recording path can also be divided into three or more segments. The specific number of curve segments can be set according to actual needs.

[0076] For still another example, the part of the recording area located at the implant position in the recording path can be extracted, so as to obtain the position information of the trajectory point corresponding to the implant position.

[0077] In step a20 and step a30, by calculating the Euclidean distance between the trajectory point corresponding to the implant position and the starting position of the implant position, the trajectory point with the smallest Euclidean distance from the implant position is used as the anchor point of the implant position. Specifically, the anchor point of the implant position can be determined according to the following formula (1):

[0078]

[0079] where p plan is the starting position of the implant position p; Traj is a series of discrete pose information in the recording path; p i is the position of the i-th trajectory point corresponding to the implant position p; p anchor is the anchor point of the implant position p.

[0080] As Figure 3 shown, the anchor point B 1anchor of the implant position B1 and the anchor point C 1anchor of the implant position C1 can be obtained through the above steps.

[0081] As Figure 4 shown, the anchor point A 2anchor of the implant position A2, the anchor point B 2anchor of the implant position B2, the anchor point C 2anchor of the implant position C2, and the anchor point D 2anchor of the implant position D2 can be obtained through the above steps.

[0082] Optionally, the anchor point of the preset implant position can coincide with the starting position of the preset implant position.

[0083] In Figure 4In this case, since the preset planting point A2 is the end point of the recording path, the closest point of the recording path to it, i.e., the anchor point A, 2anchor coincides with the starting position of A2.

[0084] For the preset planting points, the part of the recording path from the preset point outside the mouth to the starting position of the preset planting point can be used as the planned path of the preset planting point; during the operation, in response to the instruction to select a preset planting point for surgery, the oral implant robot can directly execute the recording path, causing the drill bit to reach the preset planting point from the preset point outside the mouth, and then controlling the drill bit to complete the surgical operation at the preset planting point.

[0085] In this embodiment, in order to balance the accuracy of path planning and a relatively high path planning efficiency, during the process of calculating the anchor points of the planting points above, the translation information of the drill bit is mainly referred to, and the rotation information of the drill bit is not referred to.

[0086] In this embodiment, after obtaining the recording path, the above steps can be automatically executed to obtain and save the anchor points of multiple planting points to be operated. In this way, when receiving the instruction to plan the path of the target planting point, the anchor point of the planting point can be directly obtained, which is beneficial to improving the response speed.

[0087] In some embodiments, in step S230, based on the anchor point of the target planting point, the current position of the drill bit, and the starting position of the target planting point, determining the planned path of the target planting point includes:

[0088] Step b10: Divide the recording path into a front sub-path and a rear sub-path according to the anchor point of the target planting point; among them, the front sub-path is located on the side of the anchor point of the target planting point facing the starting position of the target planting point;

[0089] Step b20: Determine the target sub-path from the front sub-path and the rear sub-path;

[0090] Step b30: Determine the point closest to the current position of the surgical instrument as the closest point from the target sub-path;

[0091] Step b40: Based on the current position of the surgical instrument, the closest point, the anchor point of the target planting point, and the starting position of the target planting point, determine the planned path for the surgical instrument to reach the target planting point.

[0092] In step b10, the line segment corresponding to the target planting point in the recording path can be obtained; with the anchor point of the target planting point as the boundary, the obtained line segment is divided into two parts, and the part close to the starting position of the target planting point is used as the front sub-path Traj FH , and the other part is used as the rear sub-path Traj LH。In other examples, the entire recording path can also be divided into a front sub-path and a rear sub-path.

[0093] In step b20, in some examples, it is determined which one of the front sub-path and the rear sub-path is closer to the current position of the drill bit; if the minimum distance between the current position of the drill bit and the front sub-path is less than or equal to the minimum distance between the current position of the drill bit and the rear sub-path, then the front sub-path is taken as the target sub-path; if the minimum distance between the current position of the drill bit and the front sub-path is greater than the minimum distance between the current position of the drill bit and the rear sub-path, then the rear sub-path is taken as the target sub-path.

[0094] In another example, it is also possible to calculate the included angles between the vector from the anchor point to the current position of the drill bit tip and the two average vectors respectively by determining the vector from the anchor point to the current position of the drill bit tip, the average vector of the vectors from the anchor point to the points on the front sub-path at intervals of unit quantity, and the average vector of the vectors from the anchor point to the points on the rear sub-path at intervals of unit quantity. The section with the smaller included angle is the target sub-path. Generally speaking, the point closest to the current position of the drill bit tip in the recording path will be located in the sub-path corresponding to the average vector with a smaller included angle formed by the vector from the anchor point to the current position of the drill bit tip. Therefore, this sub-path is taken as the target sub-path.

