End adjustment system of robotic arm and dental implant robot system

Abstract

The present invention provides a terminal adjustment system for a robotic arm and a dental implant robot system, wherein the terminal adjustment system for the robotic arm includes: a base, a clamping mechanism, an alignment mechanism, a navigation device, and a control device; the clamping mechanism is arranged on the base along a first axis and is used to connect an actuator; the alignment mechanism is adapted to fit with the head of the actuator so that the second axis of the head of the actuator is coplanar with the first axis and to obtain relative distance information between the head of the actuator and the first axis; the navigation device is used to obtain position information of the base; and the control device obtains position information of the head of the actuator based on the position information of the base and the relative distance information between the head of the actuator and the first axis. With such a configuration, based on the arrangement of the alignment mechanism, the relative distance information between the head and the first axis can be obtained, and combined with the position information of the base, the position information of the head of the actuator can be obtained.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to an end adjustment system of a robotic arm and a dental implant robot system. Background Art

[0002] In the process of performing implant surgery using a dental implant robot, implant instruments (such as implant mobile phones) are integrated into the end of the robotic arm through a connecting device. Since implant instruments generally have a certain elbow angle, the posture of the implant instrument must be flipped when switching between upper and lower jaw surgery, resulting in the need for re-registration. In addition, if a singular point appears in the operating posture of the robotic arm, it will cause the implant instrument to readjust its posture, so it also needs to be re-registered. In addition, in some application scenarios, manual loading and unloading and adjustment of implant instruments will also require re-registration, resulting in low efficiency and poor operating experience. Summary of the Invention

[0003] The purpose of the present invention is to provide an end adjustment system of a robotic arm and a dental implant robot system to solve the problems of low efficiency and poor operating experience of existing dental implant robots.

[0004] To solve the above technical problems, the first aspect of the present invention provides an end adjustment system for a robotic arm, which includes: a base, a clamping mechanism, an alignment mechanism, a navigation device, and a control device;

[0005] The clamping mechanism is arranged on the base along the first axis, and the clamping mechanism is used to connect the execution instrument;

[0006] The alignment mechanism is used to adapt to the head of the execution instrument so that the second axis of the head of the execution instrument is coplanar with the first axis, and obtain the relative distance information between the head of the execution instrument and the first axis;

[0007] The navigation device is used to obtain the position information of the base body;

[0008] The control device obtains the posture information of the head of the actuator based on the posture information of the base and the relative distance information between the head of the actuator and the first axis.

[0009] Optionally, the end adjustment system of the robotic arm further includes a posture adjustment mechanism;

[0010] The clamping mechanism is arranged on the base through the posture adjustment mechanism, and the posture adjustment mechanism is used to drive the clamping mechanism to rotate around the first axis; and the control device is used to obtain the angle information of the clamping mechanism rotating around the first axis based on the information fed back by the posture adjustment mechanism;

[0011] The control device also obtains the position information of the head of the execution instrument based on the angle information of the clamping mechanism rotating around the first axis.

[0012] Optionally, the control device is further configured to send a drive instruction to the posture adjustment mechanism based on the obtained posture information of the head of the execution instrument, so as to drive the clamping mechanism to rotate around the first axis to form a closed-loop control.

[0013] Optionally, the posture adjustment mechanism includes a drive device, a transmission assembly and an encoder; the drive device is coupled to the clamping mechanism through the transmission assembly, and the encoder is arranged on the drive device for feedback of the current angle of the drive device; the control device is used to obtain the angle information of the clamping mechanism rotating around the first axis based on the current angle of the drive device and the transmission ratio of the transmission assembly.

[0014] Optionally, the alignment mechanism includes a positioning assembly and an adjustment base; the adjustment base is connected to the clamping mechanism; the positioning assembly is movably arranged along the extension direction of the adjustment base, and the positioning assembly is used to move along the extension direction of the adjustment base to a position adapted to the head of the execution instrument, so that the second axis of the head of the execution instrument is coplanar with the first axis, and the relative distance information between the head of the execution instrument and the first axis is obtained.

[0015] Optionally, the alignment mechanism further includes an adjusting pin; the adjusting base is connected to the clamping mechanism via the adjusting pin, and the distance between the adjusting base and the clamping mechanism along the axial direction of the adjusting pin is adjustable.

[0016] Optionally, the alignment mechanism further includes a first locking mechanism; the adjustment base is rotatable around the adjustment pin relative to the clamping mechanism; the first locking mechanism is used to lock the position of the adjustment base around the adjustment pin relative to the clamping mechanism.

[0017] Optionally, the positioning assembly includes a positioning pin and a stopping block; the positioning pin is used to be inserted into the head of the execution instrument; and the stopping block is used to support the execution instrument.

[0018] Optionally, the adjustment base has a scale.

[0019] Optionally, the clamping mechanism includes a clamping base and a plug-in assembly; the clamping base is annular and is used to be arranged on the base along the first axis; the plug-in assembly is used to clamp the execution instrument and is used to be detachably connected to the clamping base along the axial direction of the clamping base.

