An implant planning method

Abstract

The application discloses a kind of implant planning methods, comprising: collecting the relevant position parameters of implant implant position;Implant surgery robot with bone surface follow-up technology calculates the implant path according to the relevant position parameters;If there is no flap phenomenon, implant surgery robot executes the implant path completed by the completion of the planned completion, and completes implantation work;If there is a flap phenomenon, pause the implantation work of implant surgery robot, the problem that the flap situation encountered in the implant surgery process needs to be re-planned implant method is converted into the mathematical problem of coordinate transformation, and then the problem that implant surgery cannot be implemented according to the path planned in advance due to the phenomenon that flap is prone to appear in implant surgery process is solved by matrix transformation.

Description

Technical Field

[0001] This invention relates to the field of implant surgery technology, specifically to an implant planning method that allows for manual adjustment of the implantation position and orientation. Background Technology

[0002] In existing technologies, dental implant surgery robots pre-plan the position of the implant in CT images using surface tracking technology, then register the real oral cavity with the CT images, and finally implant the implant according to its position.

[0003] However, in actual surgical procedures, flap elevation may occur during the operation. To address this, surgeons can plan the limb plan preoperatively based on the patient's CBCT images and adjust the plan position intraoperatively according to the actual exposed bone condition. Essentially, it's a manually adjustable limb planning method.

[0004] This article proposes a manual implant planning method: the dentist manually adjusts the dental machine based on the flap elevation, and calculates and adjusts the implant placement position and orientation after drilling based on the machine's position and posture. After confirming the plan, positioning and polishing are performed directly. Summary of the Invention

[0005] The purpose of this invention is to provide an implant planning method to solve the problem mentioned in the background art that the current dental implant surgery is prone to flap flap phenomenon, which makes it impossible to carry out the dental implant surgery according to the pre-planned path.

[0006] 8. To achieve the above objectives, the present invention provides the following technical solution: an implant planning method using a dental implant surgery robot with bone surface follow-up technology, characterized by comprising the following steps:

[0007] Collect relevant location parameters of the implantation site;

[0008] The dental implant surgery robot with bone surface follow-up technology calculates the implantation path based on the relevant position parameters;

[0009] If there is no flap flipping, the dental implant surgery robot completes the implantation work by executing the predetermined implantation path; if there is flap flipping, the implantation work of the dental implant surgery robot is paused, and a new implantation path is recalculated.

[0010] As a preferred technical solution, if flap elevation occurs, the implantation procedure using the dental implant surgical robot is paused, and a new implantation path is recalculated following these steps:

[0011] S1: Establish relevant coordinate systems: including the tooth coordinate system (M), the robot coordinate system (J), and the positioning camera (NDI) coordinate system (O);

[0012] S2: Calculate the drill bit end coordinates (N) and drill bit attitude information in the M coordinate system.

[0013] S3: Plant coordinate transformation, which obtains the planned plant coordinates through coordinate transformation.

[0014] As a preferred technical solution, the steps for implant coordinate transformation in step three are as follows:

[0015] Given drill bit T Drill The formula for the 4x4 homogeneous transformation matrix is ​​as follows:

[0016]

[0017] in,

[0018] Given plant T Imp The formula for the 4x4 homogeneous transformation matrix is ​​as follows:

[0019]

[0020] Where R are rotation matrices and T are translation matrices;

[0021] The second transformation matrix T of the implant coordinates after manual planning needs to be calculated. After for:

[0022]

[0023] in

[0024] R AfterImp =R Drill (1)

[0025] T AfterImp The coordinates of the drill tip along the extended direction of the drill bit;

[0026] Among them, T is set at the drill tip and drill root. Drill After calculating the 4x4 transformation matrix, the coordinates in the tooth marker coordinate system are P1(1x1,y1,z1) and P1(2x2,y2,z2); Let,

[0027]

[0028]

[0029]

[0030] but,

[0031] T AfterImp =(x AfterImp ,y AfterImp ,z AfterImp (2)

[0032] This yields the 4x4 transformation matrix T of the planned implant. After .

[0033] As a preferred technical solution, in step S2, the coordinates of N in the O coordinate system are first calculated, then the coordinates of M in the O coordinate system are inverted, and finally the coordinates of N in the M coordinate system are calculated, which is the attitude information of the drill bit. Calculated using the following formula:

[0034]

[0035] in, All are 4x4 matrices.

