Connecting device and dental robot

Abstract

The application relates to the technical field of medical devices, and provides a connecting device and a dental robot. The connecting device comprises a connecting piece, a connecting barrel, a connecting arm and a flange barrel which are sequentially connected; the connecting piece is used for being connected with a dental implant mobile phone; the flange barrel is used for being connected with a mechanical arm; the connecting piece, the connecting barrel, the connecting arm and the flange barrel are rotatably connected, and the rotating shafts of the connecting piece, the connecting barrel and the connecting arm are not on the same straight line; the angle of the dental implant mobile phone can be adjusted by rotating the connecting piece, the connecting barrel and the connecting arm. The connecting device can adjust the operation angle of the dental implant mobile phone by rotating the connecting piece, the connecting barrel and the connecting arm, and the flexible adjustment of the angle of the dental implant mobile phone is realized.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a connecting device and a dental implant robot. Background Technology

[0002] Dental implant surgery is a delicate procedure performed in a confined space, with a high risk of error. With the development of technology, using robots to replace manual procedures for dental implant surgery has become a research focus.

[0003] Currently, implant handpieces are typically attached to the end of a robotic arm to replace manual drilling and other operations during surgery. However, existing robotic arms cannot flexibly adjust the operating angle of the implant handpiece, increasing the difficulty of dental implant surgery.

[0004] Therefore, how to achieve flexible adjustment of the planting angle is a problem that urgently needs to be solved in this field at present. Summary of the Invention

[0005] This invention provides a connecting device that enables flexible adjustment of the implant handpiece angle, solving a current problem in this field. This invention also provides a dental implant robot, including the aforementioned connecting device, thus enabling flexible adjustment of the implant handpiece angle.

[0006] A first aspect of the present invention provides a connecting device, comprising a connector, a connecting cylinder, a connecting arm, and a flange cylinder connected in sequence;

[0007] The connector is used to connect to the planting mobile phone, and the flange is used to connect to the robotic arm;

[0008] The connector, the connecting cylinder, the connecting arm, and the flange cylinder are rotatably adjustable, and the rotation axes of the connector, the connecting cylinder, and the connecting arm are not on the same straight line.

[0009] The angle of the implantation mobile phone can be adjusted by rotating the connector, the connecting cylinder, and the connecting arm.

[0010] According to the connecting device provided by the present invention, the connecting sleeve is sleeved on the outer peripheral surface of the connecting member, and the connecting member is rotatable within the connecting sleeve;

[0011] The outer circumferential surface of the connecting cylinder is provided with a guide cylinder in the radial direction, and a locking element, a spring and a ball are sequentially provided inside the guide cylinder;

[0012] The inner wall of the guide cylinder is provided with an internal thread; the outer circumferential surface of the locking member is provided with an external thread that matches the internal thread;

[0013] The outer circumferential surface of the connector is provided with a plurality of first circular grooves along the circumferential direction. The first circular grooves match the sphere and can be rotated to make the sphere abut against the first circular groove.

[0014] The connecting device provided by the present invention further includes a clamping member disposed between the locking member and the spring;

[0015] The bottom of the clamping member is provided with a clamping rod, and the spring is fitted onto the clamping rod; the clamping rod can be made to abut against the ball by rotating the locking member.

[0016] According to the connecting device provided by the present invention, the clamping member is radially inserted with a limiting rod, and the outer peripheral surface of the guide cylinder is provided with a limiting groove, which is a strip-shaped structure along the axial direction;

[0017] The locking member can be rotated to move the limiting rod along the limiting groove. When the limiting rod moves to the lower limit of the limiting groove, the ball abuts against the first circular groove.

[0018] According to the connecting device provided by the present invention, the connecting member includes a fixed base and a rotating rod disposed inside the fixed base;

[0019] The connecting sleeve is fitted onto the outer circumferential surface of the fixed base;

[0020] One end of the rotating rod is used to connect to the operating head of the implantation mobile phone, and the other end of the rotating rod is used to connect to the driving component of the implantation mobile phone. The driving component is used to drive the rotating rod to rotate.