[0020] Optionally, the clamping mechanism further includes a second locking mechanism; the second locking mechanism is used to lock the position of the plug assembly relative to the clamping base in the axial direction.

[0021] Optionally, the navigation device includes a positioning unit and a trackable unit paired with the positioning unit; the trackable unit is arranged on the base; the positioning unit is used to track and obtain the posture information of the trackable unit, and obtain the posture information of the base based on the relative position relationship between the trackable unit and the base.

[0022] In order to solve the above technical problems, the second aspect of the present invention provides a dental implant robot system, which includes: an execution instrument, a robotic arm and the end adjustment system of the robotic arm as described above; the base is arranged on the robotic arm, and the robotic arm performs operations based on the posture information of the head of the execution instrument obtained by the end adjustment system of the robotic arm.

[0023] To sum up, in the end adjustment system of the robotic arm and the dental implant robot system provided by the present invention, the end adjustment system of the robotic arm includes: a base, a clamping mechanism, an alignment mechanism, a navigation device and a control device; the clamping mechanism is arranged on the base along the first axis, and the clamping mechanism is used to connect the execution instrument; the alignment mechanism is used to adapt to the head of the execution instrument so that the second axis of the head of the execution instrument is coplanar with the first axis, and the relative distance information between the head of the execution instrument and the first axis is obtained; the navigation device is used to obtain the posture information of the base; the control device obtains the posture information of the head of the execution instrument based on the posture information of the base and the relative distance information between the head of the execution instrument and the first axis.

[0024] With this configuration, based on the alignment mechanism, the relative distance between the head of the actuator and the first axis can be obtained. Combined with the position information of the base, the position information of the head of the actuator can be obtained, thereby meeting the needs of rapid registration of the actuator of the dental implant robot. After the actuator is replaced, automatic registration can be completed quickly, thereby achieving automatic adjustment of the posture. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Those skilled in the art will appreciate that the accompanying drawings are provided for a better understanding of the present invention and do not constitute any limitation on the scope of the present invention.

[0026] Figure 1 is a schematic diagram of an end adjustment system of a robotic arm according to an embodiment of the present invention;

[0027] Figure 2 yes Figure 1A schematic axial cross-sectional view of the end adjustment system of the robotic arm is shown;

[0028] Figure 3 2 is a schematic diagram of an alignment mechanism according to an embodiment of the present invention;

[0029] Figure 4 is a schematic diagram of an alignment mechanism in use according to an embodiment of the present invention;

[0030] Figure 5 is a schematic diagram of a positioning assembly according to an embodiment of the present invention;

[0031] Figure 6 is a schematic diagram of an alignment mechanism in an embodiment of the present invention in a retracted state;

[0032] Figure 7a to Figure 7c Schematic diagram of different operating postures of the clamping mechanism and the actuator according to an embodiment of the present invention;

[0033] Figure 8 is a schematic axial cross-sectional view of a posture adjustment mechanism according to an embodiment of the present invention;

[0034] Figure 9 is a schematic diagram of a clamping mechanism according to an embodiment of the present invention;

[0035] Figure 10 yes Figure 9 A schematic axial cross-sectional view of the clamping mechanism shown;

[0036] Figure 11 is a schematic diagram of a plug-in assembly and an actuator according to an embodiment of the present invention;

[0037] Figure 12 is a schematic diagram of a clamping assembly according to an embodiment of the present invention;

[0038] Figure 13 yes Figure 12 A schematic sectional view of the axial direction of the clamping assembly;

[0039] Figure 14 is an axial front view of a clamping base according to an embodiment of the present invention;

[0040] Figure 15 is an axial rear view of a housing according to an embodiment of the present invention;

[0041] Figures 16a to 16c is a schematic diagram of a second locking mechanism according to an embodiment of the present invention;

[0042] Figure 17 is an axial front view of a housing according to an embodiment of the present invention;

[0043] Figures 18a to 18c is a schematic diagram of a trackable element according to an embodiment of the present invention;

[0044] Figure 19 and Figure 20 is a schematic diagram of a dental implant robot system according to an embodiment of the present invention;

[0045] Figure 21 The figure is a flow chart of the steps for using the end adjustment system of the robotic arm according to an embodiment of the present invention. DETAILED DESCRIPTION

[0046] To make the objects, advantages, and features of the present invention more clearly apparent, the present invention is further described below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the drawings are all in a very simplified form and are not drawn to scale. They are only used to conveniently and clearly assist in illustrating the purposes of the embodiments of the present invention. In addition, the structures shown in the drawings are often part of the actual structure. In particular, different drawings may need to illustrate different focuses and sometimes use different scales.

