A dental robot and an oral navigation method

Abstract

An embodiment of the present invention provides a dental robot and an oral navigation method. The dental robot includes a serial positioning arm. The serial positioning arm includes a base, a plurality of positioning arms, and a collet for clamping surgical instruments. The base, the plurality of positioning arms, and the collet are sequentially connected in series through rotary joints. An articular angle measuring device is installed at each rotary joint. The dental robot and the oral navigation method provided by the present invention reduce the volume and weight of the dental robot system through the lightweight of the serial positioning arm, and improve the practicability of the dental robot in surgical operations.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and particularly to a dental robot and an oral navigation method. Background Art

[0002] With the application of navigation technology and robot technology in oral and maxillofacial surgery, the digitalization level of oral surgery has been greatly improved. The robot-assisted oral navigation system can provide powerful assistance to oral surgeons, thereby improving the surgical precision, reducing the difficulty of surgical operation, and ensuring the surgical safety.

[0003] In the prior art, the dental surgery robot system usually adopts a general industrial robotic arm, resulting in a large volume and weight of the whole system, high cost, and poor practicability. Summary of the Invention

[0004] Embodiments of the present invention provide a dental robot and an oral navigation method to solve the problems of large volume and weight and poor practicability of the existing dental surgery robot system.

[0005] In a first aspect, embodiments of the present invention provide a dental robot, including a serial positioning arm;

[0006] The serial positioning arm includes a base, a plurality of positioning arms and a collet for clamping surgical instruments;

[0007] The base, the plurality of positioning arms and the collet are sequentially connected in series through rotary joints;

[0008] An articular angle measuring device is installed at each rotary joint.

[0009] Optionally, the articular angle measuring device is an absolute encoder.

[0010] Optionally, the positioning arm is of a hollow structure.

[0011] Optionally, a servo torque motor is installed at each rotary joint.

[0012] Optionally, it further includes a dental treatment chair;

[0013] The head clamping devices on both sides of the headrest of the dental treatment chair are of a gear-rack locking structure;

[0014] The serial positioning arm is fixedly installed on the equipment base of the dental treatment chair through the base.

[0015] In a second aspect, embodiments of the present invention provide an oral navigation method based on the dental robot described in the first aspect, including:

[0016] Based on the joint angles measured by the joint angle measuring devices in the serial positioning arm, determine the coordinate position of the surgical instrument clamped by the collet at the top of the serial positioning arm in the dental robot coordinate system;

[0017] Convert the coordinate position of the surgical instrument in the dental robot coordinate system into the coordinate position in the three-dimensional image coordinate system;

[0018] Based on the coordinate position of the surgical instrument in the three-dimensional image coordinate system and the preset surgical path in the three-dimensional image coordinate system, perform oral navigation.

[0019] Optionally, the converting the coordinate position of the surgical instrument in the dental robot coordinate system into the coordinate position in the three-dimensional image coordinate system includes:

[0020] Based on the spatial mapping relationship, convert the coordinate position of the surgical instrument in the dental robot coordinate system into the coordinate position in the three-dimensional image coordinate system;

[0021] The spatial mapping relationship is determined based on the coordinate positions of the preset feature points in the three-dimensional image in the dental robot coordinate system.

[0022] Optionally, after performing oral navigation based on the coordinate position of the surgical instrument in the three-dimensional image coordinate system and the preset surgical path in the three-dimensional image coordinate system, further includes:

[0023] Based on the preset operation area of the surgical instrument in the three-dimensional image and the coordinate position of the surgical instrument in the three-dimensional image coordinate system, determine the contact stiffness of the serial positioning arm;

[0024] Based on the contact stiffness of the serial positioning arm, adjust the output torque of the servo torque motor at each rotating joint of the serial positioning arm.

[0025] Optionally, before performing oral navigation based on the coordinate position of the surgical instrument in the three-dimensional image coordinate system and the preset surgical path in the three-dimensional image coordinate system, further includes:

[0026] Based on the positions of the visual markers respectively set on the area to be operated and the surgical instrument, determine the relative position between the area to be operated and the surgical instrument;

[0027] Convert the relative position into the three-dimensional coordinate system to obtain the three-dimensional relative position;

[0028] Based on the coordinate position of the surgical instrument in the three-dimensional image coordinate system and the three-dimensional relative position, adjust the coordinate position of the area to be operated in the three-dimensional image coordinate system.

