Dental implant robot motion control method, device, system and electronic equipment

Abstract

The present invention provides a dental implant robot motion control method, device, system and electronic device. The dental implant robot motion control method includes: receiving a motion trigger signal from a handheld controller; determining a motion control code corresponding to the motion trigger signal based on a pre-created correspondence between the trigger signal and the code; generating a motion control instruction for controlling the motion of the dental implant robot based on the motion control code; and sending the motion control instruction to the dental implant robot to control the dental implant robot's entry connecting rod to rotate around a rotation axis. The present application receives a motion trigger signal from a handheld controller, determines a motion control code corresponding to the motion trigger signal from a code library, and then generates a motion control instruction for controlling the dental implant robot's motion to control the dental implant robot's entry connecting rod to rotate around a rotation axis. This method can replace manual dragging of the dental implant robot to adjust the angle of the implant instrument, and has high adjustment accuracy.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of robot motion control, and in particular to a dental implant robot motion control method, device, system and electronic equipment. Background Art

[0002] Dental problems are common in daily life. If patients do not receive timely and appropriate treatment, they can be very serious and painful, affecting their quality of life and overall health. At the same time, the global dental workforce shortage makes it difficult for most patients to receive timely treatment.

[0003] In order to solve the above problems, at present, by applying robots to dental procedures, robots can not only improve the efficiency of performing dental surgery through controllable movement, but also improve treatment effects by preventing human errors.

[0004] However, when using the current dental implant robot to drill the jawbone of an edentulous patient, the following technical problems exist: when the implant instrument reaches the vicinity of the patient's mouth, if the angle of the implant instrument needs to be adjusted, it is necessary to adjust it by dragging the robotic arm of the dental implant robot. Due to the large mass and inertia of the dental implant robot, the robotic arm of the dental implant robot has a large range of motion, which will result in large errors. In addition, the manual dragging method has poor adjustment accuracy and is not suitable for adjustments in small cavities such as the mouth. Summary of the Invention

[0005] The present invention provides a dental implant robot motion control method, device, system, and electronic device to solve or alleviate technical problems in the prior art. This technology is primarily used in the field of dental implant robots, but can also be used for surgical robots in other fields.

[0006] The technical solution adopted in the present invention is:

[0007] In a first aspect, the present application provides a dental implant robot motion control method, which includes:

[0008] Receive a motion trigger signal from a handheld controller, wherein different buttons on the handheld controller generate different trigger signals when triggered; determine a motion control code corresponding to the motion trigger signal based on a pre-created correspondence between the trigger signal and the code; generate a motion control instruction for controlling the movement of a dental implant robot based on the motion control code; send the motion control instruction to the dental implant robot to control the entrance link of the dental implant robot to rotate around a rotation axis, wherein the dental implant robot includes N links connected in sequence, the entrance link is the Nth link, the Nth link is connected to the N-1th link through the rotation axis, and N is a positive integer greater than or equal to 2.

[0009] Optionally, in one embodiment, generating a motion control instruction for controlling the movement of the dental implant robot according to the motion control code includes: generating a second motion control instruction according to a second motion control code, wherein the second motion control code corresponds to a second motion trigger signal, and the second motion trigger signal is sent by the handheld controller after the second button on the handheld controller is triggered; sending the motion control instruction to the dental implant robot includes: sending the second motion control instruction to the dental implant robot to control the entrance connecting rod to rotate counterclockwise around the rotation axis.

[0010] Optionally, in one embodiment, an axial rotation trigger signal is received from the handheld controller; an axial rotation control code corresponding to the axial rotation trigger signal is determined based on the correspondence between the pre-created axial rotation trigger signal and the code; an axial rotation control instruction for controlling the movement of the dental implant robot is generated based on the axial rotation control code; the axial rotation control instruction is sent to the dental implant robot to control the tail of the entrance link to rotate around the axis of the entrance link, wherein the head of the i-th link among the N links is connected to the tail of the i-1-th link, i is a positive integer greater than 1 and less than or equal to N, and the tail of the N-th link is used to clamp the dental implant instrument.

[0011] Optionally, in one embodiment, it is detected whether a mode switching trigger signal from the handheld controller is received, wherein the mode trigger signal includes a first mode switching trigger signal and a second mode switching trigger signal, the first mode switching trigger signal is sent by the handheld controller after the third button on the handheld controller is triggered, and the second mode switching trigger signal is sent by the handheld controller after the fourth button on the handheld controller is triggered; if the first mode switching trigger signal is received, then after receiving the first motion trigger signal, the correspondence between the trigger signal and the code created in advance is executed to determine the motion control code corresponding to the motion trigger signal; if the second mode switching trigger signal is received, then after receiving the second motion trigger signal, the correspondence between the axial rotation trigger signal and the code created in advance is executed to determine the axial rotation control code corresponding to the axial rotation trigger signal; if the mode switching trigger signal is not received, the received operation trigger signal is ignored.