[0047] As used in the present invention, the singular forms "one", "an" and "the" include plural objects, the term "or" is generally used in a sense including "and / or", the term "several" is generally used in a sense including "at least one", and the term "at least two" is generally used in a sense including "two or more". In addition, the terms "first", "second" and "third" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first", "second" and "third" may explicitly or implicitly include one or at least two of the features, and "one end" and "the other end" as well as "proximal end" and "distal end" generally refer to two corresponding parts, which include not only the endpoints. The terms "proximal end" and "distal end" are defined herein with respect to a dental surgical robot system having one end for intervening in an affected part of the human body (oral cavity) and a manipulation end extending out of the body. The term "proximal" refers to the position of a component closer to the control end of the dental surgical robot system that extends outside the body, while the term "distal" refers to the end of the component closer to the dental surgical robot system that intervenes in the human body and, therefore, farther from the control end of the dental surgical robot system. Alternatively, in manual or hand-operated applications, the terms "proximal" and "distal" are defined herein relative to an operator, such as a surgeon or clinician. The term "proximal" refers to the position of a component closer to the operator, while the term "distal" refers to the position of a component closer to the dental surgical robot system and, therefore, farther from the operator. Furthermore, as used herein, the terms "mounted," "connected," "connected," and "disposed" of one component to another should be understood broadly, generally indicating a connection, coupling, mating, or transmission relationship between the two components. This connection, coupling, mating, or transmission relationship can be direct or indirect through an intermediate component, and should not be construed to indicate or imply a spatial positional relationship between the two components, i.e., one component can be positioned inside, outside, above, below, or to the side of another component, unless the context clearly indicates otherwise. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. In addition, directional terms such as above, below, up, down, upward, downward, left, right, etc. are used with respect to the exemplary embodiments as they are shown in the figures, with the upward or upper direction being toward the top of the corresponding figure and the downward or lower direction being toward the bottom of the corresponding figure.

[0048] The purpose of the present invention is to provide an end adjustment system of a robotic arm and a dental implant robot system to solve the problems of low efficiency and poor operating experience of existing dental implant robots.

[0049] The following description is given with reference to the accompanying drawings.

[0050] Please refer to Figure 1 and Figure 2 , and combined with Figure 19 and Figure 20 An embodiment of the present invention provides an end adjustment system of a robotic arm, which includes: a base 1, a clamping mechanism 2, an alignment mechanism 3, a navigation device 4 and a control device (not shown); the clamping mechanism 2 is arranged on the base 1 along the first axis A1, and the clamping mechanism 2 is used to connect the execution device 5; the alignment mechanism 3 is used to adapt to the head 51 of the execution device 5, so that the second axis A2 of the head 51 of the execution device 5 is coplanar with the first axis A1, and the relative distance information between the head 51 of the execution device 5 and the first axis A1 is obtained; the navigation device 4 is used to obtain the posture information of the base 1; the control device obtains the posture information of the head 51 of the execution device 5 based on the posture information of the base 1 and the relative distance information between the head 51 of the execution device 5 and the first axis A1.

[0051] In one exemplary embodiment, a dental implant robot system is used as an example of an application object of the end adjustment system of the robotic arm. In the dental implant robot system, the execution instrument 5 is an implant instrument, such as an implant mobile phone, which has a head 51 at its distal end. Optionally, the head 51 has an inner hole along the second axis A2, which can be used to accommodate a drill bit or the like. In particular, generally, for ease of operation, the distal end of the implant mobile phone has a certain elbow angle relative to the proximal end, which results in the second axis A2 being not perpendicular to the axis of the proximal end of the implant mobile phone. Since the models and specifications of the implant mobile phone are diverse, and the installation position of the implant mobile phone in the clamping mechanism 2 is not fixed, it is difficult to position the inner hole of the head 51.

[0052] Furthermore, base 1 is the primary load-bearing component of the end adjustment system of the robotic arm, with its proximal end mounted on the robotic arm (not shown) of the dental implant robotic system. In one exemplary embodiment, the end of the robotic arm has an adapter flange 11, and base 1 is positioned and connected to the adapter flange 11 via mounting pins 12.

[0053] Optional, please refer to Figure 1 and Figure 20, the navigation device 4 includes a positioning unit 41 and a trackable unit 42 paired with the positioning unit 41; the trackable unit 41 is arranged on the base 1; the positioning unit 41 is used to track and obtain the posture information of the trackable unit 42, and obtain the posture information of the base 1 based on the relative position relationship between the trackable unit 42 and the base 1. Preferably, the trackable unit 42 is fixedly mounted on the base 1, and the two have a fixed relative position relationship, so the posture of the trackable unit 42 is obtained, and the posture of the base 1 is also obtained. In an exemplary embodiment, the positioning unit 41 is an optical locator and the trackable unit 42 is an optical target. Of course, in some other embodiments, the navigation device 4 is not limited to an optical positioning device, it can also be other positioning devices, such as a magnetic positioning device. Those skilled in the art can make a choice based on the existing technology, and the present invention is not limited to this.