[0029] Optionally, the visual marker of the area to be operated is installed through an oral guide plate, and the oral guide plate is determined based on the three-dimensional curved surface of the dentition of the area to be operated.

[0030] The dental robot and oral navigation method provided by the embodiments of the present invention include a serial positioning arm. In the serial positioning arm, a base, a plurality of positioning arms and a jacket are sequentially connected in series through rotary joints. An articular angle measuring device is installed at each rotary joint. By lightening the serial positioning arm, the volume and weight of the dental robot system are reduced, and the practicability of the dental robot in surgical operations is improved. Description of the Drawings

[0031] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0032] Figure 1 It is a schematic structural diagram of the dental robot provided by the embodiments of the present invention;

[0033] Figure 2 It is a schematic structural diagram of the head clamping device provided by the embodiments of the present invention;

[0034] Figure 3 It is a schematic structural diagram of the dental robot system provided by the embodiments of the present invention;

[0035] Figure 4 It is a schematic flow chart of the oral navigation method provided by the embodiments of the present invention;

[0036] Figure 5 It is a schematic structural diagram of the patient tracking device provided by the embodiments of the present invention;

[0037] Description of the Reference Numerals:

[0038] 100 - Base; 110 - First positioning arm; 120 - Second positioning arm;

[0039] 101 - First rotary joint; 102 - Second rotary joint; 103 - Third rotary joint;

[0040] 130 - Jacket; 201 - Gear; 211 - First rack;

[0041] 212 - Second rack; 221 - First headrest; 222 - Second headrest;

[0042] 301 - Serial positioning arm; 302 - Dental treatment chair; 303 - Visual navigator;

[0043] 304 - Surgical instrument; 501 - Oral guide plate; 502 - Connecting rod;

[0044] 503 - Visual marker. Detailed implementation manners

[0045] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Apparently, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without making creative efforts shall fall within the protection scope of the present invention.

[0046] Figure 1 The structural schematic diagram of the dental robot provided by the embodiment of the present invention is as Figure 1 shown. The dental robot includes a serial positioning arm. The serial positioning arm includes a base 100, a first positioning arm 110, a second positioning arm 120 and a collet 130. The collet 130 is used for clamping a surgical instrument. The base 100, the first positioning arm 110, the second positioning arm 120 and the collet 130 are serially connected in sequence through a first rotary joint 101, a second rotary joint 102 and a third rotary joint 103. An articular angle measuring device is installed at each rotary joint.

[0047] It should be noted that the embodiment of the present invention is described with the case where the number of positioning arms is 2. This embodiment is some, but not all, of the embodiments of the present invention. The embodiment of the present invention does not specifically limit the number of positioning arms.

[0048] Specifically, the base 100, the first positioning arm 110, the second positioning arm 120 and the collet 130 are serially connected by rotary joints. The collet 130 is used for clamping a surgical instrument. The serial positioning arm has at least 6 degrees of freedom and can be used to position and adjust the posture of the surgical instrument in the working space. In order to make the serial positioning arm of the dental robot more flexible when being dragged or avoiding obstacles, the number of the serial positioning arms can also be flexibly adjusted so that the serial positioning arm has a structure with redundant degrees of freedom.

[0049] Existing oral surgery robot systems use general industrial robotic arms, which are controlled by motors between the robotic arms, making the volume and weight of the surgical robot huge. When using the surgical robot, oral surgeons need to learn the usage and operation methods of industrial robotic arms, increasing the learning cost for oral surgeons. In addition, different from the standardized production methods in industry, oral surgery requires doctors to formulate different surgical plans according to the specific conditions of each patient. During the surgical operation, doctors also need to adjust the surgical plan based on the real-time feedback of each patient. Therefore, the existing oral surgery robot systems have poor practicability and low efficiency in surgical operations.

[0050] The dental robot provided by the embodiment of the present invention installs a joint angle measurement device at each rotating joint of the serial positioning arm. Through joint angle measurement, precise positioning of the surgical instrument is achieved, replacing motor control, reducing the application of electronic devices related to motor control in the dental robot, realizing the lightweight of the dental robot, and adopting a dragging operation method, which is convenient for oral surgeons to operate flexibly, more in line with the usage habits of oral surgeons, and will not bring any learning cost to oral surgeons.

[0051] The dental robot provided by the embodiment of the present invention includes a serial positioning arm. In the serial positioning arm, the base, several positioning arms, and the collet are sequentially connected in series through rotating joints. A joint angle measurement device is installed at each rotating joint. Through the lightweight of the serial positioning arm, the volume and weight of the dental robot system are reduced, and the practicability of the dental robot in surgical operations is improved.