[0012] Optionally, in one embodiment, the dynamic model data of the dental implant robot is sent to a display screen to display the dynamic model of the dental implant robot on the display screen; the dynamic model signal displayed on the display screen is updated according to the motion control instruction so that the display screen displays the updated dynamic model.

[0013] In a second aspect, the present application provides a dental implant robot control device, comprising:

[0014] A receiving module is used to receive a motion trigger signal from a handheld controller, wherein different buttons on the handheld controller generate different trigger signals when triggered; a matching module is used to determine a motion control code corresponding to the motion trigger signal based on a pre-created correspondence between the trigger signal and the code; a generating module is used to generate a motion control instruction for controlling the movement of the dental implant robot based on the motion control code; a control module is used to send the motion control instruction to the dental implant robot to control the entrance link of the dental implant robot to rotate around the rotation axis, wherein the dental implant robot includes N links connected in sequence, the entrance link is the Nth link, the Nth link is connected to the N-1th link through the rotation axis, and N is a positive integer greater than or equal to 2.

[0015] In the third aspect, the present application provides a dental implant robot motion control system, which includes: a handheld controller, a dental implant robot and the dental implant robot control device described in the second aspect of the embodiment; the handheld controller is used to send a motion trigger signal to the dental implant robot control device, wherein different buttons on the handheld controller generate different trigger signals after being triggered; the dental implant robot is used to obtain the motion control instructions sent by the dental implant robot control device, and drive the entrance link to rotate around the rotation axis according to the motion control instructions, wherein the dental implant robot includes N links connected in sequence, the entrance link is the Nth link, the Nth link is connected to the N-1th link through the rotation axis, and N is a positive integer greater than or equal to 2.

[0016] Optionally, in one embodiment, the handheld controller communicates with the main control computer via a wired network and / or a wireless network.

[0017] In a fourth aspect, the present application provides an electronic device having a computer program stored thereon, which, when executed by a processor, implements the dental implant robot motion control method as described in any one of the first aspects of the embodiments.

[0018] A processor, a communication interface, a memory and a communication bus, wherein the processor, the memory and the communication interface communicate with each other via the communication bus; the memory is used to store at least one executable instruction, and the executable instruction enables the processor to perform operations corresponding to the dental implant robot motion control method as described in any one of the first aspects of the embodiment.

[0019] In a fifth aspect, the present application provides a computer storage medium having a computer program stored thereon, which, when executed by a processor, implements the dental implant robot motion control method as described in any one of the first aspects of the embodiments.

[0020] In a sixth aspect, the present application provides a computer program product comprising computer instructions, wherein the computer instructions instruct a computing device to execute operations corresponding to the dental implant robot motion control method as described in any one of the first aspects of the embodiments.

[0021] As can be seen from the above scheme, by receiving a motion trigger signal from the handheld controller, the motion control code corresponding to the motion trigger signal can be determined from the code library. This motion control code can be used to generate motion control instructions for controlling the movement of the dental implant robot. By sending this motion control instruction to the dental implant robot, the dental implant robot's entry link can be controlled to rotate around its rotation axis, allowing the dental implant robot to adjust the angle of the implant instrument without manually dragging the dental implant robot, and with high adjustment accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a flow chart of a motion control method for a dental implant robot according to one embodiment of the present application;

[0023] Figure 2 This is a flow chart of a motion control method for a dental implant robot according to another embodiment of the present application;

[0024] Figure 3 This is a flow chart of a motion control method for a dental implant robot according to another embodiment of the present application;

[0025] Figure 4 A schematic diagram of a dental implant robot control device according to an embodiment of the present application;

[0026] Figure 5 A schematic diagram of a dental implant robot motion control system according to one embodiment of the present application;

[0027] Figure 6 A schematic diagram of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0028] In order to make the technical problems, technical solutions and advantages to be solved by the present invention clearer, a detailed description will be given below with reference to the accompanying drawings and specific embodiments.

[0029] Motion control method of dental implant robot

[0030] Figure 1 This is a flow chart of a dental implant robot motion control method according to one embodiment of the present application. Figure 1 As shown, the dental implant robot motion control method 100 includes the following steps:

[0031] Step 101: Receive a motion trigger signal from a handheld controller.

[0032] A manual controller can be a handheld controller, a handheld remote control terminal, or a handheld programmable controller. For example, by pressing or toggling a corresponding motion control button on the handle, the handle generates a motion trigger signal and sends it to the main control computer. Different buttons on the handle generate different trigger signals when triggered.

[0033] Step 102: Determine the motion control code corresponding to the motion trigger signal according to the pre-created correspondence between the trigger signal and the code.

[0034] After receiving the motion trigger signal sent by the manual controller, the main control computer determines the motion control code corresponding to the motion trigger signal from the built-in preset code library to generate the corresponding control instruction.

[0035] Step 103: Generate motion control instructions for controlling the motion of the dental implant robot according to the motion control code.

[0036] After determining the motion control code, the main control computer identifies the corresponding motion operation of the dental implant robot written in the code, and generates a motion control instruction for controlling the motion of the dental implant robot according to the motion operation.

