Robot laser preparation parameter adaptive system based on bone density characteristics for dental implant socket and implant method

Abstract

A robotic laser preparation parameter adaptive system and implantation method for dental implant sockets based on bone density characteristics includes a laser hole preparation module, a trajectory planning module, a real-time feedback and parameter adaptive control module, and an optical navigation module. Compared with existing technologies, this system reconstructs and obtains a three-dimensional model of the jawbone region using medical imaging technology and calculates bone density distribution data. Based on the spatial distribution characteristics of bone density, a correlation model between laser processing parameters and bone tissue cutting efficiency is established, enabling adaptive matching of laser processing parameters according to the bone density distribution model. During the hole preparation process, the system compares and analyzes the real-time calculated feedback data on hole depth and bone tissue temperature to achieve precise and efficient socket preparation.

Description

Technical Field

[0001] This invention relates to the field of implant robot technology, specifically to an adaptive system for laser fabrication parameters of dental implant sockets based on bone density characteristics and its implantation method. Background Technology

[0002] Dental implantation is a technique that involves surgically implanting titanium or titanium alloy implants into the jawbone. It is widely used to treat problems such as missing teeth, malocclusion, and tooth damage. With the advancement of science and technology and the deepening of medical-engineering integration research, dental implantation technology has entered a period of rapid development. New technologies such as additive manufacturing, implantation robots, and medical lasers are constantly emerging in the field of oral medicine, promoting the development of dental implantation technology towards high precision, personalization, and high safety.

[0003] Laser technology has gradually become an important tool in dental implantology, offering new options for the treatment of oral diseases. Lasers, especially pulsed lasers, can achieve precise cutting and shaping of soft and hard tissues, and control the heat-affected zone. This high-precision operation helps to preserve healthy tissue to the greatest extent and reduce surgical trauma. Furthermore, because lasers have excellent bactericidal effects, they can effectively prevent infection, further improving the success rate of the surgery. Therefore, the application of laser technology in the field of dental implantology not only improves the precision and safety of the surgery but also enhances the patient's treatment experience and recovery outcomes.

[0004] Dental implant cavity preparation is a prerequisite for successful implant placement. A suitable implantation location leads to better biomechanical and aesthetic results. Currently, clinical dental implant cavity preparation mainly uses mechanical drilling with a twist drill. This process inevitably generates heat, vibration, and noise, and causes significant mechanical damage to bone tissue. Laser application in dentistry offers the advantage of non-contact operation, eliminating cutting forces and mechanical damage, thus reducing postoperative pain and alleviating patient psychological stress. For dentists, compared to mechanical drilling, laser preparation significantly reduces heat generated during cavity preparation and eliminates the need to consider tissue deformation and stress. Furthermore, lasers offer high efficiency and low invasiveness in the cutting and ablation of biological tissues.

[0005] The key to successful dental implantation depends not only on standardized surgical procedures and good restorative design, but also on the initial stability of the implant and the formation of osseointegration. Currently, using lasers instead of mechanical pre-drilling can improve the osseointegration effect of the bone tissue around the implant, but it is difficult to precisely control the depth and angle of the pre-drilling.

[0006] The mandibular bone is mainly divided into two types: cortical bone and cancellous bone. Cortical bone is dense and mainly composed of closely arranged trabeculae, which has high mechanical strength and density. Cancellous bone, on the other hand, has a porous network structure, is relatively loose, and is filled with bone marrow. This structural difference leads to different absorption and conduction methods of laser energy in the two types of bone tissue. When laser acts on bone tissue, it mainly produces an effect through thermal effect. When the laser is absorbed by the bone tissue, it is converted into heat energy.

[0007] Chinese patent CN110507437A discloses a dental implant cavity preparation system and method, including: a laser, a robotic arm, and an implant guide. The laser includes a laser head. The first end of the robotic arm is provided with a mounting part for mounting the laser head. The implant guide conforms to a maxillary or mandibular model and is fixed in the human oral cavity. The implant guide has a positioning hole, the axis of which coincides with the axis of the implant cavity for positioning the laser head. The cavity preparation method includes: preparing the implant guide; fixing the laser head in the positioning hole of the implant guide; and the laser head emitting a laser to drill a positioning hole in the bone surface.