[0021] According to the connecting device provided by the present invention, the connecting arm is curved.

[0022] According to the connecting device provided by the present invention, the operating end of the connecting arm is provided with a sleeve, and the sleeve is sleeved on the outer peripheral surface of the guide cylinder;

[0023] The guide cylinder is capable of rotating within the sleeve cylinder;

[0024] The side wall of the sleeve is fitted with a locking bolt, which can be rotated to make the tail of the locking bolt abut against the outer circumferential surface of the guide cylinder.

[0025] According to the connecting device provided by the present invention, the outer peripheral surface of the flange cylinder is provided with a plurality of through holes;

[0026] The connecting end of the connecting arm is inserted into the flange cylinder, and the outer peripheral surface of the connecting end is provided with a plurality of second circular grooves that match the through hole along the circumferential direction;

[0027] The outer circumferential surface of the flange is fitted with a locking ring, and the inner wall of the locking ring is provided with multiple locking sections that are connected end to end along the circumferential direction. The radius of the locking section gradually decreases in a counterclockwise or clockwise direction.

[0028] The through hole is provided with a locking ball, and the locking ball can be made to abut against the second circular groove by rotating the locking ring.

[0029] The connecting device provided by the present invention further includes a visual marking device, which is disposed on the connecting cylinder and located above the guide cylinder.

[0030] A second aspect of the present invention provides a dental implant robot, comprising an implant handpiece, a robotic arm, and any of the above-described connecting devices;

[0031] The planting mobile phone is connected to the connector; the robotic arm is connected to the connecting cylinder.

[0032] The connecting device provided by this invention includes a connector, a connecting cylinder, a connecting arm, and a flange cylinder connected in sequence. The connector is used to connect to the implantation handpiece, and the flange cylinder is used to connect to the robotic arm. The connector, connecting cylinder, connecting arm, and flange cylinder are rotatably adjustable, and the rotation axes of the connector, connecting cylinder, and connecting arm are not on the same straight line. The angle of the implantation handpiece can be adjusted by rotating the connector, connecting cylinder, and connecting arm. Because the connector, connecting cylinder, connecting arm, and flange cylinder are all rotatably connected, and the rotation axes are not on the same straight line, the operating angle of the implantation handpiece can be adjusted by rotating the connector, connecting cylinder, and connecting arm, thereby achieving flexible adjustment of the implantation handpiece angle. Therefore, the connecting device provided by this invention can achieve flexible adjustment of the implantation handpiece angle, solving the current problems in this field. Attached Figure Description

[0033] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0034] Figure 1 This is a schematic diagram of the connecting device in a specific embodiment of the present invention;

[0035] Figure 2 This is a schematic diagram of the internal structure of the guide cylinder in a specific embodiment of the present invention;

[0036] Figure 3 This is a schematic diagram of the connecting cylinder and the guide cylinder in a specific embodiment of the present invention;

[0037] Figure 4 This is a schematic diagram of the visual marking device in a specific embodiment of the present invention;

[0038] Figure 5 This is a schematic diagram of the connecting arm in a specific embodiment of the present invention;

[0039] Figure 6 This is a schematic diagram of the flange cylinder in a specific embodiment of the present invention;

[0040] Figure 7 This is a schematic diagram of the locking ring in a specific embodiment of the present invention.

[0041] Figure label:

[0042] 1: Connector; 1a: Fixed base; 1b: Rotating rod; 2: Connecting cylinder; 3: Guide cylinder; 4: Locking component; 5: Spring; 6: Ball; 7: First circular groove; 8: Pressing component; 9: Pressing rod; 10: Limiting rod; 11: Limiting groove; 12: Connecting arm; 13: Sleeve sleeve; 14: Locking bolt; 15: Flange cylinder; 16: Through hole; 17: Second circular groove; 18: Locking ring; 19: Locking section; 20: Visual marking device; 21: Adjusting hole; 22: Slot; 23: Connecting rod; 24: Threaded hole; 25: Bending part; 26: Annular groove. Detailed Implementation

[0043] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0044] The following is combined Figures 1 to 7 This embodiment describes the connection device and the dental implant robot.