[0037] Step 104: Send the motion control instruction to the dental implant robot.

[0038] After generating a motion control command, the main control computer transmits it to the dental implant robot. Upon receiving the motion control command, the dental implant robot controls the robot's entry link to rotate about a rotation axis. The dental implant robot comprises N sequentially connected links, with the entry link being the Nth link. The Nth link is connected to the N-1th link via a rotation axis, where N is a positive integer greater than or equal to 2.

[0039] For example, when N is equal to 2, the second link is connected to the first link via a rotation axis. After the dental implant robot receives a motion control instruction, the second link of the dental implant robot is controlled to rotate around the rotation axis.

[0040] It should be noted that the inlet connecting rod can be used to clamp a dental implant device. The dental implant device can be a two-port (driving air, water) dental handpiece, a three-port (driving air, water, atomizer) dental handpiece, or a six-port (driving air, water atomizer, return air, and two electrode posts) dental handpiece, etc., without limitation herein. The inlet connecting rod can be fixedly connected to a holder via a flange, and the holder can be used to clamp the dental implant device.

[0041] In an embodiment of the present application, by receiving a motion trigger signal from a handheld controller, a motion control code corresponding to the motion trigger signal can be determined from a code library. The motion control code can be used to generate motion control instructions for controlling the movement of the dental implant robot. By sending the motion control instructions to the dental implant robot, the dental implant robot's entry link can be controlled to rotate about its axis of rotation, thereby replacing manual dragging of the dental implant robot to adjust the angle of the implant instrument with high precision.

[0042] In one possible implementation, generating a motion control instruction for controlling the motion of the dental implant robot according to the motion control code may include: generating a first motion control instruction according to the first motion control code.

[0043] The first motion control code corresponds to a first motion trigger signal, and the first motion trigger signal is sent by the handheld controller after a first button on the handheld controller is triggered.

[0044] For example, the first button on the handheld controller may be a "←" button, and the triggering method is to press the "←" button. After pressing the "←" button, the handheld controller transmits a first motion trigger signal corresponding to the triggering of the "←" button, and transmits the first motion trigger signal to the main control computer. The main control computer determines a first motion control code corresponding to the first motion trigger signal from a code library, and then generates a first motion control instruction based on the first motion control code.

[0045] Sending the motion control instruction to the dental implant robot may include: sending a first motion control instruction to the dental implant robot.

[0046] After the first motion control instruction is sent to the dental implant robot, the inlet connecting rod can be controlled to rotate clockwise around the rotation axis.

[0047] In an embodiment of the present application, a first motion trigger signal can be generated by triggering a first button on the handheld controller. Based on the first motion trigger signal, the main control computer can determine a first motion control code and further generate a first motion control instruction to control the dental implant robot's entry link to rotate clockwise about its rotation axis, thereby adjusting the entry link's angle to accommodate various dental surgical scenarios.

[0048] In one possible implementation, generating a motion control instruction for controlling the motion of the dental implant robot according to the motion control code may include: generating a second motion control instruction according to the second motion control code.

[0049] The second motion control code corresponds to a second motion trigger signal, which is transmitted by the handheld controller after a second button on the handheld controller is triggered. For example, the second button on the handheld controller may be the "→" key, triggered by pressing the "→" key. After pressing the "→" key, the handheld controller transmits the second motion trigger signal corresponding to the triggering of the "→" key, and transmits the second motion trigger signal to the main control computer. The main control computer then determines the second motion control code corresponding to the second motion trigger signal from a code library and generates the second motion control instruction based on the second motion control code.

[0050] Sending the motion control instruction to the dental implant robot may include: sending a second motion control instruction to the dental implant robot.

[0051] After the second motion control instruction is sent to the dental implant robot, the inlet connecting rod can be controlled to rotate counterclockwise around the rotation axis.

[0052] In an embodiment of the present application, a second motion trigger signal can be generated by triggering a second button on the handheld controller. Based on the second motion trigger signal, the main control computer can determine a second motion control code and further generate a second motion control instruction to control the dental implant robot's entry link to rotate counterclockwise about the rotation axis to adjust the entry link's angle, thereby adapting to different dental surgery scenarios.

[0053] In one possible implementation, a movement trigger signal can be received from a handheld controller. This movement trigger signal is transmitted when a movement mode switch button on the handheld controller is activated. When the movement mode switch button on the handheld controller is activated, a movement trigger signal is generated, and the handheld controller transmits the movement trigger signal via a USB wired or Bluetooth wireless connection. Specifically, triggering the movement mode switch button can switch the dental implant robot's motion state to manual mode.

[0054] According to the pre-created correspondence between the movement trigger signal and the code, the movement mode switching code corresponding to the movement trigger signal is determined.

[0055] Generate a movement mode switching instruction according to the movement mode switching code.

[0056] The mobile mode switching instruction is sent to the dental implant robot to make the dental implant robot enter the manual control mode.

[0057] In the manual control mode, the N connecting rods included in the dental implant robot can move under the action of external force, so that the tail of the Nth connecting rod of the dental implant robot moves in three-dimensional space.