[0052] Based on the above embodiment, the joint angle measurement device is an absolute encoder.

[0053] Specifically, the joint angle measurement device is an absolute encoder. For example, an optoelectronic absolute encoder can be used to measure the joint angle. A relative encoder needs to determine the actual measurement value based on a relative zero point, while the structural characteristics of the absolute encoder determine the uniqueness of each measurement value, and no reference zero point is required.

[0054] The embodiment of the present invention adopts an absolute encoder, avoiding the calibration of the zero point during use, thereby simplifying the usage method of the serial positioning arm.

[0055] Based on any of the above embodiments, the positioning arm is a hollow structure.

[0056] Specifically, the positioning arm body can adopt an internally hollow structure to reduce the weight of the body and improve the flexibility of operation. The internally hollow structure can also accommodate the electrical connection wires inside the dental robot system, reducing the volume of the dental robot.

[0057] Based on any of the above embodiments, the positioning arm is made of at least one of engineering plastics, aluminum alloy, and carbon fiber.

[0058] Specifically, the positioning arm can be made of high-strength lightweight materials such as engineering plastics, aluminum alloy, or carbon fiber to reduce the weight of the body.

[0059] Based on any of the above embodiments, a servo torque motor is installed at each rotating joint.

[0060] Specifically, a small servo torque motor is installed at each rotating joint. According to the robot dynamics model, the gravitational torque at each rotating joint can be calculated, and the torque provided by the servo torque motor is used to offset the gravitational torque, making it more flexible and convenient to drag the serial positioning arm.

[0061] Based on any of the above embodiments, it further includes a dental treatment chair;

[0062] The head clamping devices on both sides of the headrest of the dental treatment chair are gear-rack locking structures; the serial positioning arm is fixedly installed on the equipment base of the dental treatment chair through a base.

[0063] Specifically, the dental robot further includes a dental treatment chair. To better fix the patient's head, the head clamping devices on both sides of the headrest of the dental treatment chair are gear-rack locking structures. Figure 2 FIG. is a schematic structural diagram of the head clamping device provided by an embodiment of the present invention. As Figure 2 shown, the head clamping device includes a gear 201, a first rack 211, a second rack 212, a first headrest 221, and a second headrest 222. The gear 201 can be rotated by a knob, thereby driving the first rack 211 and the second rack 212 to move towards each other, adjusting the distance between the first headrest 221 and the second headrest 222, and achieving the function of fixing the patient's head.

[0064] The serial positioning arm is fixedly installed on the equipment base of the dental treatment chair through a base, facilitating dragging to the surgical area in the patient's oral cavity.

[0065] Based on any of the above embodiments, it further includes a vision navigator;

[0066] The vision navigator is fixedly installed on the equipment base of the dental treatment chair through a support arm.

[0067] Specifically, the vision navigator can track the visual markers on the surgical area to be operated and the surgical instruments in real time, and detect their spatial positions in real time to guide the completion of dental surgical operations.

[0068] Based on any of the above embodiments, Figure 3 FIG. is a schematic structural diagram of the dental robot system provided by an embodiment of the present invention. As Figure 3As shown in the figure, the dental robot system includes a serial positioning arm 301, a dental treatment chair 302, a vision navigator 303, and a surgical instrument 304.

[0069] Specifically, during use, the patient lies flat on the dental treatment chair, and the oral surgeon drags the serial positioning arm 301 and uses the surgical instrument 304 clamped by the collet at the end of the serial positioning arm 301 to perform oral surgery. When the patient's head moves, the oral surgeon can also use the vision navigator 303 to track the visual markers on the area to be operated on and the surgical instrument, thereby completing the oral surgery.

[0070] Based on any of the above embodiments, Figure 4 is a schematic flowchart of the oral navigation method provided by the embodiment of the present invention. As Figure 4 shown, the method includes:

[0071] Step 410, based on the joint angles measured by the joint angle measuring devices in the serial positioning arm, determine the coordinate position of the surgical instrument clamped by the collet at the top of the serial positioning arm in the dental robot coordinate system;

[0072] Specifically, a dental robot coordinate system is established according to the structural parameters of the dental robot. The origin of the coordinate system can be selected as the base of the serial positioning arm. The embodiment of the present invention does not make a specific limitation on the selection of the origin of the dental robot coordinate system.