[0095] Specifically, step b20 may include: determining the vector from the anchor point to the current position of the drill bit tip; determining the first average vector of the vectors from the anchor point to the points on the front sub-path at intervals of unit quantity; determining the average vector of the vectors from the anchor point to the points on the rear sub-path at intervals of unit quantity; determining the first included angle between the vector from the anchor point to the current position of the drill bit tip and the first average vector, and determining the second included angle between the vector from the anchor point to the current position of the drill bit tip and the second average vector; if the first included angle is less than or equal to the second included angle, then the front sub-path is taken as the target sub-path; if the first included angle is greater than the second included angle, then the rear sub-path is taken as the target sub-path.

[0096] In step b30, the point with the minimum distance from the current position of the drill bit in the target sub-path is taken as the nearest point.

[0097] In this embodiment, by segmenting the recording path, determining the target sub-path therefrom, and then determining the nearest point from the target sub-path, the amount of data calculation can be reduced. In other embodiments, the nearest point can also be directly determined from the recording path.

[0098] In step b40, a number of intermediate points are set between the current position of the drill bit and the nearest point, and the above points are connected to obtain a sub-path; the part of the recorded path between the nearest point and the anchor point of the target planting point is obtained as a sub-path; a number of intermediate points are set between the anchor point of the target planting point and the starting position of the target planting point, and the above points are connected to obtain a sub-path; the above three sub-paths are spliced to obtain the planned path for the surgical instrument to reach the target planting point.

[0099] Exemplarily, step b40 of determining the planned path of the target planting point based on the current position of the surgical instrument, the nearest point, the anchor point of the target planting point, and the starting position of the target planting point includes:

[0100] Step b41, determining the approaching sub-path for the surgical instrument to reach the nearest point from the current position;

[0101] Step b42, taking the part of the recorded path from the nearest point to the anchor point of the target planting point as the near-anchor sub-path;

[0102] Step b43, determining the near-zero sub-path for the surgical instrument to reach the starting position of the target planting point from the anchor point of the target planting point;

[0103] Step b44, obtaining the planned path of the target planting point based on the approaching sub-path, the near-anchor sub-path, and the near-zero sub-path.

[0104] In step b41, a number of intermediate points can be set between the current position of the drill bit and the nearest point in the target sub-path, and the current position of the drill bit, the intermediate points, and the nearest point are stitched together to obtain the approaching sub-path Traj c2n .

[0105] In step b42, in order to avoid the drill bit hitting the human tissue, the part of the recorded path between the nearest point and the anchor point of the target planting point is obtained as the near-anchor sub-path Traj n2a .

[0106] In step b43, a number of intermediate points can be set between the anchor point of the target planting point and the starting position of the target planting point, and the anchor point of the target planting point, the intermediate points, and the starting position of the target planting point are stitched together to obtain the near-zero sub-path Traj a2r .

[0107] In step b44, the approaching sub-path Traj c2n , the near-anchor sub-path Traj n2a , and the near-zero sub-path Traj a2r are sequentially spliced, and the spliced path constitutes at least part of the planned path of the target planting point.

[0108] In this embodiment, by determining the planned path of the target implantation site based on reference points such as the current position of the drill bit, the nearest point on the target sub-path, the anchor point of the target implantation site, and the starting position of the target implantation site, an optimized path can be provided for the surgery, reducing ineffective movement and repeated paths, which is beneficial to improving the surgical efficiency and ensuring the safety and reliability of the surgery.

[0109] The implant axis of the target implantation site has two opposite directions, namely the cusp direction and the root direction. The anchor point of the corresponding implantation site and the starting position of this implantation site can both form projections on the implant axis of the target implantation site. In one example, by comparing the height of the projection positions of the anchor point and the implantation site, it can be determined whether to adjust the height of the drill bit at the anchor point position, thereby further avoiding the drill bit hitting human tissues.