[0058] According to the pre-set degrees of freedom, at least one of the N connecting rods moves according to the pre-set degrees of freedom, which cannot satisfy the tail of the Nth connecting rod to clamp the dental implant instrument in three-dimensional space and move in directions other than the set degrees of freedom. Therefore, it is impossible to accurately implant and repair the dental implant, so it is necessary to switch the movement mode of the dental implant robot to manual control mode.

[0059] When the movement mode switching instruction is sent to the dental implant robot, the dental implant robot enters the manual mode. Under the action of external force, at least one connecting rod in the dental implant robot begins to move relative to each other, so that the clamping dental implant instrument at the tail of the Nth connecting rod can move in three-dimensional space, thereby meeting the needs of the operation.

[0060] In an embodiment of the present application, by receiving a movement trigger signal from a handheld controller, and then generating a movement mode switching instruction based on the correspondence between the code and the trigger signal, the dental implant robot enters a manual control mode. Through the action of external force, the movement state of the clamping dental implant instrument at the tail of the Nth connecting rod can meet the repair of any angle of the dental implant, move in three-dimensional space, and improve the implantation accuracy of the dental implant.

[0061] In one possible implementation, when the movement trigger signal is sent after the movement mode switching button on the handheld controller is triggered by a single click, after the movement mode switching instruction is sent to the dental implant robot, the dental implant robot enters the manual control mode, wherein, in the manual control mode, the Nth link included in the dental implant robot can rotate around the rotation axis under the action of external force, so that the Nth link moves to the target posture.

[0062] For example, N can be equal to 3. When the movement mode switching button of the handheld controller is triggered, a movement trigger signal is generated. When the movement trigger signal is sent to the dental implant robot, the multiple connecting rods on the dental implant robot enter the movement manual control mode. The third connecting rod of the dental implant robot rotates around the rotation axis under the action of external force, so that the third rod moves to the target posture according to the position of the dental implant, wherein the head of the third connecting rod on the dental implant robot is connected to the tail of the second connecting rod through the rotation axis, and the tail of the third connecting rod is the end of the dental implant robot.

[0063] In the embodiment of the present application, by receiving a movement trigger signal from a handheld controller, a movement mode switching instruction is generated, and by executing the movement mode switching instruction, the dental implant robot enters a movement manual control mode, so that the Nth link of the dental implant robot rotates around the rotation axis under the action of an external force, so that the dental implant robot is not limited to the set degree of freedom, and thus moves in three-dimensional space according to the position of the dental implant, thereby improving the implant accuracy of the dental implant.

[0064] Figure 2This is a flow chart of a motion control method for a dental implant robot according to another embodiment of the present application. Figure 2 As shown, the dental implant robot motion control method 200 includes the following steps:

[0065] Step 201: Receive an axial rotation trigger signal from a handheld controller.

[0066] A manual controller can be a handle, a handheld remote control terminal, or a handheld programmable controller. For example, by pressing or toggling a corresponding motion control button on the handle, the handle generates an axial rotation trigger signal and transmits it to the main control computer. Different buttons on the handle generate different trigger signals when triggered.

[0067] For example, the "LB" button on the manual controller can be pressed to cause the manual controller to generate an axial rotation trigger signal, which is then sent to the main control computer.

[0068] Step 202: Determine the axial rotation control code corresponding to the axial rotation trigger signal according to the pre-created correspondence between the axial rotation trigger signal and the code.

[0069] After receiving the axial rotation trigger signal sent by the manual controller, the main control computer determines the motion control code corresponding to the axial rotation trigger signal from the built-in preset code library to generate the corresponding control instruction.

[0070] Step 203: Generate an axial rotation control instruction for controlling the movement of the dental implant robot according to the axial rotation control code.

[0071] After determining the axial rotation control code, the main control computer identifies the corresponding motion operation of the dental implant robot written in the code, and generates a motion control instruction for controlling the motion of the dental implant robot according to the motion operation.

[0072] Step 204: Send the axial rotation control instruction to the dental implant robot.

[0073] After generating an axial rotation control command, the main control computer transmits it to the dental implant robot. Upon receiving the axial rotation control command, the dental implant robot controls the tail end of the robot's entry link to rotate about its axis. Of the robot's N links, the head end of the i-th link is connected to the tail end of the i-1-th link, where i is a positive integer greater than 1 and less than or equal to N. The tail end of the N-th link is used to clamp the dental implant instrument.

[0074] For example, if N is 3, the entry link is the third link. The head of the third link is connected to the tail of the second link, which in turn is connected to the tail of the first link. The tail of the third link is used to clamp dental implant instruments, such as dental handpieces. Upon receiving an axial rotation control command, the tail of the entry link can automatically rotate about the axis of the entry link. Alternatively, the tail of the entry link can be manually rotated after the dental implant robot receives the axial rotation control command.