[0054] The control device uses the navigation device 4 to track and obtain the position information of the base 1. The clamping mechanism 2 is then positioned on the base 1 along the first axis A1. Furthermore, the implant handpiece is connected and mounted on the clamping mechanism 2. The alignment mechanism 3 aligns the second axis A2 of the handpiece 51 with the first axis A1. Based on this, the control device calculates the position information of the implant handpiece head 51 by obtaining the relative distance between the handpiece 51 and the first axis A1. This satisfies the dental implant robot's requirement for rapid registration of the implant handpiece, enabling rapid and automatic registration after the implant handpiece is replaced, thus achieving automatic posture adjustment.

[0055] It should be noted that the end adjustment system of the robotic arm provided in this embodiment is not limited to application in dental implant robot systems, but can also be applied to other surgical robot systems, such as orthopedic robot systems, etc. Those skilled in the art can replace the implant mobile phone with a corresponding execution instrument, such as a bone drill, etc. based on the existing technology, and the present invention is not limited to this.

[0056] The following combination Figure 3 and Figure 4, the alignment mechanism 3 is described. In some embodiments, the alignment mechanism 3 is arranged on the clamping mechanism 2. Optionally, the alignment mechanism 3 includes a positioning component 31 and an adjustment base 32; the adjustment base 32 is connected to the clamping mechanism 2; the positioning component 31 is movably arranged along the extension direction of the adjustment base 32, and the positioning component 31 is used to move along the extension direction of the adjustment base 32 to a position adapted to the head 51 of the execution device 5, so that the second axis A2 of the head 51 is coplanar with the first axis A1, and the relative distance information between the head 51 of the execution device 5 and the first axis A1 is obtained. In an optional exemplary embodiment, the adjustment base 32 is an elongated plate-like member, which has a slide groove 321 along the extension direction, and the positioning component 31 is movably arranged in the slide groove 321. Preferably, the adjustment base 32 has a scale, and the scale is arranged along the extension direction of the slide groove 321. Since the adjustment base 32 is connected to the clamping mechanism 2, the positioning component 31

[0057] According to the different lengths of the execution device 5, when it moves to a certain position along the slide groove 321, it can adapt to the head 51 of the execution device 5. At this time, the relative position information of the head 51 and the clamping mechanism 2 can be determined according to the indication of the scale.

[0058] Please refer to Figure 5 Optionally, the positioning assembly 31 includes a positioning pin 311 and a stop block 312; the positioning pin 311 is used to insert into the head 51 of the actuator 5; the stop block 312 is used to support the actuator 5. The head 51 has an inner hole, and the positioning pin 311 can be inserted into the inner hole. The stop block 312 is used to provide auxiliary support for the actuator 5. Optionally, the positioning assembly 31 includes two stop blocks 312, both of which are perpendicular to the adjustment base 32 and are symmetrically arranged about the central axis of the adjustment base 32. Preferably, the positioning pin 311 is perpendicular to the adjustment base 32. After the positioning pin 311 is inserted into the inner hole of the head 51, combined with the abutment of the two stop blocks 312 and the actuator 5, it can be ensured that the second axis A2 of the head 51 is perpendicular to the adjustment base 32. Furthermore, the alignment mechanism 3 also includes an adjustment pin 33; the adjustment base 32 is connected to the clamping mechanism 2 via the adjustment pin 33. Accordingly, the clamping mechanism 2 includes an adjustment pin hole for the adjustment pin 33. The adjustment base 32 is connected to the clamping mechanism 2 by inserting the adjustment pin 33 into the adjustment pin hole. Preferably, the extension direction of the adjustment pin 33 forms a certain angle with the extension direction of the adjustment base 32 to adapt to the curvature of the distal portion of the actuator 5. More preferably, the extension direction of the adjustment pin 33 is parallel to the first axis A1. This ensures that the first axis A1 and the second axis A2 are coplanar, and the plane containing the first axis A1 and the second axis A2 is perpendicular to the adjustment base 32.

[0059] Furthermore, the alignment mechanism 3 includes a third locking mechanism 313, which is used to lock the position of the positioning assembly 31 relative to the adjustment base 32. In an alternative embodiment, the third locking mechanism 313 is provided on the positioning assembly 31 and can be a combination of a locking nut and a screw. By screwing the locking nut, the positioning assembly 31 can be locked to the adjustment base 32. It should be noted that the present invention does not impose any particular limitation on the structure of the third locking mechanism 313.

[0060] From this, it can be understood that since the adjustment base 32 is connected to the clamping mechanism 2 through the adjustment pin 33 on the one hand, and is inserted into the inner hole of the machine head 51 through the positioning pin 311 on the other hand, the relative distance information of the machine head 51 relative to the second axis A2 can be determined by the scale. The clamping mechanism 2 is a component with a determined shape, and the distance between the first axis A1 and the second axis A2 is known, the relative distance information between the machine head 51 and the first axis A1 (that is, the geometric center distance between the machine head 51 and the clamping mechanism 2) can be obtained.