[0110] In some embodiments, before step b40, it further includes:

[0111] Step b50: Obtain the projection of the anchor point of the target implantation site on the implant axis at the target implantation site, and obtain the projection of the starting position of the target implantation site on the implant axis;

[0112] Step b60: Determine the relative positional relationship between the projection of the anchor point of the target implantation site and the projection of the starting position of the target implantation site;

[0113] Step b70: If the projection of the anchor point of the target implantation site is located on the side of the projection of the starting position of the target implantation site facing the root direction of the implant axis, determine the lifting point; wherein, the lifting point is a point along the implant axis and in the direction towards the cusp, where the surgical instrument is lifted from the anchor point of the target implantation site to the same height as the starting position of the target implantation site. Correspondingly, step b40: Determine the planned path of the target implantation site based on the current position of the surgical instrument, the nearest point, the anchor point of the target implantation site, and the starting position of the target implantation site, includes: determining the planned path of the target implantation site based on the current position of the surgical instrument, the nearest point, the anchor point of the target implantation site, the lifting point of the surgical instrument, and the starting position of the target implantation site.

[0114] In step b50 and step b60, the height of the projection of the anchor point of the target implantation site is compared with the height of the projection of the starting position of the target implantation site.

[0115] The following takes the target implant position corresponding to the mandibular dentition as an example for illustration. When determining the height of the projection, the horizontal plane located below the implant position can be used as the reference plane. If the height of the projection of the anchor point of the target implant position is greater than or equal to the height of the projection of the starting position of the target implant position, that is, the projection of the anchor point of the target implant position is higher than the projection of the starting position of the target implant position, or the projection of the anchor point of the target implant position is at the same height as the projection of the starting position of the target implant position, then there is no need to adjust the position. If the height of the projection of the anchor point of the target implant position is less than the height of the projection of the starting position of the target implant position, that is, the projection of the anchor point of the target implant position is lower than the projection of the starting position of the target implant position, then step b70 is executed.

[0116] In step b70, in order to ensure the safety of the surgery, when the projection of the anchor point of the target implant position is more biased towards the root direction of the implant axis compared to the projection of the starting position of the target implant position, it is necessary to lift the drill bit at the anchor point of the target implant position.

[0117] Taking the target implant position corresponding to the mandibular dentition as an example, when the projection of the anchor point of the target implant position is lower than the projection of the starting position of the target implant position, the drill bit is lifted along the implant axis from the anchor point of the target implant position to the lifting point p ready4drill at the same height anchorLift . In this way, when determining the near-zero sub-path, it is possible to determine the sub-path of lifting the drill bit along the implant axis from the anchor point of the target implant position to the lifting point p anchorLift , and determine the sub-path of moving the drill bit from the lifting point p anchorLift to the starting position p of the target implant position ready4drill , and determine the near-zero sub-path based on the above two sub-paths.

[0118] In this embodiment, it is possible to further optimize the path according to the relative position of the projection of the anchor point of the target implant position on the implant axis and the projection of the starting position of the target implant position on the implant axis, which is beneficial to improving the surgical efficiency and ensuring the safety and reliability of the surgery.

[0119] In this embodiment, the planning paths of multiple implant sites to be operated can be determined according to at least some of the steps from step b10 to step b70. During the operation, in response to an instruction to plan the path of the current target implant site, the surgical path planning device obtains the planning path of the current target implant site according to at least some of the steps from step b10 to step b70, and sends the planning path to the oral implant robot; the oral implant robot controls the drill bit to reach the starting position of the target implant site according to the planning path of the current target implant site, and after the oral implant robot completes the drilling operation at the target implant site, the oral implant robot can control the drill bit to automatically lift, for example, to the starting position of the target implant site. In response to an instruction to plan the path of the next target implant site, the surgical path planning device obtains the planning path of the next target implant site according to at least some of the steps from step b10 to step b70, and sends the obtained planning path to the oral implant robot, so that the oral implant robot performs a new round of operations.

[0120] In some embodiments, in a scenario where the drill bit needs to be replaced, after the oral implant robot controls the drill bit to exit and the user replaces the drill bit at the end of the oral implant robot, the nearest point can be re-determined. The surgical path planning device can perform path planning according to the current pose of the replaced drill bit, the nearest point, and the anchor point and starting position of the implant site corresponding to the replaced drill bit, and perform at least some of the steps from step b10 to step b70 according to actual needs.

[0121] In some examples, in order to ensure the safety of the intraoral path and improve the applicability of the recorded path, both the recorded path and the surgical planning path can be based on the pose position and direction of the tip of the drill bit, and the recorded path and the planning path are sets of the tip poses of the drill bit.

[0122] Exemplarily, the same recorded path is applicable to the drill bit before replacement and the drill bit after replacement. For example, for implant sites located in the same target tooth area, the recorded path corresponding to the target tooth area is the set of poses of the tip of the drill bit in the recording areas of each implant site to be operated. Therefore, path planning can be performed for the drill bit before replacement and the drill bit after replacement based on this recorded path. Among them, the lengths of the replaced drill bit and the drill bit after replacement can be different.