[0008] The aforementioned preparation method uses a laser head to prepare the implantation cavity. However, during the preparation process, due to the structural differences between cortical bone and cancellous bone, the absorption and conduction of laser energy in the two types of bone tissue are different. Because cortical bone has a high density, the penetration and absorption of laser energy in it are more concentrated, which can easily lead to an increase in tissue temperature and may cause tissue damage, vaporization, carbonization and other effects. On the other hand, the porous structure of cancellous bone makes the laser energy distribution more dispersed, which can easily lead to errors in the diameter and depth of the implantation cavity and affect the subsequent implantation of the implant. Summary of the Invention

[0009] The present invention aims to overcome the deficiencies in the prior art and provide a robotic laser preparation parameter adaptive system for dental implant sockets based on bone density characteristics, as well as an implantation method thereof, which improves the preparation accuracy of implant sockets, effectively controls thermal damage, and improves preparation efficiency.

[0010] To achieve the above-mentioned objectives, the present invention employs the following technical solution: an adaptive system for robotic laser fabrication parameters of dental implant sockets based on bone density characteristics, comprising: Laser hole preparation module, including a planting robot and a laser handpiece installed at the end of the planting robot; The trajectory planning module is used to perform CT data scanning and 3D model reconstruction of the required implantation area, and to calculate bone density distribution and plan the implantation robot path based on the CT data. The real-time feedback and parameter adaptive control module includes a thermal imaging device for real-time detection of the temperature of the planting area and a host computer for calculating the real-time preparation hole depth. The host computer is equipped with a controller for dynamically adjusting the laser parameters of the laser handpiece based on the bone density change calculated according to the real-time preparation hole depth. The optical navigation module includes markers for multi-point positioning and a binocular vision device for identifying the spatial position of the markers.

[0011] As a preferred embodiment of the present invention, the planting robot is equipped with a laser optical path for changing the laser handpiece and a light guide arm for transmitting optical signals.

[0012] As a preferred embodiment of the present invention, the implantation robot path planning includes a motion path from the initial positioning point to the coordinates of the patient's oral cavity, and optimizes the spatial pose of the light guide arm and laser handpiece during the movement along the set motion path.

[0013] In a preferred embodiment of the present invention, the calculation of the real-time preparation hole depth is based on the laser ablation time of the laser handpiece. , ρ Bone mineral density, V For the ablation volume, f The laser frequency, P t represents the laser power, and t represents the laser ablation duration.

[0014] In a preferred embodiment of the present invention, the thermal imaging device acquires real-time data on the temperature field distribution of the bone surface, and calculates the hole depth based on the acquired bone surface temperature, combined with the heat conduction equation and boundary conditions. h The temperature at that time is used to predict the area at risk of thermal damage.

[0015] As a preferred embodiment of the present invention, the heat conduction equation and boundary conditions are as follows: , h To prepare the hole depth, r 0 For environmental radius, r b To prepare the hole radius, P For laser power, K The thermal conductivity of bone is denoted as .

[0016] As a preferred embodiment of the present invention, the binocular vision device continuously tracks the position of the laser focus and feeds it back to the planting robot.

[0017] An implantation method based on an adaptive parameter system for robotic laser fabrication of dental implant sockets based on bone density characteristics, comprising the following steps: Step S1: Preoperative patient data acquisition and diagnosis, taking CBCT three-dimensional images of the patient and performing image processing and three-dimensional reconstruction, and distinguishing and calculating the thickness of cortical bone and cancellous bone; Step S2: Design the implantation plan, measure the bone volume in the edentulous area, and select the type of laser to be applied to the preparation hole according to the required implant size; Step S3: Plan the laser preparation trajectory movement, plan the movement path of the laser handpiece from the initial position to the patient's oral cavity, and adjust the spatial pose of the laser handpiece and the light guide arm during the movement; Step S4: Design a laser preparation plan. Based on the thickness of cortical bone and cancellous bone measured in S1, calculate the ablation time under the laser type selected in S2. Step S5: Adaptive adjustment during laser preparation of implantation holes. Based on the laser hole preparation trajectory movement in S3 and the laser hole preparation scheme in S4, hole preparation is carried out, and the bone surface temperature field distribution data is collected in real time through thermal imaging equipment to analyze the hole depth, temperature gradient and bone cutting situation in real time during the hole preparation process. Step S6: Data detection in the implant preparation hole, based on the bone surface temperature collected by the thermal imaging device, combined with the heat conduction equation and boundary conditions: ( T s Bone surface temperature; h Hole depth; r 0 Environmental radius; r b Hole radius; P Laser power; K The calculation of the bone thermal conductivity and the hole depth is... h The temperature at that time, and thus the area at risk of thermal damage; Step S7: Select an implant that matches the patient's bone condition and repair plan, and use mechanical percussion to insert the implant into the prepared implantation hole. Then install the healing abutment to complete the implantation. Step S8: After the entire planting process is completed, the equipment is disassembled and disinfected.