[0073] According to the joint angles measured by the joint angle measuring devices in the serial positioning arm, the position of the collet at the top of the serial positioning arm can be calculated in real time by using the D-H (Denavit Hartenberg) method in robot kinematics. Therefore, when dragging the serial positioning arm to perform surgical operations within its workspace, the position of the collet can be accurately determined.

[0074] The surgical instrument can specifically be a dental medical instrument, such as a dental implant handpiece, a restoration handpiece, etc. The collet can clamp different surgical instruments to perform oral surgery. After the surgical instrument is calibrated for position and orientation and installed on the collet of the serial positioning arm, the coordinate position of the surgical instrument in the dental robot coordinate system can be determined according to the calibration parameters of the surgical instrument relative to the collet of the serial positioning arm.

[0075] Step 420, convert the coordinate position of the surgical instrument in the dental robot coordinate system into the coordinate position in the three-dimensional image coordinate system;

[0076] Specifically, the three-dimensional image can be a three-dimensional image of the patient's oral cavity obtained by using CBCT (Cone Beam Computed Tomography) technology, also known as cone beam CT. A three-dimensional image coordinate system can be established according to the three-dimensional image of the patient's oral cavity.

[0077] According to the spatial mapping relationship between the dental robot coordinate system and the three-dimensional image coordinate system, the coordinate position of the surgical instrument in the dental robot coordinate system can be converted into the coordinate position in the three-dimensional image coordinate system. The spatial mapping relationship can be pre-calibrated.

[0078] Step 430: Based on the coordinate position of the surgical instrument in the three-dimensional image coordinate system and the preset surgical path in the three-dimensional image coordinate system, perform oral cavity navigation.

[0079] Specifically, the preset surgical path is to pre-plan the surgical operation in the three-dimensional image coordinate system to determine the movement path of the surgical instrument in the three-dimensional image coordinate system.

[0080] During oral surgery, drag the serial positioning arm to match the coordinate position of the surgical instrument in the three-dimensional image coordinate system with the preset surgical path in the three-dimensional image coordinate system to obtain the real-time position error of the surgical instrument, thereby guiding the oral surgeon to complete the oral surgery operation.

[0081] The oral cavity navigation method provided by the embodiments of the present invention converts the coordinate position of the surgical instrument in the dental robot coordinate system into the coordinate position in the three-dimensional image coordinate system, and matches it with the preset surgical path in the three-dimensional image coordinate system, realizing the positioning of the movement path of the surgical instrument during oral surgery, guiding the oral surgeon to perform the surgical operation, reducing the difficulty of the surgical operation, ensuring the safety of the surgery, and moreover, this oral cavity navigation method does not have problems such as visual occlusion caused by using an optical navigation instrument.

[0082] Based on any of the above embodiments, step 420 includes:

[0083] Based on the spatial mapping relationship, convert the coordinate position of the surgical instrument in the dental robot coordinate system into the coordinate position in the three-dimensional image coordinate system;

[0084] The spatial mapping relationship is determined based on the coordinate positions of the preset feature points in the three-dimensional image in the dental robot coordinate system.

[0085] Specifically, the spatial mapping relationship is the position conversion relationship between the dental robot coordinate system and the coordinate points in the three-dimensional image coordinate system, and can be determined by the coordinate positions of the preset feature points in the three-dimensional image in the dental robot coordinate system.

[0086] The preset feature points are pre-set positioning points, and their coordinate positions in the three-dimensional image have been determined by marking. The number of preset feature points is at least 3. Drag the serial positioning arm, and use the tip of the surgical instrument or the installed calibration probe to touch the corresponding parts on the patient's teeth to the positions of the preset feature points in the three-dimensional image, so as to obtain the coordinate positions of each preset feature point in the dental robot coordinate system. According to the coordinate positions of the preset feature points in the dental robot coordinate system and the three-dimensional image coordinate system respectively, perform mapping registration to obtain the spatial mapping relationship.

[0087] The algorithm for mapping registration can be carried out by using the ICP algorithm (Iterative Closest Point algorithm). The embodiments of the present invention do not make specific limitations on the selection of the registration algorithm.

[0088] Based on any of the above embodiments, after step 430, it further includes:

[0089] Based on the preset operation area of the surgical instrument in the three-dimensional image and the coordinate position of the surgical instrument in the three-dimensional image coordinate system, determine the contact stiffness of the serial positioning arm;

[0090] Based on the contact stiffness of the serial positioning arm, adjust the output torque of the servo torque motor at each rotating joint of the serial positioning arm.