[0123] With the above settings, this embodiment can be applicable to drill bits of various lengths; in scenarios where multiple drill bits are required during surgery, after replacing the drill bit, there is no need to re-acquire the recorded path or re-determine the anchor point. Only based on the current pose of the tip of the replaced drill bit, the anchor point and starting position of the implant point corresponding to the replaced drill bit, and performing at least some of the steps from step b10 to step b70 according to actual needs for path planning, the planned path can be obtained, thereby further improving the surgical efficiency.

[0124] The robotic arm forms a corresponding set of robotic arm poses according to the planned path based on the length of the drill bit, ensuring that the position and direction of the tip of the replaced drill bit move according to the planned path. The direction of the drill bit can be determined according to the coordinate system of the jaw bone of the corresponding dental arch. If the implant points and starting positions before and after replacement are the same, and the poses of the tips of the drill bits before and after replacement are the same, then the movement trajectory of the tip of the replaced drill bit can be the same as that of the tip of the drill bit before replacement.

[0125] In some embodiments, the surgical path planning method further includes: when it is determined that the drill bit collides with an obstacle according to the acquired detection information, controlling the drill bit to stop moving; wherein, the detection information includes the information detected by a force sensor installed on the mobile terminal; the obstacle includes human tissue.

[0126] A force sensor is installed on the mobile terminal or the drill bit. During the normal execution of the planned path, the force received by the force sensor is very small and can be ignored; when the force sensor collides with an obstacle such as human tissue, the acting force received by the force sensor is relatively large. Therefore, if it is found that the data detected by the force sensor is abnormal, it can be determined that the force sensor collides with an obstacle. Correspondingly, the surgical path planning device feeds back a safety handling strategy to the oral implant robot, and the safety handling strategy can include controlling the drill bit to stop moving, thereby ensuring the safety and reliability of the surgery.

[0127] Exemplarily, the information detected by the force sensor can be sent to the surgical path planning device. The surgical path planning device calculates the force F received by the tip of the drill bit according to the calibration parameters of the tip of the drill bit and the force sensor tip , and compares the force F tip with a preset threshold F Thres ; if F tip > F Thres , it is determined that the drill bit collides with an obstacle, and then information for terminating the execution of the planned path is generated and sent to the oral implant robot. After confirming the surgical safety, in response to the instruction to continue the surgery, the path can be continued to be planned or the oral implant robot can continue to control the movement of the drill bit according to the planned path.

[0128] In this embodiment, for example, during the operation, if the patient's head suddenly moves rapidly and collides with the drill bit, the movement of the drill bit can be controlled in time, thereby improving the safety and reliability of the operation.

[0129] The following takes the implementation process of the operation using this embodiment as an example. Taking the planting points of this operation all located in the mandible, and the planting points of this operation being A1, B1, and C1 respectively as an example, the specific distribution of A1, B1, and C1 can be referred to Figure 3 . The implementation process may include the following steps c110 to step c200.

[0130] Step c110: Initially, the user drags the end effector of the oral implant robot carrying the drill bit into the patient's mouth by means of teaching by dragging, etc., and adjusts the drill bit to the starting position of the preset planting point A1 according to the visual feedback.

[0131] Step c120: Turn on the path recording function. The user drags the drill bit out of the patient's mouth by means of teaching by dragging, etc. During the dragging process, the drill bit sweeps past the vicinity of B1 and C1 in sequence until the drill bit is dragged to the preset point outside the mouth, then turn off the path recording, and save the path (including the position and direction of the drill bit tip) as the recorded path.

[0132] Step c130: According to the starting positions of B1 and C1, and according to the above formula (1), determine the anchor point B of B1 1anchor , and the anchor point C of C1 1anchor .

[0133] Step c140: In response to the user's instruction to select and plan the path of A1, take the path from the preset point outside the mouth to the starting position of the preset planting point A1 in the recorded path as the planned path of A1, and send the planned path of A1 to the oral implant robot. The oral implant robot controls the movement of the drill bit according to the planned path of A1, and the oral implant robot controls the drill bit to complete the drilling operation of A1. The oral implant robot controls the drill bit to move to the starting position of A1.

[0134] Step c150: In response to the user's instruction to select and plan the path of B1, divide the line segment corresponding to B1 in the recorded path into two segments with B 1anchor as the demarcation point. The part close to the starting position p ready4drill of B1 is used as the front sub-path, and the other part is used as the back sub-path; it is also possible to divide the entire recorded path into a front sub-path and a back sub-path with B 1anchor as the demarcation point. Assume that after calculation and analysis, the front sub-path is used as the target sub-path.