[0018] As a preferred embodiment of the present invention, S5 automatically switches to cancellous bone ablation mode and adjusts the laser irradiation parameters of the laser handpiece after the ablation time of the laser handpiece reaches the cortical bone characteristic threshold.

[0019] As a preferred embodiment of the present invention, in step S6, the end effector of the planting robot is subjected to compensatory vibration based on the laser focus position acquired by the binocular vision device.

[0020] Compared to existing technologies, this method reconstructs and obtains a three-dimensional model of the jawbone region using medical imaging technology and calculates bone density distribution data. Based on the spatial distribution characteristics of bone density, a correlation model is established between laser processing parameters and bone tissue cutting efficiency. This enables the laser processing parameters to be adaptively matched according to the bone density distribution model. Furthermore, during the implantation hole preparation process, the method compares and analyzes the hole depth and bone tissue temperature data obtained from real-time calculations, achieving precise and efficient hole preparation. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a flowchart of the present invention; Figure 3 This is a schematic diagram of a mandibular model; Figure 4 This is a CBCT image of the missing tooth. Figure 5 This is an experimental diagram using beef ribs; Figure 6 It is a microscopic image of the entire cavity in a cow's rib; Figure 7 It uses a microscopic image of the side of the cavity in a cow's rib; Figure reference numerals: 1. Controller; 2. Laser handpiece; 3. Binocular vision device; 4. Light guide arm; 5. Thermal imaging equipment; 6. Planting robot; 7. Host computer. Detailed Implementation

[0022] The embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0023] like Figures 1-7 As shown, the adaptive parameter system for robotic laser fabrication of dental implant sockets based on bone density characteristics includes: The laser hole preparation module includes a planting robot 6 and a laser handpiece 2 installed at the end of the planting robot 6. The laser handpiece 2 is equipped with a pulsed solid-state laser that irradiates along the length of the laser handpiece 2. The planting robot 6 has a multi-axis arm structure, which also enables free movement in space.

[0024] The planting robot 6 is equipped with a light guide arm 4 for changing the laser path of the laser handpiece 2 and for transmitting light signals.

[0025] The implant robot's path planning includes the motion path from the initial positioning point to the patient's oral cavity coordinates, and optimizes the spatial pose of the light guide arm 4 and laser handpiece 2 as they move along the set motion path. This ensures that when the laser handpiece 2 moves to the corresponding patient's oral cavity coordinates, the light guide arm 4 accurately guides the pulsed laser output by the laser handpiece 2 to the target site for the implantation procedure.

[0026] The trajectory planning module is used to perform CT data scanning and 3D model reconstruction of the required planting area, and to calculate bone density distribution and plan the 6-path for the planting robot based on the CT data.

[0027] The real-time feedback and parameter adaptive control module includes a thermal imaging device 5 for real-time detection of the temperature of the planting area and a host computer 7 for calculating the real-time preparation hole depth. The host computer 7 is equipped with a controller 1 for dynamically adjusting the laser parameters of the laser handpiece 2 based on the bone density change calculated according to the real-time preparation hole depth.

[0028] The real-time preparation depth is calculated based on the selected laser handpiece 2 and the ablation amount at the preparation site during the irradiation time of the laser handpiece 2. The thermal imaging device 5 is used to collect the bone surface temperature at the implantation area.

[0029] The real-time preparation hole depth is calculated based on the laser ablation time of laser handpiece 2. , ρ Bone mineral density, V For the ablation volume, f The laser frequency, P Let t be the laser power and t be the laser ablation time. The depth of the prepared hole is calculated by the irradiation time of the laser handpiece 2.

[0030] The thermal imaging device 5 acquires real-time data on the temperature field distribution of the bone surface. Based on the acquired bone surface temperature, combined with the heat conduction equation and boundary conditions, the hole depth is calculated. h The temperature at that time is used to predict the area at risk of thermal damage.