[0091] Specifically, for oral surgery, the planned surgical operation area in the three-dimensional image, that is, the preset operation area, can be pre-set. For example, for molar restoration surgery, the grinding area and the non-grinding area can be pre-planned in the three-dimensional image.

[0092] When dragging the surgical instrument for surgery, according to the coordinate position of the surgical instrument in the three-dimensional image coordinate system, judge the positional relationship between the surgical instrument and the preset operation area, and determine the contact stiffness of the serial positioning arm. The contact stiffness is the sensitivity of the serial positioning arm when dragging the serial positioning arm. For example, when the surgical instrument is located in the grinding area, the contact stiffness is zero and it can be dragged freely; when the surgical instrument approaches the non-grinding area, the contact stiffness is not zero and increases as the distance to the non-grinding area decreases, and a certain force needs to be applied to drag it.

[0093] According to the contact stiffness of the serial positioning arm, adjust the output torque of the servo torque motor at each rotating joint of the serial positioning arm, so that the oral surgeon can obtain a force feedback when dragging the serial positioning arm, thereby improving the surgical precision and operation safety and avoiding damaging healthy tissues.

[0094] To adjust the output torque of the servo torque motor, the torque that each servo torque motor should output during dragging can be calculated according to parameters such as the pre-set contact stiffness and damping, so that the serial positioning arm dynamically changes its sensitivity and gives different force feedbacks to the oral surgeon.

[0095] The oral navigation method provided by the embodiment of the present invention adjusts the output torque of the servo torque motor at each rotating joint according to the preset operation area of the surgical instrument in the three-dimensional image and the coordinate position of the surgical instrument in the three-dimensional image coordinate system, gives different force feedback to the oral surgeon, and provides the safety of oral surgical operations.

[0096] Based on any of the above embodiments, before step 430, it further includes:

[0097] Determine the relative position between the area to be operated and the surgical instrument based on the positions of the visual markers respectively set on the area to be operated and the surgical instrument;

[0098] Convert the relative position into the three-dimensional coordinate system to obtain the three-dimensional relative position;

[0099] Based on the coordinate position of the surgical instrument in the three-dimensional image coordinate system and the three-dimensional relative position, adjust the coordinate position of the area to be operated in the three-dimensional image coordinate system.

[0100] Specifically, for some operations where the accuracy has a great impact on the surgical effect, such as dental implant surgery, even if the patient's head and jaw are fixed by a clamping device, there may be slight position changes, and long-term clamping fixation will also cause discomfort to the patient. Visual markers can be respectively set on the area to be operated and the surgical instrument in the patient's oral cavity, and a visual navigator is used to track the visual markers within the visual field range and detect the positions of the visual markers on the area to be operated and the surgical instrument in real time.

[0101] Determine the relative position between the area to be operated and the surgical instrument based on the positions of the visual markers respectively set on the area to be operated and the surgical instrument, and convert the relative position into the three-dimensional coordinate system to obtain the three-dimensional relative position.

[0102] Based on the coordinate position of the surgical instrument in the three-dimensional image coordinate system and the three-dimensional relative position, adjust the coordinate position of the area to be operated in the three-dimensional image coordinate system so that the adjusted area to be operated can adapt to the position changes generated by the patient's head and jaw, thereby continuing to guide the oral surgeon to complete the oral surgical operation.

[0103] The oral navigation method provided by the embodiment of the present invention tracks the visual markers respectively set on the area to be operated and the surgical instrument through a visual navigator, and adjusts the coordinate position of the area to be operated in the three-dimensional image coordinate system in real time, thereby improving the accuracy of oral surgical operations.

[0104] Based on any of the above embodiments, the visual marker of the area to be operated is installed through an oral guide plate, and the oral guide plate is determined based on the three-dimensional surface of the dental arch of the area to be operated.

[0105] Specifically, in order to accurately perform surgical operations even when the patient's head moves, a patient tracking device can be installed on the patient's jawbone.

[0106] Figure 5 The structural schematic diagram of the patient tracking device provided by the embodiment of the present invention is shown in Figure 5 As shown, the patient tracking device includes an oral guide plate 501, a connecting rod 502, and a visual marker 503 for the area to be operated. The visual marker 503 is connected to the oral guide plate 501 through the connecting rod 502. The patient tracking device can be quickly manufactured by means of 3D printing or the like.