[0135] Step c160: Determine the projection of B 1anchor on the implant axis planned for B1 and p ready4drillThe relative positional relationship of the projection on the implant axis; if B 1anchor has a lower projection on the implant axis planned for B1, it is necessary to lift the drill bit upward along the implant axis to the same height as p ready4drill Let this point be p anchorLift (Conversely, the issue of lifting does not need to be considered).

[0136] Step c170: Move the drill bit to the nearest point to the current position in the target sub-path. This sub-path is called the approaching sub-path Traj c2n (current to nearest), and then move the drill bit along the recorded path to B 1anchor , and this sub-path is called the near-anchor sub-path Traj n2a (nearest to anchor).

[0137] Step c180: Based on Traj c2n , Traj n2a , p anchorLift , p ready4drill Obtain the planned path of B1. Send the planned path of B1 to the oral implant robot. The oral implant robot controls the movement of the drill bit according to the planned path of B1, and the oral implant robot controls the drill bit to complete the drilling operation of B1. The oral implant robot controls the drill bit to move to the starting position of B1.

[0138] Step c190: Repeat the above steps c150 to c180 to complete the drilling operation of C1. The oral implant robot controls the drill bit to move to the starting position of C1.

[0139] Step c200: Control the drill bit to exit. After the drill bit reaches outside the mouth, the user can replace the drill bit and select a new drill bit according to the computer prompt. In response to the user's instruction to select A1, given the recorded path and the anchor points of various implant positions, a planned path is generated based on the current position of the tip of the new drill bit. Correspondingly, execute steps c140 to c190 to complete the drilling operations of the replaced drill bit at A1, B1, and C1.

[0140] It can be understood that: the execution order of the above steps can be set according to actual needs, and the execution order of the above steps is not limited herein in this embodiment.

[0141] To facilitate better implementation of the surgical path planning method of this embodiment, this embodiment also provides a surgical path planning device.

[0142] Figure 5 It is a structural block diagram of the surgical path planning device provided for an exemplary embodiment. As Figure 5As shown in the figure, the surgical path planning device provided in this embodiment includes: an acquisition unit 510 and a first determination unit 520.

[0143] The acquisition unit 510 is configured to obtain and save a recorded path by using a recording device; wherein, the recorded path passes through the recording areas corresponding to multiple implant positions to be operated on.

[0144] The first determination unit 520 responds to an instruction to plan a path to a target implant position, and determines a planned path for the surgical instrument to reach the target implant position from the current position; wherein, at least part of the planned path of the target implant position passes through the recorded path; the target implant position is any one of the multiple implant positions to be operated on.

[0145] In some embodiments, the recorded path includes a path of movement of the surgical instrument between a preset implant position in the oral cavity and a preset position outside the oral cavity.

[0146] In some embodiments, the surgical path planning device further includes: a second determination unit, configured to determine an anchor point of multiple implant positions to be operated on in the oral cavity based on the recorded path; correspondingly, the first determination unit 520 is specifically configured to determine a planned path for the surgical instrument to reach the target implant position based on the anchor point of the target implant position, the current position of the surgical instrument, and the starting position of the target implant position.

[0147] In some embodiments, the recorded path includes a path of the surgical instrument from a preset implant position in the oral cavity to a preset position outside the oral cavity; wherein, the preset implant position is the implant position located at the distal end among the multiple implant positions to be operated on.

[0148] In some embodiments, the recorded path includes a path of the surgical instrument from a preset position outside the oral cavity to a preset implant position in the oral cavity; wherein, the preset implant position is the implant position located at the distal end among the multiple implant positions to be operated on.

[0149] In some embodiments, when multiple implant positions to be operated on are distributed in multiple target tooth regions, the number of recorded paths is less than or equal to the number of target tooth regions.

[0150] In some embodiments, the second determination unit is specifically configured to: obtain the starting position of the implant position to be operated on, and obtain the position information of at least one trajectory point corresponding to the implant position to be operated on in the recorded path; respectively determine the Euclidean distance between each trajectory point corresponding to the implant point to be operated on and the starting position; determine the minimum distance from the obtained Euclidean distances, and use the trajectory point corresponding to the minimum distance as the anchor point of the implant position to be operated on.