[0075] In an embodiment of the present application, by receiving an axial rotation trigger signal from a handheld controller, an axial rotation control code corresponding to the axial rotation trigger signal can be determined from a code library. This axial rotation control code can be used to generate axial rotation control instructions for controlling the movement of the dental implant robot. By sending this axial rotation control instruction to the dental implant robot, the tail end of the dental implant robot's entry link can be controlled to rotate about its axis, thereby changing the posture of the dental implant device held by the tail end of the entry link to adapt to various scenarios during dental surgery.

[0076] Figure 3 This is a flow chart of a motion control method for a dental implant robot according to another embodiment of the present application. Figure 3 As shown, the dental implant robot motion control method 300 includes the following steps:

[0077] Step 301: Detect whether a mode switching trigger signal is received from a handheld controller. If so, execute step 302; if not, execute step 305.

[0078] The mode trigger signal includes a first mode switching trigger signal and a second mode switching trigger signal. The first mode switching trigger signal is sent by the handheld controller after the third button on the handheld controller is triggered, and the second mode switching trigger signal is sent by the handheld controller after the fourth button on the handheld controller is triggered.

[0079] For example, the third button is the "START" button on the handheld controller, and the fourth button is the "LB" button on the handheld controller. Only after pressing the "START" button or the "LB" button, the main control computer can switch to the corresponding motion mode, generate the corresponding motion control instructions, and send them to the dental implant robot.

[0080] Step 302: Determine whether the received mode switching trigger signal is the first mode switching trigger signal. If yes, go to step 303; if not, go to step 304.

[0081] After detecting that a mode switch trigger signal has been received from the handheld controller, the controller switches to a different motion mode based on the type of the mode switch trigger signal. Since the mode switch trigger signal only includes a first mode switch trigger signal and a second mode switch trigger signal, the main control computer only needs to determine whether the received mode switch trigger signal is the first mode switch trigger signal to determine the type of the mode switch trigger signal and switch to a different motion mode.

[0082] Step 303: Determine the motion control code corresponding to the motion trigger signal based on the pre-established correspondence between the trigger signal and the code, and end the current process.

[0083] After receiving the first mode switching trigger signal and the motion trigger signal sent by the manual controller, the main control computer determines the motion control code corresponding to the motion trigger signal from the built-in preset code library to generate a corresponding control instruction.

[0084] Step 304: Determine the axial rotation control code corresponding to the axial rotation trigger signal based on the pre-created correspondence between the axial rotation trigger signal and the code, and end the current process.

[0085] After receiving the second mode switching trigger signal and the axial rotation trigger signal sent by the manual controller, the main control computer determines the axial rotation control code corresponding to the axial rotation trigger signal from the built-in preset code library to generate the corresponding control instruction.

[0086] Step 305: Ignore the received operation trigger signal.

[0087] If the mode switching trigger signal is not received, the received operation trigger signal is ignored in order to avoid erroneous operation of the dental implant robot due to accidental touch.

[0088] In the embodiment of the present application, by determining whether a mode switch trigger signal from the handheld controller is received to determine whether to execute subsequent operations, it is possible to avoid erroneous operation of the dental implant robot due to accidental touch, thereby improving safety. By determining the type of mode switch trigger signal received, different motion modes can be switched, reducing the operator's operational difficulty.

[0089] In a possible implementation, the dynamic model data of the dental implant robot may also be sent to a display screen to display the dynamic model of the dental implant robot on the display screen;

[0090] The main control computer sends the dynamic model data of the dental implant robot to the display screen, and the display screen obtains the dynamic model of the dental implant robot according to the dynamic model data and displays it. The display screen can be integrated with the main control computer.

[0091] The dynamic model signal displayed on the display screen is updated according to the motion control instruction, so that the display screen displays the updated dynamic model.

[0092] During the movement of the dental robot, the main control computer updates the dynamic model signal displayed on the display screen according to the motion control instruction, and the display screen will then display the updated dynamic model signal.

[0093] In an embodiment of the present application, the dynamic model of the dental implant robot is displayed on a display screen, and the movement process of the dental implant robot can be visualized so that the staff can directly observe the movement state of the dental implant robot, thereby improving the staff's user experience.

[0094] Dental implant robot control device

[0095] Figure 4 This is a schematic diagram of a dental implant robot control device according to an embodiment of the present application. Figure 4 As shown, the dental implant robot control device 400 includes: a receiving module 401 , a matching module 402 , a generating module 403 , and a control module 404 .

[0096] The receiving module 401 is used to receive a motion trigger signal from a handheld controller, wherein different buttons on the handheld controller generate different trigger signals when triggered;

[0097] The matching module 402 is used to determine the motion control code corresponding to the motion trigger signal based on the pre-created correspondence between the trigger signal and the code;

[0098] The generation module 403 is used to generate motion control instructions for controlling the movement of the dental implant robot according to the motion control code;

[0099] The control module 404 is used to send motion control instructions to the dental implant robot to control the entrance link of the dental implant robot to rotate around the rotation axis, wherein the dental implant robot includes N links connected in sequence, the entrance link is the Nth link, the Nth link is connected to the N-1th link through the rotation axis, and N is a positive integer greater than or equal to 2.