[0045] The connecting device provided in this specific embodiment may include a connector 1, a connecting cylinder 2, a connecting arm 12, and a flange cylinder 15 connected in sequence; the connector 1 is used to connect to the implantation handpiece, and the flange cylinder 15 is used to connect to the robotic arm; the connector 1, the connecting cylinder 2, the connecting arm 12, and the flange cylinder 15 are rotatably adjustable, and the rotation axes of the connector 1, the connecting cylinder 2, and the connecting arm 12 are not on the same straight line; the angle of the implantation handpiece can be adjusted by rotating the connector 1, the connecting cylinder 2, and the connecting arm 12.

[0046] The aforementioned connecting device, because the connecting member 1, connecting cylinder 2, connecting arm 12, and flange cylinder 15 are all rotatably connected, and the various rotating axes are not on the same straight line, allows for adjustment of the operating angle of the implantation handpiece by rotating the connecting member 1, connecting cylinder 2, and connecting arm 12, thereby achieving flexible adjustment of the implantation handpiece angle. Therefore, the connecting device provided by this invention enables flexible adjustment of the implantation handpiece angle, solving a current problem in this field.

[0047] It should be noted that when the angle of the implantation mobile phone needs to be adjusted, it can be achieved by rotating the corresponding parts; when the implantation mobile phone is working normally, the connection between connector 1, connecting cylinder 2, connecting arm 12 and flange cylinder 15 is fixed.

[0048] The connecting device provided in this specific embodiment has a plurality of first circular grooves 7 on the outer peripheral surface of the connector 1 along the circumferential direction; the connecting cylinder 2 is sleeved on the outer peripheral surface of the connector 1, and the connector 1 can rotate inside the connecting cylinder 2; the outer peripheral surface of the connecting cylinder 2 is provided with a guide cylinder 3 along the radial direction, and the guide cylinder 3 is provided with a locking member 4, a spring 5 and a ball 6 in sequence; the inner wall of the guide cylinder 3 is provided with an internal thread; the outer peripheral surface of the locking member 4 is provided with an external thread that matches the internal thread, the first circular grooves 7 match the ball 6, and the ball 6 can be abutted against the first circular grooves 7 by rotating the locking member 4.

[0049] When the above-mentioned connecting device is in use, the connector 1 is connected to the implant handpiece, and the connecting cylinder 2 is connected to the robotic arm. When the angle of the implant handpiece needs to be adjusted, the locking member 4 is rotated to relax the spring 5. At this time, the connector 1 is rotated, and the ball 6 moves upward to compress the spring 5 and disengage from the first circular groove 7 until the connector 1 is rotated to the required angle. Then the ball 6 falls back into the first circular groove 7 corresponding to that angle. Finally, the locking member 4 is rotated to compress the spring 5 and make the ball 6 abut against the first circular groove 7, thereby locking the connector 1 and the connecting cylinder 2. This connecting device can flexibly adjust the angle of the implant handpiece 360° as needed, reducing the operational difficulty of robotic dental implant surgery.

[0050] It should be noted that the first circular groove 7 refers to a groove with a circular opening.

[0051] The connecting device provided in this specific embodiment may further include a clamping member 8, which may be disposed between the locking member 4 and the spring 5; the bottom of the clamping member 8 may be provided with a clamping rod 9, and the spring 5 may be fitted onto the outer circumferential surface of the clamping rod 9; the clamping rod 9 may be abutted against the ball 6 by rotating the locking member 4.

[0052] In actual design, one end of the spring 5 can be connected to the clamping member 8, and the other end can be connected to the ball 6. This makes the movement of the ball 6 more stable when the connecting member 1 rotates. The clamping rod 9 can directly abut against the ball 6, which can improve the stability of the connection between the connecting member 1 and the connecting cylinder 2, and can also protect the spring 5.

[0053] The connecting device provided in this specific embodiment has a spherical structure at the top of the clamping member 8 and a spherical groove at the bottom of the locking member 4 that matches the spherical structure; thereby, it can better realize the flexibility of the rotation of the locking member 4 and reduce the wear between parts.