[0151] In some embodiments, the first determination unit 520 is specifically configured to: divide the recording path into a front sub-path and a rear sub-path according to the anchor point of the target planting position; wherein, the front sub-path is located on the side of the anchor point of the target planting position facing the starting position of the target planting position; select a target sub-path from the front sub-path and the rear sub-path; determine the point closest to the current position of the surgical instrument as the nearest point from the target sub-path; determine the planned path for the surgical instrument to reach the target planting position based on the current position of the surgical instrument, the nearest point, the anchor point of the target planting position, and the starting position of the target planting position.

[0152] In some embodiments, the first determination unit 520 is specifically configured to: obtain the projection of the anchor point of the target planting position on the implant axis at the target planting position, and obtain the projection of the starting position of the target planting position on the implant axis; determine the relative position of the projection of the anchor point of the target planting position and the projection of the starting position of the target planting position; if the projection of the anchor point of the target planting position is located on the side of the projection of the starting position of the target planting position facing the root direction of the implant axis, determine the lifting point; wherein, the lifting point is a point along the implant axis and in the direction towards the cusp, where the surgical instrument is lifted from the anchor point of the planting site to the same height as the starting position of the target planting position; determine the planned path for the surgical instrument to reach the target planting position based on the current position of the surgical instrument, the nearest point, the anchor point of the target planting position, the lifting point of the surgical instrument, and the starting position of the target planting position.

[0153] In some embodiments, the first determination unit 520 is specifically configured to: determine the approaching sub-path for the surgical instrument to reach the nearest point from the current position; use the part of the recording path between the nearest point and the anchor point of the target planting position as the near-anchor sub-path; determine the near-zero sub-path for the surgical instrument to move from the anchor point of the target planting position to the starting position of the target planting position; obtain the planned path to reach the target planting position based on the approaching sub-path, the near-anchor sub-path, and the near-zero sub-path.

[0154] In some embodiments, the surgical instrument includes a drill bit; the recording path and the planned path are sets of the tip poses of the drill bit; the same recording path is applicable to the drill bit before replacement and the drill bit after replacement.

[0155] In some embodiments, the first determination unit 520 is further configured to: when it is determined according to the acquired detection information that the surgical instrument collides with an obstacle, control the surgical instrument to stop moving; wherein, the detection information includes the information detected by a force sensor installed on the mobile terminal; the obstacle includes human tissue.

[0156] For the functions of the units in the apparatus embodiments of the present disclosure, reference may be made to the relevant descriptions in the method embodiments of the present disclosure above, and details are not described herein again.

[0157] It should be noted that the division of each functional unit in the embodiments of the present disclosure is illustrative, merely a logical function division, and there may be other division methods in actual implementation. In the embodiments of the present disclosure, each functional unit may be integrated in a processing unit, or each unit may exist physically alone, or two or more units may be integrated in one unit. The above integrated unit may be implemented in the form of hardware or in the form of a software functional unit.

[0158] If the above integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it may be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present disclosure, in essence, or the part that contributes to the prior art, or all or part of the technical solution, may be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor to execute all or part of the steps of the methods provided in the various embodiments of the present disclosure. The aforementioned storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories, random access memories, magnetic disks, or optical discs that can store program codes.

[0159] The surgical path planning device may be integrated in a terminal or a server that has a storage and is equipped with a processor and has computing capabilities, or the surgical path planning device is the terminal or the server.

[0160] Figure 6 It is a structural block diagram of an electronic device according to an embodiment of the present disclosure. As Figure 6 shown, the electronic device includes: a memory 610 and a processor 620. A computer program that can run on the processor 620 is stored in the memory 610. The number of the memory 610 and the processor 620 may be one or more. The memory 610 may store one or more computer programs. When the one or more computer programs are executed by the electronic device, the electronic device executes the methods provided in the above method embodiments. The electronic device may further include: a communication interface 630, configured to communicate with external devices and perform data interaction and transmission.

[0161] If the memory 610, the processor 620, and the communication interface 630 are implemented independently, the memory 610, the processor 620, and the communication interface 630 can be interconnected through a bus to complete communication with each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 6 it is only represented by a thick line in Figure 6 , but it does not mean that there is only one bus or one type of bus.

[0162] Optionally, in a specific implementation, if the memory 610, the processor 620, and the communication interface 630 are integrated on a single chip, the memory 610, the processor 620, and the communication interface 630 can complete communication with each other through an internal interface.

[0163] The embodiments of the present disclosure also provide a computer-readable storage medium storing computer instructions, which when run on a computer, cause the computer to execute the method provided in the foregoing method embodiments.

[0164] The embodiments of the present disclosure also provide a computer program product for storing a computer program, which when executed by a computer, enables the computer to implement the method provided in the foregoing method embodiments.