[0100] In an embodiment of the present application, a motion trigger signal from a handheld controller is received by a receiving module 401, and a motion control code corresponding to the motion trigger signal can be further determined from a code library by a matching module 402. The generation module 403 generates motion control instructions for controlling the movement of the dental implant robot based on the motion control code. The motion control instructions are sent to the dental implant robot by the control module 404, which can control the rotation of the dental implant robot's entrance connecting rod around the rotation axis. This can replace manual dragging of the dental implant robot to adjust the angle of the implant instrument, and has high adjustment accuracy.

[0101] Dental implant robot control system

[0102] Figure 5 This is a schematic diagram of a dental implant robot control system according to an embodiment of the present application. Figure 5 As shown, the dental implant robot control system 500 includes: a handheld controller 501, a dental implant robot 502 and the dental implant robot control device 400 of the fourth embodiment.

[0103] The handheld controller 501 is used to send a motion trigger signal to the dental implant robot control device 400, wherein different buttons on the handheld controller generate different trigger signals when triggered;

[0104] The dental implant robot 502 is used to obtain the motion control instructions sent by the dental implant robot control device 400, and drive the entrance link to rotate around the rotation axis according to the motion control instructions, wherein the dental implant robot 502 includes N links connected in sequence, the entrance link is the Nth link, the Nth link is connected to the N-1th link through the rotation axis, and N is a positive integer greater than or equal to 2.

[0105] In the embodiment of the present application, the dental implant robot control device 400 can determine the motion control code corresponding to the motion trigger signal from the code library by receiving the motion trigger signal from the handheld controller 501. The dental implant robot control device 400 can generate a motion control instruction for controlling the motion of the dental implant robot 502 through the motion control code. The dental implant robot control device 400 can control the entrance connecting rod of the dental implant robot 502 to rotate around the rotation axis by sending the motion control instruction to the dental implant robot 502, and can adjust the angle of the implant instrument instead of manually dragging the dental implant robot 502, and has high adjustment accuracy.

[0106] In one possible implementation, the handheld controller 501 communicates with the dental implant robot control device 400 via a wired network and / or a wireless network.

[0107] For example, the wired network can communicate with the dental implant robot control device 400 by connecting the handheld controller 501 to the dental implant robot control device 400 via USB. The wireless network can communicate with the dental implant robot control device 400 by connecting the handheld controller 501 to the dental implant robot control device 400 via Bluetooth.

[0108] electronic devices

[0109] Figure 6 This is a schematic diagram of an electronic device according to an embodiment of the present application. The specific embodiment of the present application does not limit the specific implementation of the electronic device. Figure 6 As shown, the electronic device 600 may include: a processor 601, a communication interface 602, a memory 603, and a communication bus 604.

[0110] The processor 601 , the communication interface 602 , and the memory 603 communicate with each other via the communication bus 604 .

[0111] The communication interface 602 is used to communicate with other electronic devices or servers.

[0112] The processor 601 is configured to execute a program 605 , and specifically may execute the relevant steps in any one of the aforementioned method embodiments.

[0113] Specifically, the program 605 may include program codes, which include computer operation instructions.

[0114] The processor 601 may be a CPU, an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application. The one or more processors included in the smart device may be processors of the same type, such as one or more CPUs, or processors of different types, such as one or more CPUs and one or more ASICs.

[0115] The memory 603 is used to store the program 605. The memory 603 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0116] The program 605 can be specifically used to enable the processor 601 to execute any one of the multiple method embodiments in the aforementioned embodiments.

[0117] The specific implementation of each step in program 605 can be found in the corresponding descriptions of the corresponding steps and units in the aforementioned embodiment of the dental implant robot motion control method, and will not be repeated here. Those skilled in the art will clearly understand that for ease and brevity of description, the specific operating processes of the above-described devices and modules can refer to the corresponding process descriptions in the aforementioned method embodiment, and will not be repeated here.

[0118] The electronic device of the embodiment of the present application can determine the motion control code corresponding to the motion trigger signal from the handheld controller from the code library by receiving the motion trigger signal. Through the motion control code, the motion control instructions for controlling the movement of the dental implant robot can be generated. By sending the motion control instructions to the dental implant robot, the entrance connecting rod of the dental implant robot can be controlled to rotate around the rotation axis, which can replace the manual dragging of the dental implant robot to adjust the angle of the implant instrument, and has high adjustment accuracy.

[0119] Computer storage media

[0120] This application also provides a computer-readable storage medium storing instructions for causing a machine to perform any of the method embodiments described herein. Specifically, a system or device equipped with a storage medium can be provided, wherein the storage medium stores software program code that implements the functions of any of the above-described embodiments, and a computer (or CPU or MPU) of the system or device can be caused to read and execute the program code stored in the storage medium.

[0121] In this case, the program code read from the storage medium itself can realize the function of any one of the above embodiments, so the program code and the storage medium storing the program code constitute part of this application.