[0061] Preferably, the spacing of the adjustment base 32 relative to the clamping mechanism 2 along the axial direction of the adjustment pin 33 is adjustable. As will be appreciated, since the dimensions of the connection between the actuator 5 and the clamping mechanism 2 vary, in order to accurately determine the relative position of the handpiece 51 relative to the clamping mechanism 2, it is also necessary to adjust the spacing of the adjustment base 32 relative to the clamping mechanism 2 along the axial direction of the adjustment pin 33. This step can be accomplished by, for example, rotating the adjustment pin 33 to adjust the depth of the adjustment pin hole into which the adjustment pin 33 is inserted, thereby adjusting the spacing between the adjustment base 32 and the clamping mechanism 2.

[0062] For further information, please refer to Figure 4 and Figure 6 , the adjustment base 32 is rotatable relative to the clamping mechanism 2 around the adjustment pin 33. With this configuration, the alignment mechanism 3 can be adjusted by rotating the base 32 in the storage state (such as Figure 6 shown) and usage status (as shown) Figure 4 As shown in the figure). In the storage state, the adjustment base 32 can be rotated to the back of the execution instrument 5 (that is, the proximal side of the execution instrument 5, that is, the side away from the second axis A2), which is convenient for the installation of the execution instrument 5 and the performance of surgical operations. After the execution instrument 5 is installed in the clamping mechanism 2, the adjustment base 32 can be rotated to the distal side of the execution instrument 5, thereby realizing the aforementioned functions such as positioning and ranging of the execution instrument 5. Optionally, after completing the functions such as positioning and ranging of the execution instrument 5, the adjustment base 32 can continue to rotate to the back of the execution instrument 5, and the alignment mechanism 3 returns to the storage state.

[0063] Furthermore, the alignment mechanism 3 also includes a first locking mechanism 34; the first locking mechanism 34 is used to lock the position of the adjustment base 32 around the adjustment pin 33 relative to the clamping mechanism 2. In one exemplary embodiment, the first locking mechanism 34 includes a locking screw, which can lock the adjustment base 32 on the clamping mechanism 2 by twisting. In particular, when the alignment mechanism 3 is in the storage state, the first locking mechanism 34 is used to cooperate with the clamping mechanism 2 to lock the adjustment base 32. In practice, functions such as positioning and ranging of the execution instrument 5 may only take a short time to complete. Most of the time, the alignment mechanism 3 can be in the storage state, and its adjustment base 32 can be locked on the clamping mechanism 2 to avoid affecting the operation.

[0064] It can be understood that in other embodiments, the alignment mechanism 3 can also be detachably connected to the clamping mechanism 2, that is, when it is necessary to position and measure the distance of the execution device 5, the alignment mechanism 3 is installed on the clamping mechanism 2, and after the positioning and distance measurement are completed, the alignment mechanism 3 can be removed.

[0065] Please refer to Figures 7a to 7c In practice, the location of missing teeth is random, and surgical procedures may be required for left posterior molars, incisors, and right posterior molars. Therefore, the operating posture of the actuator 5 should be adaptable. Therefore, the clamping mechanism 2 is rotatable about the first axis A1. Furthermore, the actuator 5 can rotate leftward and rightward on the base 1 about the first axis A1, thereby meeting the operating posture requirements for different missing tooth locations. Figures 7a to 7c That is, it shows different operating postures of the execution instrument 5. The execution instrument 5 rotates to the left to facilitate entering the oral cavity from the right dentition of the patient to operate on the left side of the surgical area (such as Figure 7a ); the execution instrument 5 is in zero position, which facilitates the implantation operation on the front teeth area facing the oral cavity (as shown); Figure 7b The execution instrument 5 is rotated to the right to facilitate entering the oral cavity from the patient's left dentition to operate on the right side of the surgical area (as shown); Figure 7c As shown). Of course, it is understandable that in some application scenarios (such as the application scenario of orthopedic robots), it is not necessary to rotate the instrument 5. In this case, the clamping mechanism 2 can be fixed on the base 1 without rotation.

[0066] Since once the clamping mechanism 2 rotates around the first axis A1, the relative distance information of the head 51 relative to the first axis A1 is not sufficient to determine the position of the head 51. At this time, it is also necessary to determine the angle information of the rotation of the actuator 5 relative to the first axis A1 in order to calculate the position of the head 51. Based on the above research, the end adjustment system of the manipulator can optionally also include a posture adjustment mechanism 6; the clamping mechanism 2 is set on the base 1 through the posture adjustment mechanism 6, and the posture adjustment mechanism 6 is used to drive the clamping mechanism 2 to rotate around the first axis A1; and the control device is used to obtain the angle information of the clamping mechanism 2 rotating around the first axis A1 based on the information fed back by the posture adjustment mechanism 6; the control device also obtains the position information of the head 51 of the actuator 5 based on the angle information of the clamping mechanism rotating around the first axis A1.