[0054] The connecting device provided in this specific embodiment allows the clamping member 8 to be radially inserted with a limiting rod 10, and the outer circumferential surface of the guide cylinder 3 to be provided with a limiting groove 11, which can be a strip-shaped structure along the axial direction; and the limiting rod 10 can be moved along the limiting groove 11 by rotating the locking member 4. When the limiting rod 10 moves to the lower limit of the limiting groove 11, the ball 6 abuts against the first circular groove 7.

[0055] When the locking member 4 is rotated, the limiting rod 10 moves along the limiting groove 11 as the spring 5 is compressed and extended, thereby limiting the distance the locking member 4 moves. The two ends of the limiting groove 11 can be the upper limit and the lower limit, respectively. When the limiting rod 10 moves to the upper limit, the connecting member 1 can be rotated freely to adjust the angle of the implantation device, while preventing the locking member 4 from rotating excessively and causing it to detach from the guide cylinder 3, thus affecting the connection relationship between the various structures of the connecting device. When the limiting rod 10 moves to the lower limit, the ball 6 is pressed against the first circular groove 7 of the connecting member 1 under the action of the spring 5 and the pressing rod 9, thus achieving the locking and fixing between the connecting member 1 and the connecting cylinder 2. The setting of the limiting rod 10 and the limiting groove 11 can prevent the locking member 4 from rotating excessively, thereby preventing damage to the ball 6 and the first circular groove 7, thus protecting the connecting device.

[0056] The connecting device provided in this specific embodiment includes a connecting member 1 that may include a fixed base 1a and a rotating rod 1b disposed inside the fixed base 1a; a connecting cylinder 2 may be sleeved on the outer circumferential surface of the fixed base 1a; one end of the rotating rod 1b may be used to connect to the operating head of the implantation handpiece, and the other end of the rotating rod 1b may be used to connect to the driving component of the implantation handpiece, the driving component being used to drive the rotating rod 1b to rotate.

[0057] The above-mentioned setup allows for the replacement of the corresponding components when the operating head or drive of the implantation device is damaged, thereby improving the lifespan of the implantation device and the interchangeability of its components.

[0058] The driving component used to power the planting mobile phone can be a motor, cylinder, or hydraulic cylinder, or other components that can perform the same function.

[0059] The connecting device provided in this specific embodiment has a bent connecting arm 12. Please refer to [link / reference]. Figure 5 That is, the axial direction of the connecting arm 12 and the flange cylinder 15 has a certain angle, which can further improve the flexibility of the planting mobile phone when it is used, and make the shape of the planting mobile phone adapt to the operating angle.

[0060] Furthermore, the operating end of the connecting arm 12 may be provided with a sleeve 13, which can be sleeved on the outer circumferential surface of the guide cylinder 3; and the guide cylinder 3 can rotate inside the sleeve 13; a locking bolt 14 may be inserted into the side wall of the sleeve 13, so that the tail of the locking bolt 14 can be abutted against the outer circumferential surface of the guide cylinder 3 by rotating the locking bolt 14.

[0061] The design of the aforementioned sleeve 13 can further improve the flexibility of the planting handpiece angle adjustment, and allows the guide cylinder 3 to rotate within the sleeve 13 to achieve further adjustment of the planting handpiece operating angle.

[0062] Furthermore, a bushing can be provided between the sleeve 13 and the guide cylinder 3. When the sleeve 13 and the guide cylinder 3 are locked together, the tail of the locking bolt 14 abuts against the outer circumferential surface of the bushing, thereby protecting the guide cylinder 3.

[0063] The connecting device provided in this specific embodiment may also include a limiting nut. The limiting nut can be sleeved on the top of the guide cylinder 3 and located above the sleeve cylinder 13. The setting of the limiting nut can prevent the connecting arm 12 from separating from the guide cylinder 3, and better ensure the stability of the connection between the parts.