[0031] The heat conduction equation and boundary conditions are as follows: , h To prepare the hole depth, r 0 For environmental radius, r b To prepare the hole radius, P For laser power, K The thermal conductivity of bone is denoted as .

[0032] Simultaneously, the thermal imaging device 5, combined with the host computer 7, enables three-dimensional visualization of the ablation state within the host computer 7, displaying the hole depth and temperature gradient, and, combined with the binocular vision device 3, displays the bone cutting status.

[0033] The optical navigation module includes a marker for multi-point positioning and a binocular vision device 3 for identifying the spatial position of the marker. It is used to calibrate the position of the preparation hole, the laser handpiece 2, and the planting robot 6 in the same coordinate system. The binocular vision device 3 continuously tracks the position of the laser focus and feeds it back to the planting robot 6.

[0034] The binocular vision device 3 continuously tracks the laser focus position and feeds it back to the host computer 7. When the host computer 7 detects a laser focus deviation, it transmits a signal to the controller 1. The controller 1 controls the end of the implantation robot 6 to vibrate, ensuring that the deviation between the bone tissue cutting path and the planned path is always kept within a very small range.

[0035] Meanwhile, the thermal imaging device 5 and the binocular vision device 3 transmit data to the host computer 7 in real time. When abnormal path or tissue temperature is detected, the host computer 7 automatically triggers the protection mechanism and sends a signal to the controller 1 to stop the laser output of the laser handpiece 2.

[0036] An implantation method based on an adaptive parameter system for robotic laser fabrication of dental implant sockets based on bone density characteristics, comprising the following steps: Step S1: Preoperative patient data acquisition and diagnosis, taking CBCT 3D images of the patient and performing image processing and 3D reconstruction, and distinguishing and calculating the thickness of cortical bone and cancellous bone.

[0037] Images of cortical bone show a high-density, high-brightness structure, while images of cancellous bone show a low-density, reticular structure.

[0038] Medical imaging technology was used to reconstruct a three-dimensional model of the jawbone region and calculate bone density distribution data. Based on the images, a grayscale-density conversion algorithm was used to evaluate the height, width, and density of the alveolar bone, and to distinguish and calculate the thickness of cortical bone and cancellous bone.

[0039] The calculation formula is shown below. I0 is the incident light intensity, and I is the transmitted light intensity.

[0040] Step S2: Design the implantation plan, measure the bone volume in the edentulous area, and select the type of laser to be used for hole preparation according to the required implant size. In designing the implantation plan, check the health of adjacent teeth and periodontal tissues, rule out contraindications, and design the implantation angle, depth, and diameter according to the required implant size.

[0041] Step S3: Plan the laser preparation trajectory movement, plan the movement path of the laser handpiece 2 from the initial position to the cavity in the patient's mouth, and adjust the spatial pose of the laser handpiece 2 and the light guide arm 4 during the movement.

[0042] A spatial coordinate system is established with the implantation robot 6 as the origin, and the positions of the laser handpiece 2, the patient's required implantation position, and the light guide arm 4 are calibrated in the spatial coordinate system. Based on the initial position of the laser handpiece 2, the motion path of the laser handpiece 2 to the patient's oral cavity is planned, and the pulsed laser output by the laser handpiece 2 is precisely guided to the target site of the implantation operation through the light guide arm 4.

[0043] Step S4: Design a laser preparation scheme. Based on the cortical and cancellous bone thicknesses measured in S1, calculate the ablation time under the laser type selected in S2. Combine this with the actual CT cortical bone thickness measurement data from Step S1 to establish a thickness-time ablation model. , ( ρ Bone mineral density; V : Ablation volume; f Laser frequency; P The optimal ablation time for different cortical bone thicknesses is calculated using laser power. The parameter combinations and corresponding time control for bone ablation are programmed and integrated into the host computer to ensure that the preparation task is performed according to the preset plan.

[0044] Based on the actual measurement data of cancellous bone thickness in step S1, a thickness-time ablation model is established: , ( ρ Bone mineral density; V : Ablation volume; f Laser frequency; P Calculate the optimal ablation time for different cancellous bone thicknesses using laser power.

[0045] The laser frequency and power required for ablation of cortical and cancellous bone will change in real time according to the laser preparation plan. The laser frequency and power for cortical bone need to be sufficient to ablate the closely packed trabeculae while reducing heat transfer and diffusion that could cause necrosis of the peripheral tissue. The laser frequency and power for cancellous bone need to be sufficient to ablate the cancellous bone while preventing the dispersion of laser energy.