[0067] Please refer to Figure 8 Preferably, the posture adjustment mechanism 6 includes a drive device 61, a transmission assembly 62, and an encoder 63. The drive device 61 is coupled to the clamping mechanism 2 via the transmission assembly 62. The encoder 63 is provided on the drive device 61 and is used to provide feedback on the current angle of the drive device 61. The control device is used to obtain information about the rotation angle of the clamping mechanism 2 about the first axis A1 based on the current angle of the drive device 61 and the transmission ratio of the transmission assembly 62. Optionally, the drive device 61 itself has a self-locking function to ensure that the clamping mechanism 2 maintains its posture after reaching the target position.

[0068] like Figure 8 As shown, in an alternative exemplary embodiment, the encoder 63 is integrated into the end of the drive device 61, and the drive device 61 can be a power device commonly used in the art, such as a motor. The transmission assembly 62 includes a first gear 621, a double gear 622, and a third gear 623 that are meshed and connected in sequence, wherein the first gear 621 is coupled to the output shaft of the drive device 61, the rotation axis of the third gear 623 coincides with the first axis A1, and the third gear 623 is coupled to the clamping mechanism 2. The two gears of the double gear 622 are coaxially fixed and mesh with the first gear 621 and the third gear 623, respectively. In this configuration, the power output by the drive device 61 can be transmitted to the clamping mechanism 2, thereby driving the clamping mechanism 2 to rotate. It can be understood that if the number of teeth of the first gear 621 is N1, the number of teeth of the two gears of the double gear 622 are N2 and N3 respectively, and the number of teeth of the third gear 623 is N4, then the transmission ratio p of the entire transmission assembly 62 is (N4 / N3)*(N2 / N1). Assuming that the current angle of the driving device 61 fed back by the encoder 63 is φ, the current angle of the clamping mechanism 2 rotating around the first axis A1 can be calculated as Assuming the relative distance between the nose 51 and the first axis A1 obtained in the previous step is L, the coordinates of the nose 51 can be calculated as: x = L * sin (θ), y = L * cos (θ). Combined with the current position information of the base 1 obtained by the navigation device 4, the current position information of the nose 51 can be obtained.

[0069] It should be noted that the above-mentioned transmission assembly 62 including the first gear 621, the double gear 622 and the third gear 623 is only an example and not a limitation of the transmission assembly 62. For example, the transmission assembly 62 is not limited to gear transmission. Those skilled in the art can make different configurations of the specific structure of the transmission assembly 62 according to actual conditions, and the present invention is not limited to this.

[0070] Furthermore, the control device is also configured to send a drive instruction to the posture adjustment mechanism 6 based on the obtained posture information of the head 51 of the execution device 5, so as to form a closed-loop control for the posture adjustment mechanism 6 to drive the clamping mechanism 2 to rotate around the first axis A1. On the one hand, the control device also tracks and obtains the posture information of the head 51 in real time through the navigation device 4, and sends a drive instruction to the posture adjustment mechanism 6 based on this. On the other hand, the drive device 61, as an actuator, executes the drive instruction from the control device. Subsequently, the actual movement information of the drive device 61 is detected in real time by the navigation device 4, thereby realizing automatic closed-loop control of the real-time posture of the execution device 5. The step of manually verifying the posture of the head 51 is eliminated, and automatic registration and automatic control can be achieved.

[0071] Optional, please refer to Figure 9 and Figure 10 The clamping mechanism 2 includes a clamping base 21 and a plug-in assembly 22; the clamping base 21 is annular and is used to be arranged on the base 1 along the first axis A1; the plug-in assembly 22 is used to clamp the actuator 5 and is used to be detachably connected to the clamping base 21 along the axial direction of the clamping base 21. Optionally, the clamping base 21 and the base 1 are not detachable, or in other words, disassembly is difficult. In order to achieve the replacement of different actuators 5, a plug-in assembly 22 is provided, and the plug-in assembly 22 and the clamping base 21 are detachably connected. Therefore, the replacement of the actuator 5 only requires separating the plug-in assembly 22 from the clamping base 21 and then removing the actuator 5 from the plug-in assembly 22. In an alternative exemplary embodiment, a connecting shaft 211 is provided on the outer periphery of the clamping base 21. The connecting shaft 211 is used to be coaxially coupled with the third gear 623, and the connecting shaft 211 is perpendicular to the axial direction of the clamping base 21.