[0064] The connecting device provided in this specific embodiment has a flange cylinder 15 with multiple through holes 16 on its outer circumferential surface; the connecting end of the connecting arm 12 can be inserted into the flange cylinder 15, and the outer circumferential surface of the connecting end can have multiple second circular grooves 17 that match the through holes 16; a locking ring 18 is fitted on the outer circumferential surface of the flange cylinder 15, and the inner wall of the locking ring 18 has multiple locking sections 19 connected end to end on its inner circumferential surface. Please refer to [link to relevant documentation]. Figure 7 The radius of the locking section 19 gradually decreases in a counterclockwise or clockwise direction; a locking ball may be provided in the through hole 16, and the corresponding locking ball can be made to abut against the second circular groove 17 by rotating the locking ring 18.

[0065] It should be noted that the flange cylinder 15 is used to connect with the flange at the end of the robotic arm, thereby fixing the robotic arm to the connecting device.

[0066] Because the inner wall of the locking ring 18 is provided with a locking section 19, the radius of which gradually decreases counterclockwise or clockwise, the locking ring 18 can be rotated counterclockwise or clockwise to gradually apply pressure to the second circular groove 17 until the locking ball presses against the second circular groove 17, thereby achieving the locking and fixing between the connecting arm 12 and the flange cylinder 15. Furthermore, the connecting end of the connecting arm 12 can rotate within the flange cylinder 15. This feature allows for further adjustment of the angle of the connecting arm 12 according to the actual needs of the implantation device, thereby further increasing the flexibility of the implantation device angle adjustment.

[0067] Furthermore, a bushing can be installed between the locking ring 18 and the flange 15 to reduce rotational friction and protect the parts when the locking ring 18 rotates. Meanwhile, to prevent the locking ring 18 from falling off, a retaining ring can be installed on the flange 15 to restrict its axial movement.

[0068] The connecting device provided in this specific embodiment may further include a visual marking device 20. The visual marking device 20 can be mounted on the connecting cylinder 2 via a connecting rod 23 and is located above the guide cylinder 3. The connecting rod 23 can be fixed to the connecting cylinder 2 via a threaded hole 24. The setting of the visual marking device 20 can facilitate visual navigation surgery. Please refer to [link to relevant documentation]. Figure 3 The visual marking device 20 may have bends 25 on both sides to better assist visual navigation.

[0069] The connecting device provided in this specific embodiment may have an adjustment hole 21 on the visual marking device 20, through which the locking member 4 can be rotated; that is, when it is necessary to rotate the locking member 4, the tool can be passed through the adjustment hole 21 to achieve the rotation adjustment of the locking member 4.

[0070] Furthermore, the connecting rod 23 can be curved to better suit the actual use of the visual marking device 20. See also... Figure 1 .

[0071] The top of the aforementioned locking element 4 may have a cross, slotted, or hexagonal groove, which facilitates the rotation and adjustment of the locking element 4 using appropriate tools. In actual design, the locking element 4 can be a screw, or other components that can perform the same function.

[0072] The visual marker device 20 is a structure that can be manufactured through processes such as 3D printing. It has multiple positioning planes, and reflective sheets or reflective balls can be set on the positioning planes as markers for tracking by the visual navigation sensor. In navigation surgery, the position of the surgical instruments at the end of the robot can be calculated based on the spatial position and attitude of the visual markers.

[0073] The visual marking device 20 may have a slot 22 on its inner side, through which it can be connected to the connecting rod 23. Furthermore, the slot 22 may be a flexible design and consist of two parts, allowing the visual marking device to be assembled or disassembled by pressing the two parts of the slot 22. The visual marking device 20 may also have a raised annular groove 26 on its inner side that matches and connects to a corresponding part of the connecting rod 23. (See [link to relevant documentation]). Figure 4 .

[0074] This specific embodiment also provides a dental implant robot, which may include an implant handpiece, a robotic arm, and the aforementioned connecting device. The implant handpiece can be connected to the connector 1; the robotic arm can be connected to the connecting cylinder 2. Therefore, this dental implant robot is also within the scope of protection of this invention.