[0165] The embodiments of the present disclosure also provide a chip coupled to a memory, and the chip is used to implement the method provided in the foregoing method embodiments.

[0166] The embodiments of the present disclosure also provide an automatic dental implant system, including: an oral implant robot and a surgical path planning device as described in any one of the foregoing embodiments; wherein, the oral implant robot controls the drill bit to move to the starting position of the target implant site for surgical operations according to the planned path of the target implant site provided by the surgical path planning device.

[0167] It should be understood that the above-mentioned processor can be a Central Processing Unit (CPU), or other general-purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor, etc. It is worth noting that the processor can be a processor that supports the Advanced RISC Machines (ARM) architecture.

[0168] Further, optionally, the above-mentioned memory can include a read-only memory and a random access memory, and can also include a non-volatile random access memory. The memory can be a volatile memory or a non-volatile memory, or can include both volatile and non-volatile memories. Among them, the non-volatile memory can include a Read-Only Memory (ROM), a Programmable ROM (PROM), an Erasable PROM (EPROM), an Electrically Erasable PROM (EEPROM), or a flash memory. The volatile memory can include a Random Access Memory (RAM), which is used as an external cache. By way of example but not limitation, many forms of RAM are available. For example, Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), Synchronous DRAM (SDRAM), Double Data Date SDRAM (DDR SDRAM), Enhanced SDRAM (ESDRAM), Synchlink DRAM (SLDRAM), and Direct RAMBUS RAM (DR RAM).

[0169] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer instructions are loaded and executed on a computer, the processes or functions according to the embodiments of the present disclosure are generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center in a wired manner (such as coaxial cable, optical fiber, Digital Subscriber Line (DSL)) or wirelessly (such as infrared, Bluetooth, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer, or a data storage device such as a server or data center that includes one or more integrated available media. The available medium can be a magnetic medium (such as a floppy disk, hard disk, magnetic tape), an optical medium (such as a Digital Versatile Disc (DVD)), or a semiconductor medium (such as a Solid State Disk (SSD)), etc. It should be noted that the computer-readable storage medium mentioned in the present disclosure can be a non-volatile storage medium, in other words, a non-transitory storage medium.

[0170] Those of ordinary skill in the art can understand that all or part of the steps to implement the above embodiments can be completed by hardware, or can be completed by a program instructing relevant hardware. The program can be stored in a computer-readable storage medium, and the above-mentioned storage medium can be a read-only memory, a magnetic disk, an optical disc, or the like.

[0171] In the description of the embodiments of the present disclosure, the descriptions referring to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean that the specific features or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present disclosure. Moreover, the specific features or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0172] In the description of the embodiments of the present disclosure, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the embodiments of the present disclosure, unless otherwise specified, the meaning of "a plurality" is two or more.

[0173] The above are only exemplary embodiments of the present disclosure and are not intended to limit the present disclosure. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present disclosure shall be included within the protection scope of the present disclosure.

Claims

1. A surgical path planning method, characterized in that, Including: Obtaining and saving a recording path using a recording device; wherein, the recording path passes through recording areas corresponding to multiple implant sites to be operated on; In response to an instruction for planning a path to a target implant site, determining a planned path for the surgical instrument to reach the target implant site from the current position; wherein, the planned path at least partially passes through the recording path; the target implant site is any one of the multiple implant sites to be operated on.

2. The method according to claim 1, before determining the planned path for the surgical instrument to reach the target implant site from the current position, further including: Based on the recording path, determining anchor points for multiple implant sites to be operated on in the oral cavity; Determining the planned path for the surgical instrument to reach the target implant site from the current position includes: Based on the anchor point of the target implant site, the current position of the surgical instrument, and the starting position of the target implant site, determining the planned path for the surgical instrument to reach the target implant site.

3. The method according to claim 2, wherein Determining the anchor point of the implant site to be operated on includes: Obtaining the starting position of the implant site to be operated on, and obtaining the position information of at least one trajectory point corresponding to the implant site to be operated on in the recording path; Respectively determining the Euclidean distance between each of the trajectory points corresponding to the implant site to be operated on and the starting position; Determining the minimum distance from the obtained Euclidean distances, and taking the trajectory point corresponding to the minimum distance as the anchor point of the implant site to be operated on.