[0072] Please refer to Figures 11 to 13In an alternative exemplary embodiment, the plug assembly 22 includes an annular housing 220 and two clamping assemblies 221 symmetrically distributed axially around the housing 220. The two clamping assemblies 221 are located within the housing 220, and the space formed between the two clamping assemblies 221 is for the actuator 5 to pass through. The clamping assembly 221 includes a clamping block 2210, an adjustment screw 2211, a stop ring 2212, and a bushing 2213. The adjustment screw 2211 passes through the housing 220 and is connected to the housing 220 via threads. Preferably, the end of the adjustment screw 2211 has an adjustment slot 2214 corresponding to an adjustment tool (such as a screwdriver). By inserting the adjustment tool into the adjustment slot 2214, the adjustment screw 2211 can be driven to rotate about its own axis. Furthermore, the adjustment screw 2211 is rotatable about its own axis relative to the clamping block 2210, but the position of the adjustment screw 2211 along its own axial direction relative to the clamping block 2210 is restricted by two stop rings 2212. Thus, by driving the adjustment screw 2211 to rotate, the radial position of the clamping block 2210 relative to the housing 220 can be adjusted. The bushing 2213 is used to directly contact the outer surface of the actuator 5. The bushing 2213 is preferably made of a material with a certain degree of elasticity, such as plastic or silicone, to protect the outer surface of the actuator 5 while providing sufficient friction to firmly clamp the actuator 5.

[0073] Please refer to Figure 14 and Figure 15 The clamping base 21 and the housing 220 have relative axially extending grooves 212 and protrusions 2215. When the clamping base 21 and the plug assembly 22 are axially plugged together, the protrusions 2215 can be stuck in the grooves 212, so that the two are circumferentially positioned.

[0074] Furthermore, the clamping mechanism 2 further includes a second locking mechanism 23; the second locking mechanism 23 is used to lock the position of the plug assembly 22 relative to the clamping base 21 in the axial direction. Figures 16a to 16c as well as Figure 17 ,in Figure 16a For a three-dimensional image, Figure 16b is the front view, Figure 16cThe figure is an axial cross-sectional view. In an alternative embodiment, the second locking mechanism 23 includes a flap 231, a connecting portion 232, and an elastic buckle 233. The connecting portion 232 is fixed to the outer periphery of the clamping base 21, and the flap 231 is rotatable relative to the connecting portion 232, with its rotation axis parallel to the radial direction of the clamping base 21. Correspondingly, the housing 220 of the plug assembly 22 includes a pin-pulling locking recess 222 disposed axially away from the clamping base 21. With this configuration, after the plug assembly 22 and the clamping base 21 are axially engaged, the flap 231 is pressed, and the elastic buckle 233 engages with the pin-pulling locking recess 222, thereby locking the plug assembly 22 and the clamping base 21 in their axial position. To remove the plug assembly 22, the elastic buckle 233 can be pulled outward, allowing it to exit the pin-pulling locking recess 222, thereby releasing the lock between the plug assembly 22 and the clamping base 21.

[0075] Please refer to Figures 18a to 18c , combined with Figure 2 ,in, Figure 18a is a perspective view of the target base 420 and the mounting post 422, Figure 18b is a top view of the target base 420, Figure 18c The figure is a perspective view of a special-shaped locking screw 423. Optionally, the trackable element 42 includes a target base 420, an optical positioning marker 421, a mounting post 422, and a special-shaped locking screw 423. The optical positioning marker 421 is disposed on the target base 420, the target base 420 is disposed on the mounting post 422, and the mounting post 422 is fixedly connected to the base 1 via the special-shaped locking screw 423. Preferably, a plurality of calibration points 4201 are arranged on the side of the target base 420. By using a standard probe target (not shown) to point at these points 4201, the relative position of the trackable element 42 and the base 1 can be determined to be accurate. Under normal circumstances, the base 1 and the robotic arm have a relatively fixed installation position, so that the assembled trackable element 42 has a definite relationship with the mechanical zero position of the base 1, so that the nest 4201 thereon can theoretically reflect the posture of the base 1 itself. Therefore, the standard probe target can be used to verify the position of the corresponding nest 4201 to perform double verification of the assembly of the trackable element 42 and the base 1.

[0076] Please refer to Figure 19 and Figure 20Based on the above-mentioned end adjustment system of the robotic arm, an embodiment of the present invention further provides a dental implant robot system, which includes: an execution instrument 5, a robotic arm 7 and the above-mentioned end adjustment system of the robotic arm; a base 1 is provided on the robotic arm 7, and the robotic arm 7 performs operations based on the posture information of the head 51 of the execution instrument 5 obtained by the end adjustment system of the robotic arm. Those skilled in the art can understand the structure of the robotic arm 7 based on the existing technology, and the present invention will not elaborate on this. The steps for using the end adjustment system of the robotic arm provided in this embodiment are shown in FIG. Figure 21 As shown, please see the above description for details, which will not be elaborated here.

[0077] In summary, in the end adjustment system of the manipulator and the dental implant robot system provided by the present invention, the end adjustment system of the manipulator includes: a base, a clamping mechanism, an alignment mechanism, a navigation device, and a control device; the clamping mechanism is arranged on the base along the first axis, and the clamping mechanism is used to connect the actuator; the alignment mechanism is used to adapt to the head of the actuator so that the second axis of the head of the actuator is coplanar with the first axis and to obtain the relative distance information between the head of the actuator and the first axis; the navigation device is used to obtain the posture information of the base; the control device obtains the posture information of the head of the actuator based on the posture information of the base and the relative distance information between the head of the actuator and the first axis. In this configuration, based on the setting of the alignment mechanism, the relative distance information between the head of the actuator and the first axis can be obtained. Combined with the posture information of the base, the posture information of the head of the actuator can be obtained, thereby meeting the requirement of fast registration of the actuator of the dental implant robot. After the actuator is replaced, automatic registration can be completed quickly. Thus, automatic adjustment of the posture is achieved.