[0075] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A connecting device, characterized in that, It includes a connector (1), a connecting cylinder (2), a connecting arm (12), and a flange cylinder (15) connected in sequence. The connector (1) is used to connect with the planting mobile phone, and the flange cylinder (15) is used to connect with the robotic arm; The connector (1), the connecting cylinder (2), the connecting arm (12) and the flange cylinder (15) are rotatably adjustable, and the rotation axes of the connector (1), the connecting cylinder (2) and the connecting arm (12) are not on the same straight line; The angle of the planting mobile phone can be adjusted by rotating the connector (1), the connecting cylinder (2) and the connecting arm (12); The connecting cylinder (2) is sleeved on the outer circumferential surface of the connecting member (1), and the connecting member (1) can rotate inside the connecting cylinder (2); The outer circumferential surface of the connecting cylinder (2) is provided with a guide cylinder (3) in the radial direction, and the guide cylinder (3) is provided with a locking element (4), a spring (5) and a ball (6) in sequence. The inner wall of the guide cylinder (3) is provided with an internal thread; the outer circumferential surface of the locking member (4) is provided with an external thread that matches the internal thread; The outer peripheral surface of the connector (1) is provided with a plurality of first circular grooves (7) along the circumferential direction. The first circular grooves (7) match the sphere (6) and can be rotated by rotating the locking member (4) to make the sphere (6) abut against the first circular grooves (7). The operating end of the connecting arm (12) is provided with a sleeve (13), which is sleeved on the outer circumferential surface of the guide cylinder (3); The connecting arm (12) is curved; The connecting device further includes a clamping member (8), which is disposed between the locking member (4) and the spring (5); The bottom of the clamping member (8) is provided with a clamping rod (9), and the spring (5) is fitted onto the clamping rod (9); the clamping rod (9) can be made to abut against the ball (6) by rotating the locking member (4); The flange cylinder (15) has multiple through holes (16) on its outer peripheral surface. The connecting end of the connecting arm (12) is inserted into the flange cylinder (15), and the outer peripheral surface of the connecting end is provided with a plurality of second circular grooves (17) that match the through hole (16) along the circumferential direction. The outer circumferential surface of the flange cylinder (15) is fitted with a locking ring (18), and the inner wall of the locking ring (18) is provided with multiple locking sections (19) connected end to end along the circumferential direction. The radius of the locking section (19) gradually decreases along the counterclockwise or clockwise direction. The through hole (16) is provided with a locking ball, and the locking ball can be made to abut against the second circular groove (17) by rotating the locking ring (18).

2. The connecting device according to claim 1, characterized in that, The clamping member (8) is fitted with a limiting rod (10) in the radial direction, and the outer peripheral surface of the guide cylinder (3) is provided with a limiting groove (11), which is a strip structure along the axial direction. The limiting rod (10) can be moved along the limiting groove (11) by rotating the locking member (4). When the limiting rod (10) moves to the lower limit of the limiting groove (11), the ball (6) abuts against the first circular groove (7).

3. The connecting device according to claim 1, characterized in that, The connector (1) includes a fixed base (1a) and a rotating rod (1b) disposed inside the fixed base (1a). The connecting cylinder (2) is sleeved on the outer circumferential surface of the fixed base (1a); One end of the rotating rod (1b) is used to connect to the operating head of the implantation mobile phone, and the other end of the rotating rod (1b) is used to connect to the driving component of the implantation mobile phone. The driving component is used to drive the rotating rod (1b) to rotate.

4. The connecting device according to claim 1, characterized in that, The guide tube (3) is able to rotate within the sleeve tube (13); The side wall of the sleeve (13) is fitted with a locking bolt (14), which can be rotated to make the tail of the locking bolt (14) abut against the outer circumferential surface of the guide cylinder (3).

5. The connecting device according to claim 1, characterized in that, It also includes a visual marking device (20), which is disposed on the connecting cylinder (2) and located above the guide cylinder (3).

6. A dental implant robot, characterized in that, Includes a planting mobile phone, a robotic arm, and a connecting device as described in any one of claims 1-5; The planting mobile phone is connected to the connector (1); the robotic arm is connected to the connecting cylinder (2).

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