4. The method according to claim 2, wherein, Based on the anchor point of the target implant site, the current position of the surgical instrument, and the starting position of the target implant site, determining the planned path for the surgical instrument to reach the target implant site includes: Dividing the recording path into a front sub-path and a rear sub-path according to the anchor point of the target implant site; wherein, the front sub-path is on the side of the anchor point of the target implant site facing the starting position of the target implant site; Selecting a target sub-path from the front sub-path and the rear sub-path; Determining the point closest to the current position of the surgical instrument as the closest point from the target sub-path; Based on the current position of the surgical instrument, the closest point, the anchor point of the target implant site, and the starting position of the target implant site, determining the planned path for the surgical instrument to reach the target implant site.

5. The method according to claim 4, characterized in that, Further including: Obtaining the projection of the anchor point of the target implant site on the implant axis at the target implant site, and obtaining the projection of the starting position of the target implant site on the implant axis; Determining the relative positional relationship between the projection of the anchor point of the target implant site and the projection of the starting position of the target implant site; If the projection of the anchor point of the target implant site is on the side of the projection of the starting position of the target implant site facing the root direction of the implant axis, determining a lifting point; wherein, the lifting point is the point where the surgical instrument is lifted from the anchor point of the target implant site to the same height as the starting position of the target implant site along the implant axis in the direction towards the cusp. Determining a planned path for the surgical instrument to reach the target implant position based on the current position of the surgical instrument, the nearest point, the anchor point of the target implant position, and the starting position of the target implant position, includes: Determining a planned path for the surgical instrument to reach the target implant position based on the current position of the surgical instrument, the nearest point, the anchor point of the target implant position, the lifting point of the surgical instrument, and the starting position of the target implant position.

6. The method according to claim 4, characterized in that, Determining a planned path for the surgical instrument to reach the target implant position based on the current position of the surgical instrument, the nearest point, the anchor point of the target implant position, and the starting position of the target implant position, includes: Determining an approaching sub-path for the surgical instrument to reach the nearest point from the current position; Taking the part of the recorded path between the nearest point and the anchor point of the target implant position as a near-anchor sub-path; Determining a near-zero sub-path for the surgical instrument to reach the starting position of the target implant position from the anchor point of the target implant position; Based on the approaching sub-path, the near-anchor sub-path, and the near-zero sub-path, obtaining the planned path for the surgical instrument to reach the target implant position.

7. The method according to claim 1, wherein The recorded path includes the path of the surgical instrument moving between the preset implant positions in the oral cavity and the preset positions outside the oral cavity.

8. The method according to claim 7, wherein The recorded path includes the path of the surgical instrument reaching the preset position outside the oral cavity from the preset implant position in the oral cavity; wherein, the preset implant position is the implant position at the distal end among multiple implant positions to be operated on. Or, the recorded path includes the path of the surgical instrument reaching the preset implant position in the oral cavity from the preset position outside the oral cavity; wherein, the preset implant position is the implant position at the distal end among multiple implant positions to be operated on.

9. The method according to claim 1, wherein When multiple implant positions to be operated on are distributed in multiple target tooth regions, the number of the recorded paths is less than or equal to the number of the target tooth regions.

10. The method according to claim 1, characterized in that The surgical instrument includes a drill bit; The recorded path and the planned path are sets of the tip poses of the drill bit; the same recorded path is applicable to path planning for the drill bit before replacement and the drill bit after replacement.

11. The method according to claim 1, wherein Further includes: When it is determined according to the acquired detection information that the surgical instrument collides with an obstacle, controlling the surgical instrument to stop moving; wherein, the detection information includes the information detected by a force sensor installed on the mobile terminal; the obstacle includes human tissues.

12. A surgical path planning device, characterized in that, Includes: An acquisition unit, configured to obtain and save a recorded path by using a recording device; wherein, the recorded path passes through the recording areas corresponding to multiple implant positions to be operated on; A first determination unit, configured to, in response to an instruction to plan a path for a target implant position, determine a planned path for the surgical instrument to reach the target implant position; wherein, at least part of the planned path for the target implant position passes through the recorded path; the target implant position is any one of multiple implant positions to be operated on.

13. An electronic device, characterized in that, Includes: One or more processors; A memory communicatively connected to the one or more processors; One or more computer programs, wherein the one or more computer programs are stored in the memory, and when the one or more computer programs are executed by the electronic device, cause the electronic device to execute the method according to any one of claims 1 to 11.

14. A computer-readable storage medium, characterized in that, It stores computer instructions, and when the computer instructions run on a computer, cause the computer to execute the method according to any one of claims 1 to 11.

15. An automatic dental implant system, characterized in that, Comprising: An oral implant robot and a surgical path planning device according to claim 12; Wherein, the oral implant robot controls the movement of the surgical instrument to the starting position of the target implant site for surgical operation according to the planned path of the target implant site provided by the surgical path planning device.

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