[0078] It should be noted that the above embodiments can be combined with each other. The above description is only a description of the preferred embodiments of the present invention and does not limit the scope of the present invention. Any changes and modifications made by ordinary technicians in the field of the present invention based on the above disclosure are within the scope of protection of the claims.

Claims

1. A terminal adjustment system for a robotic arm, characterized in that: include: Base body, clamping mechanism, alignment mechanism, navigation device and control device; The clamping mechanism is arranged on the base along the first axis, and the clamping mechanism is used to connect the execution instrument; The alignment mechanism includes a positioning assembly and an adjustment base, the adjustment base is connected to the clamping mechanism, the positioning assembly is movably arranged along the extension direction of the adjustment base, and the positioning assembly is used to move along the extension direction of the adjustment base to a position adapted to the head of the execution instrument, so that the second axis of the head of the execution instrument is coplanar with the first axis, and the relative distance information between the head of the execution instrument and the first axis is obtained; The navigation device is used to obtain the position information of the base; The control device obtains the posture information of the head of the actuator based on the posture information of the base and the relative distance information between the head of the actuator and the first axis.

2. The end adjustment system of the robot arm according to claim 1, characterized in that: The end adjustment system of the robotic arm also includes a posture adjustment mechanism; The clamping mechanism is arranged on the base through the posture adjustment mechanism, and the posture adjustment mechanism is used to drive the clamping mechanism to rotate around the first axis; and the control device is used to obtain the angle information of the clamping mechanism rotating around the first axis based on the information fed back by the posture adjustment mechanism; The control device also obtains the position information of the head of the execution instrument based on the angle information of the clamping mechanism rotating around the first axis.

3. The end adjustment system of the robot arm according to claim 2, characterized in that: The control device is further configured to send a drive instruction to the posture adjustment mechanism based on the obtained posture information of the head of the execution device, so as to form a closed-loop control for the posture adjustment mechanism to drive the clamping mechanism to rotate around the first axis.

4. The end adjustment system of the robot arm according to claim 2, characterized in that: The posture adjustment mechanism includes a drive device, a transmission assembly, and an encoder; the drive device is coupled to the clamping mechanism via the transmission assembly, and the encoder is provided on the drive device for feeding back the current angle of the drive device; The control device is used to obtain the angle information of the clamping mechanism rotating around the first axis according to the current angle of the driving device and the transmission ratio of the transmission assembly.

5. The end adjustment system of the robot arm according to claim 1, characterized in that: The alignment mechanism further includes an adjustment pin; the adjustment base is connected to the clamping mechanism via the adjustment pin, and the distance between the adjustment base and the clamping mechanism along the axial direction of the adjustment pin is adjustable.

6. The end adjustment system of the robot arm according to claim 5, characterized in that: The alignment mechanism further includes a first locking mechanism; the adjustment base is rotatable around the adjustment pin relative to the clamping mechanism; the first locking mechanism is used to lock the position of the adjustment base around the adjustment pin relative to the clamping mechanism.

7. The end adjustment system of the robot arm according to claim 1, characterized in that: The positioning assembly includes a positioning pin and a stopping block; the positioning pin is used to be inserted into the head of the execution instrument; and the stopping block is used to support the execution instrument.

8. The end adjustment system of the robot arm according to claim 1, characterized in that: The adjustment base has a scale.

9. The end adjustment system of the robot arm according to claim 1, characterized in that: The clamping mechanism includes a clamping base and a plug-in assembly; the clamping base is annular and is used to be arranged on the base along the first axis; the plug-in assembly is used to clamp the execution instrument and is used to be detachably connected to the clamping base along the axial direction of the clamping base.

10. The end adjustment system of the robot arm according to claim 9, characterized in that: The clamping mechanism further includes a second locking mechanism; the second locking mechanism is used to lock the position of the plug assembly relative to the clamping base in the axial direction.

11. The end adjustment system of the robot arm according to claim 1, characterized in that: The navigation device includes a positioning unit and a trackable unit paired with the positioning unit; the trackable unit is arranged on the base; the positioning unit is used to track and obtain the posture information of the trackable unit, and obtain the posture information of the base based on the relative position relationship between the trackable unit and the base.

12. A dental implant robot system, characterized in that: include: An executing device, a robotic arm, and an end adjustment system of the robotic arm according to any one of claims 1 to 11; The base is arranged on the robotic arm, and the robotic arm performs an operation based on the posture information of the head of the execution instrument obtained by the end adjustment system of the robotic arm.

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