[0122] Examples of storage media for providing program code include floppy disks, hard disks, magneto-optical disks, optical disks (such as CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD+RW), magnetic tapes, non-volatile memory cards, and ROMs. Alternatively, the program code can be downloaded from a server computer via a communication network.

[0123] Computer program product

[0124] An embodiment of the present application also provides a computer program product, including computer instructions, which instruct a computing device to perform any corresponding operation in the above-mentioned multiple method embodiments.

[0125] It should be pointed out that, according to the needs of implementation, the various components / steps described in the embodiments of the present application can be split into more components / steps, or two or more components / steps or partial operations of components / steps can be combined into new components / steps to achieve the purpose of the embodiments of the present application.

[0126] The above-mentioned method according to the embodiment of the present application can be implemented in hardware, firmware, or can be implemented as software or computer code that can be stored in a recording medium (such as CD ROM, RAM, floppy disk, hard disk or magneto-optical disk), or can be implemented as computer code that is originally stored in a remote recording medium or a non-temporary machine-readable medium downloaded via a network and will be stored in a local recording medium, so that the method described herein can be stored in such software processing on a recording medium using a general-purpose computer, a special-purpose processor or programmable or special-purpose hardware (such as ASIC or FPGA). It can be understood that a computer, a processor, a microprocessor controller or programmable hardware includes a storage component (e.g., RAM, ROM, flash memory, etc.) that can store or receive software or computer code, and when the software or computer code is accessed and executed by a computer, a processor or hardware, the method described herein is implemented. In addition, when a general-purpose computer accesses the code for implementing the method shown here, the execution of the code converts the general-purpose computer into a special-purpose computer for executing the method shown here.

[0127] It should be noted that not all steps and modules in the above processes and system structure diagrams are required, and certain steps or modules can be omitted according to actual needs. The execution order of each step is not fixed and can be adjusted as needed. The system structure described in the above embodiments can be a physical structure or a logical structure, that is, some modules may be implemented by the same physical entity, or some modules may be implemented by multiple physical entities, or may be implemented by certain components in multiple independent devices.

[0128] In the above embodiments, the hardware module can be implemented mechanically or electrically. For example, a hardware module can include a permanent dedicated circuit or logic (such as a dedicated processor, FPGA or ASIC) to complete the corresponding operation. The hardware module can also include programmable logic or circuits (such as a general-purpose processor or other programmable processors), which can be temporarily set by software to complete the corresponding operation. The specific implementation method (mechanical method, or dedicated permanent circuit, or temporarily set circuit) can be determined based on cost and time considerations.

[0129] The present application has been presented and described in detail above through the accompanying drawings and preferred embodiments. However, the present application is not limited to these disclosed embodiments. Based on the above multiple embodiments, those skilled in the art can know that the code review methods in the above different embodiments can be combined to obtain more embodiments of the present application, and these embodiments are also within the scope of protection of the present application.

Claims

1. A dental implant robot motion control method (100), characterized in that: include: receiving a motion trigger signal from a handheld controller, wherein different buttons on the handheld controller generate different trigger signals when triggered; Determining a motion control code corresponding to the motion trigger signal according to a pre-established correspondence between the trigger signal and the code; generating a motion control instruction for controlling the motion of the dental implant robot according to the motion control code; Sending the motion control instruction to the dental implant robot to control the entrance link of the dental implant robot to rotate around the rotation axis, wherein the dental implant robot includes N links connected in sequence, the entrance link is the Nth link, the Nth link is connected to the N-1th link via the rotation axis, and N is a positive integer greater than or equal to 2; The method further includes: receiving a movement trigger signal from a handheld controller, the movement trigger signal being sent after a movement mode switching button on the handheld controller is triggered; Determine the mobile mode switching code corresponding to the mobile trigger signal according to the pre-created correspondence between the mobile trigger signal and the code; Generate a movement mode switching instruction according to the movement mode switching code; Sending a movement mode switching instruction to the dental implant robot to enable the dental implant robot to enter a manual control mode; In the manual control mode, the N connecting rods included in the dental implant robot can move under the action of external force, so that the tail of the Nth connecting rod of the dental implant robot moves in three-dimensional space.

2. The method according to claim 1, characterized in that The step of generating a motion control instruction for controlling the motion of the dental implant robot according to the motion control code comprises: generating a first motion control instruction according to a first motion control code, wherein the first motion control code corresponds to a first motion trigger signal, and the first motion trigger signal is sent by the handheld controller after a first button on the handheld controller is triggered; The step of sending the motion control instruction to the dental implant robot comprises: The first motion control instruction is sent to the dental implant robot to control the entrance connecting rod to rotate clockwise around the rotation axis.

3. The method according to claim 2, characterized in that The step of generating a motion control instruction for controlling the motion of the dental implant robot according to the motion control code comprises: generating a second motion control instruction according to a second motion control code, wherein the second motion control code corresponds to a second motion trigger signal, and the second motion trigger signal is sent by the handheld controller after a second button on the handheld controller is triggered; The step of sending the motion control instruction to the dental implant robot comprises: The second motion control instruction is sent to the dental implant robot to control the entrance connecting rod to rotate counterclockwise around the rotation axis.