[0046] Step S5: Adaptive adjustment during laser preparation of implantation holes. Based on the laser hole preparation trajectory movement in S3 and the laser hole preparation scheme in S4, hole preparation is carried out, and the temperature field distribution data of the bone surface is collected in real time by thermal imaging device 5 to analyze the hole depth, temperature gradient and bone cutting situation in real time during the hole preparation process.

[0047] Based on the laser hole preparation trajectory motion of S3 and the laser hole preparation scheme of S4, robot motion control instructions are generated for hole preparation operations. The final program is then imported into the host computer 7 to realize the automated execution of the hole preparation surgery.

[0048] Guided by the binocular vision device 3, the implantation robot 6 performs bone tissue ablation along the planned trajectory, while the thermal imaging device 5 collects real-time data on the temperature field distribution of the bone surface.

[0049] Simultaneously, the thermal imaging device 5, combined with the host computer 7, enables three-dimensional visualization of the ablation state within the host computer 7, displaying the hole depth and temperature gradient, and, combined with the binocular vision device 3, displays the bone cutting status.

[0050] After the ablation time of the laser handpiece 2 reaches the cortical bone characteristic threshold, it automatically switches to the cancellous bone ablation mode and adjusts the laser irradiation parameters of the laser handpiece 2. This switching process achieves a smooth transition of laser parameters through the host computer 7 and the controller 1.

[0051] Step S6: Data detection in the implantation preparation hole, based on the bone surface temperature collected by thermal imaging device 5, combined with the heat conduction equation and boundary conditions: ( T s Bone surface temperature; h Hole depth; r 0 Environmental radius; r b Hole radius; P Laser power; K The calculation of the bone thermal conductivity and the hole depth is... h The temperature at that time is used to predict the area at risk of thermal damage.

[0052] Based on the laser focus position acquired by the binocular vision device 3, the end of the implantation robot 6 is subjected to compensatory vibration to ensure that the deviation between the bone tissue cutting path and the planned path is always controlled within a very small range. When abnormal path or tissue temperature is detected, the host computer 7 automatically triggers the protection mechanism and stops the laser output.

[0053] Step S7: The light guide arm 4 precisely guides the pulsed laser output from the laser handpiece 2 to the target site for the implantation procedure. The implant, matched to the patient's bone condition and repair plan, is mechanically hammered into the prepared implantation cavity, followed by the installation of the healing abutment, completing the implantation. Step S8: After the entire planting process is completed, the equipment is disassembled and disinfected.

[0054] Figure 5 , Figure 6 and Figure 7 Through hole preparation experiments on bovine ribs, it can be seen that after the hole preparation experiment is completed, the surrounding tissues are not affected during the construction of the experimental cavity, and the cavity is formed without obvious mechanical and thermal damage, which is conducive to the osseointegration of the implant and improves the initial stability of the implant.

[0055] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention; therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0056] Although this document uses numerous reference numerals in the figures, such as controller 1, laser handpiece 2, binocular vision device 3, light guide arm 4, thermal imaging device 5, planting robot 6, and host computer 7, the possibility of using other terms is not excluded. These terms are used merely for the convenience of describing and explaining the essence of the invention; interpreting them as any additional limitation would contradict the spirit of the invention.

Claims

1. A robot laser preparation parameter adaptive system for dental implant socket based on bone density characteristics, characterized in that, include: The laser hole preparation module includes a planting robot (6) and a laser handpiece (2) installed at the end of the planting robot (6). The trajectory planning module is used to perform CT data scanning and three-dimensional model reconstruction of the required planting area, and to perform bone density distribution calculation and planting robot (6) path planning based on CT data; The real-time feedback and parameter adaptive control module includes a thermal imaging device (5) for real-time detection of the temperature of the planting area and a host computer (7) for calculating the real-time preparation hole depth. The host computer (7) is equipped with a controller (1) for dynamically adjusting the laser parameters of the laser handpiece (2) based on the bone density change calculated according to the real-time preparation hole depth. The optical navigation module includes a marker for multi-point positioning and a binocular vision device for identifying the spatial position of the marker (3).

2. The robot laser preparation parameter adaptive system based on the bone density characteristics of dental implant socket according to claim 1, characterized in that, The planting robot (6) is equipped with a laser optical path for changing the laser handpiece (2) and a light guide arm (4) for transmitting optical signals.