[0107] The oral guide plate 501 is determined according to the three-dimensional curved surface of the dental arch in the area to be operated in the patient's oral cavity, and can be installed and strictly fit the patient's dental arch. After the patient wears this device on the dental arch during oral surgery, the position of the patient's jawbone can be detected in real time through a visual navigation instrument.

[0108] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art can understand and implement it without creative labor.

[0109] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, and of course also by hardware. Based on this understanding, the essence of the above technical solution or the part that contributes to the prior art can be embodied in the form of a software product. The computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., including several instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute the methods described in each embodiment or some parts of the embodiments.

[0110] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features. And these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A dental robot, characterized in that, It includes a serial positioning arm, a dental treatment chair, and a visual navigator; The serial positioning arm includes a base, several positioning arms, and a jacket for clamping surgical instruments; the serial positioning arm is fixedly installed on the equipment base of the dental treatment chair through the base; the contact stiffness of the serial positioning arm is determined based on the preset operation area of the surgical instrument in the three-dimensional image of the patient's oral cavity and the coordinate position of the surgical instrument in the three-dimensional image coordinate system, and the contact stiffness is the sensitivity of the serial positioning arm when the dentist drags the serial positioning arm; The base, several positioning arms, and the jacket are sequentially connected in series through rotary joints; the positioning arms are of a hollow structure; An articular angle measuring device is installed at each rotary joint; A servo torque motor is installed at each rotary joint; the servo torque motor is configured to adjust the output torque of the servo torque motor at each rotary joint in the serial positioning arm based on the contact stiffness of the serial positioning arm, so that the dentist obtains a force feedback when dragging the serial positioning arm; The visual navigator is fixedly installed on the equipment base of the dental treatment chair through a support arm; the visual navigator is configured to track visual markers on the surgical area to detect the spatial positions of the visual markers in real time.

2. The dental robot according to claim 1, wherein, The articular angle measuring device is an absolute encoder.

3. The dental robot according to claim 1, characterized in that, The head clamping devices on both sides of the headrest of the dental treatment chair are gear-rack locking structures.

4. An oral navigation method for a dental robot according to any one of claims 1 to 3, characterized in that, It includes: Based on the joint angles measured by the articular angle measuring devices in the serial positioning arm, determine the coordinate position of the surgical instrument clamped by the jacket at the top of the serial positioning arm in the dental robot coordinate system; Convert the coordinate position of the surgical instrument in the dental robot coordinate system into the coordinate position in the three-dimensional image coordinate system; Based on the coordinate position of the surgical instrument in the three-dimensional image coordinate system and the preset surgical path in the three-dimensional image coordinate system, perform oral cavity navigation; Based on the preset operation area of the surgical instrument in the three-dimensional image and the coordinate position of the surgical instrument in the three-dimensional image coordinate system, determine the contact stiffness of the serial positioning arm, where the contact stiffness is the sensitivity of the serial positioning arm when the dentist drags the serial positioning arm; Based on the contact stiffness of the serial positioning arm, adjust the output torque of the servo torque motor at each rotary joint in the serial positioning arm, so that the dentist obtains a force feedback when dragging the serial positioning arm.

5. The oral navigation method according to claim 4, wherein The conversion of the coordinate position of the surgical instrument in the dental robot coordinate system into the coordinate position in the three-dimensional image coordinate system includes: Based on the spatial mapping relationship, convert the coordinate position of the surgical instrument in the dental robot coordinate system into the coordinate position in the three-dimensional image coordinate system; The spatial mapping relationship is determined based on the coordinate positions of the preset feature points in the three-dimensional image in the dental robot coordinate system.

6. The oral navigation method according to claim 4, characterized in that Before performing the oral cavity navigation based on the coordinate position of the surgical instrument in the three-dimensional image coordinate system and the preset surgical path in the three-dimensional image coordinate system, it also includes: Determine the relative position between the area to be operated on and the surgical instrument based on the positions of visual markers respectively set on the area to be operated on and the surgical instrument; Convert the relative position into a three-dimensional coordinate system to obtain a three-dimensional relative position; Adjust the coordinate position of the area to be operated on in the three-dimensional image coordinate system based on the coordinate position of the surgical instrument in the three-dimensional image coordinate system and the three-dimensional relative position.

7. The oral navigation method according to claim 6, wherein The visual marker of the area to be operated on is installed through an oral guide plate, and the oral guide plate is determined based on the three-dimensional surface of the dental arch of the area to be operated on.

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