4. The method according to claim 3, characterized in that The method further includes: receiving an axial rotation trigger signal from the handheld controller; Determining an axial rotation control code corresponding to the axial rotation trigger signal according to a pre-established correspondence between the axial rotation trigger signal and the code; generating an axial rotation control instruction for controlling the movement of the dental implant robot according to the axial rotation control code; The axial rotation control instruction is sent to the dental implant robot to control the tail of the entrance link to rotate around the axis of the entrance link, wherein the head of the i-th link among the N links is connected to the tail of the i-1-th link, i is a positive integer greater than 1 and less than or equal to N, and the tail of the N-th link is used to clamp the dental implant instrument.

5. The method according to claim 4, characterized in that The method further comprises: detecting whether a mode switching trigger signal is received from the handheld controller, wherein the mode trigger signal includes a first mode switching trigger signal and a second mode switching trigger signal, wherein the first mode switching trigger signal is sent by the handheld controller after a third button on the handheld controller is triggered, and the second mode switching trigger signal is sent by the handheld controller after a fourth button on the handheld controller is triggered; If the first mode switching trigger signal is received, then after receiving the first motion trigger signal, executing the correspondence between the trigger signal and the code created in advance to determine the motion control code corresponding to the motion trigger signal; If the second mode switching trigger signal is received, then after receiving the second motion trigger signal, executing the correspondence between the pre-created axial rotation trigger signal and the code to determine the axial rotation control code corresponding to the axial rotation trigger signal; If the mode switching trigger signal is not received, the received motion trigger signal is ignored.

6. The method according to any one of claims 1 to 5, characterized in that The method further comprises: sending the dynamic model data of the dental implant robot to a display screen to display the dynamic model of the dental implant robot on the display screen; The dynamic model signal displayed on the display screen is updated according to the motion control instruction, so that the display screen displays the updated dynamic model.

7. A dental implant robot control device (400), characterized in that: include: A receiving module (401) is used to receive a motion trigger signal from a handheld controller, wherein different buttons on the handheld controller generate different trigger signals when triggered; A matching module (402) is used to determine a motion control code corresponding to the motion trigger signal based on a pre-established correspondence between the trigger signal and the code; A generating module (403) for generating motion control instructions for controlling the motion of the dental implant robot according to the motion control code; A control module (404) is used to send the motion control instruction to the dental implant robot to control the entrance link of the dental implant robot to rotate around the rotation axis, wherein the dental implant robot includes N links connected in sequence, the entrance link is the Nth link, the Nth link is connected to the N-1th link via the rotation axis, and N is a positive integer greater than or equal to 2; The device further comprises: receiving a movement trigger signal from a handheld controller, the movement trigger signal being sent after a movement mode switching button on the handheld controller is triggered; Determine the mobile mode switching code corresponding to the mobile trigger signal according to the pre-created correspondence between the mobile trigger signal and the code; Generate a movement mode switching instruction according to the movement mode switching code; Sending a movement mode switching instruction to the dental implant robot to enable the dental implant robot to enter a manual control mode; In the manual control mode, the N connecting rods included in the dental implant robot can move under the action of external force, so that the tail of the Nth connecting rod of the dental implant robot moves in three-dimensional space.

8. A dental implant robot motion control system (500), characterized in that: include: A handheld controller (501), a dental implant robot (502), and the dental implant robot control device (400) according to claim 7; The handheld controller (501) is used to send a motion trigger signal to the dental implant robot control device (400), wherein different buttons on the handheld controller (501) generate different trigger signals when triggered; The dental implant robot (502) is used to obtain a motion control instruction sent by the dental implant robot control device (400), and drive the entrance connecting rod to rotate around the rotation axis according to the motion control instruction, wherein the dental implant robot (502) includes N connecting rods connected in sequence, the entrance connecting rod is the Nth connecting rod, the Nth connecting rod is connected to the N-1th connecting rod through the rotation axis, and N is a positive integer greater than or equal to 2.

9. The system according to claim 8, characterized in that The handheld controller (501) communicates with the dental implant robot control device (400) via a wired network and / or a wireless network.

10. An electronic device (600), characterized in that include: A processor (601), a communication interface (602), a memory (603) and a communication bus (604), wherein the processor (601), the memory (603) and the communication interface (602) communicate with each other via the communication bus (604); The memory (603) is used to store at least one executable instruction, and the executable instruction enables the processor (601) to execute an operation corresponding to the dental implant robot motion control method according to any one of claims 1 to 6.

11. A computer storage medium, characterized in that A computer program is stored thereon, and when the program is executed by a processor, the dental implant robot motion control method according to any one of claims 1 to 6 is implemented.

12. A computer program product, characterized in that The method comprises computer instructions, wherein the computer instructions instruct a computing device to execute operations corresponding to the dental implant robot motion control method according to any one of claims 1 to 6.

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