3. The adaptive parameter system for robotic laser fabrication of dental implant sockets based on bone density characteristics according to claim 2, characterized in that, The path planning of the implantation robot (6) includes the motion path from the initial positioning point to the coordinates of the patient's oral cavity, and optimizes the spatial pose of the light guide arm (4) and the laser handpiece (2) as they move along the set motion path.

4. The adaptive parameter system for robotic laser fabrication of dental implant sockets based on bone density characteristics according to claim 1, characterized in that, The calculation of the real-time preparation hole depth is based on the laser ablation time of the laser handpiece (2). ρ is bone density, V is ablation volume, f is laser frequency, P is laser power, and t is laser ablation duration.

5. The adaptive parameter system for robotic laser fabrication of dental implant sockets based on bone density characteristics according to claim 1, characterized in that, The thermal imaging device (5) collects real-time data on the temperature field distribution of the bone surface. Based on the collected bone surface temperature, combined with the heat conduction equation and boundary conditions, it calculates the temperature at a hole depth of h, and then predicts the area at risk of thermal damage.

6. The adaptive parameter system for robotic laser fabrication of dental implant sockets based on bone density characteristics according to claim 5, characterized in that, The heat conduction equation and boundary conditions are as follows: h is the hole depth, r0 is the environmental radius, and r b Where is the aperture radius, P is the laser power, and K is the bone thermal conductivity.

7. The adaptive parameter system for robotic laser fabrication of dental implant sockets based on bone density characteristics according to claim 1, characterized in that, The binocular vision device (3) continuously tracks the laser focus position and feeds it back to the planting robot (6).

8. An implantation method based on an adaptive parameter system for robotic laser fabrication of dental implant sockets based on bone density characteristics, wherein the system is based on the adaptive parameter system for robotic laser fabrication of dental implant sockets based on bone density characteristics as described in any one of claims 1-7, characterized in that... The following steps: Step S1: Preoperative patient data acquisition and diagnosis, taking CBCT three-dimensional images of the patient and performing image processing and three-dimensional reconstruction, and distinguishing and calculating the thickness of cortical bone and cancellous bone; Step S2: Design the implantation plan, measure the bone volume in the edentulous area, and select the type of laser to be applied to the preparation hole according to the required implant size; Step S3: Plan the laser preparation hole trajectory movement, plan the movement path of the laser handpiece (2) from the initial position to the cavity of the patient's mouth, and adjust the spatial pose of the laser handpiece (2) and the light guide arm (4) during the movement; Step S4: Design a laser preparation plan. Based on the thickness of cortical bone and cancellous bone measured in S1, calculate the ablation time under the laser type selected in S2. Step S5: Adaptive adjustment during laser preparation of implantation holes. The hole preparation operation is carried out according to the laser hole preparation trajectory movement in S3 and the laser hole preparation scheme in S4. The bone surface temperature field distribution data is collected in real time by thermal imaging equipment (5), and the hole depth, temperature gradient and bone cutting situation during the hole preparation process are analyzed in real time. Step S6: Data detection in the implantation preparation hole, based on the bone surface temperature collected by the thermal imaging device (5), combined with the heat conduction equation and boundary conditions: (T s : Bone surface temperature; h: Hole depth; r0: Ambient radius; r b Hole radius; P: Laser power; K: thermal conductivity of bone) is used to calculate the temperature at a hole depth of h, and then to predict the area of ​​thermal damage risk. Step S7: Select an implant that matches the patient's bone condition and repair plan, and use mechanical percussion to insert the implant into the prepared implantation hole. Then install the healing abutment to complete the implantation. Step S8: After the entire planting process is completed, the equipment is disassembled and disinfected.

9. The implantation method of the robotic laser fabrication parameter adaptive system for dental implant sockets based on bone density characteristics according to claim 8, characterized in that, In step S5, after the ablation time of the laser handpiece (2) reaches the cortical bone characteristic threshold, the process automatically switches to the cancellous bone ablation mode and adjusts the laser irradiation parameters of the laser handpiece (2).

10. The implantation method of the robotic laser fabrication parameter adaptive system for dental implant sockets based on bone density characteristics according to claim 8, characterized in that, In step S6, the end of the planting robot (6) is subjected to compensatory vibration based on the laser focus position collected by the binocular vision device (3).

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