[0036] As a preferred technical solution, in step S4, the distance between the drill bit tip and the extended line along the drill bit direction is dep, then 15mm≤dep≤20mm.

[0037] As a preferred technical solution, in step S4, the distance between the drill bit tip and the extended line along the drill bit direction is dep, then dep = 18mm.

[0038] As a preferred technical solution, the presence of flap flipping is determined by the following method: the drill bit is dragged directly above the drilling position, and the implant is inserted according to the predetermined planned path. At the same time, the drilling position and posture are detected in real time by a detection device set at the tip of the drill bit, and compared with the drilling position and posture of the planned implantation path. If the current drilling position and posture are different from the planned position and posture, it is determined that flap flipping has occurred, the implantation work of the dental implant surgery robot is paused, and a new implantation path is recalculated.

[0039] Compared with the prior art, the beneficial effects of the present invention are:

[0040] This implant planning method establishes relevant coordinate systems, including the dental coordinate system (M), the robot coordinate system (J), and the positioning camera (NDI) coordinate system (O). This transforms the problem of needing to replan the implant procedure when encountering flap elevation during implant surgery into calculating the drill tip coordinates (N) and drill attitude information in the M coordinate system. The problem was then solved using mathematical methods such as matrix transformation, thus resolving the issue of flap flaps during dental implant surgery, which prevented the implant surgery from proceeding along the pre-planned path. Attached Figure Description

[0041] Figure 1 This is a schematic diagram of the coordinate system of the present invention;

[0042] Figure 2 This is a schematic diagram of the implant planning process for the present invention;

[0043] Figure 3 This is a schematic diagram of the implantation planning of the present invention;

[0044] Figure 4 This is a schematic diagram of the redesigned implant according to the present invention. Detailed Implementation

[0045] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0046] Please see Figure 1 This invention provides a technical solution: an implant planning method, including the use of a dental implant surgery robot with bone surface follow-up technology, comprising the following steps:

[0047] Collect relevant location parameters of the implantation site;

[0048] The dental implant surgery robot with bone surface follow-up technology calculates the implantation path based on the relevant position parameters;

[0049] If there is no flap upturn, the dental implant surgery robot completes the implantation procedure by following the pre-planned implantation path. If there is flap upturn, the implantation procedure is paused, and a new implantation path is recalculated following these steps:

[0050] S1: Establish relevant coordinate systems: including the tooth coordinate system (M), the robot coordinate system (J), and the positioning camera (NDI) coordinate system (O);

[0051] S2: Calculate the drill bit end coordinates (N) and drill bit attitude information in the M coordinate system;

[0052] S3: Plant coordinate transformation.

[0053] The following method is used to determine whether flap folding occurs: The drill bit is dragged directly above the desired drilling position, and the implant is inserted according to the predetermined planned path. At the same time, a detection device set at the tip of the drill bit detects the drilling position and posture in real time and compares them with the planned drilling position and posture. If the current drilling position and posture are different from the planned position and posture, it is determined that flap folding has occurred. The implantation work of the dental implant surgery robot is then paused, and a new implantation path is recalculated.

[0054] Specifically, after flapping occurs, the implant placement needs to be manually adjusted using the following methods, including the following steps:

[0055] 1. Image registration algorithm:

[0056] Given the tooth marker coordinate system (M), robot coordinate system (J), and NDI coordinate system (O), find the drill tip coordinate (N). Each T is a 4x4 matrix, and the goal is to calculate the coordinates and orientation information of N in the M coordinate system. The right side of the equation is calculated using matrix operations: first, the coordinates of N in coordinate system O are calculated; then, the coordinates of M in coordinate system O are inverted; and finally, the coordinates of N in coordinate system M are calculated.

[0057]

[0058] 2. Plant coordinate transformation

[0059] Given drill bit T Drill The formula for the 4x4 second transformation matrix is ​​as follows:

[0060] in,

[0061] Given plant T Imp The formula for the 4x4 homogeneous transformation matrix is ​​as follows:

[0062]

[0063] Where R is a rotation matrix and T is a translation matrix.

[0064] The second transformation matrix T of the implant coordinates after manual planning needs to be calculated. After for:

[0065]

[0066] in

[0067] R AfterImp =R Drill (1)

[0068] T AfterImp The coordinates of the distance dep (selectable, typically set between 15mm and 20mm) from the drill bit tip along the extended line of the drill bit direction.

[0069] Among them, T is set at the drill tip and drill root. Drill After the 4x4 transformation matrix is ​​calculated, the coordinates in the tooth marker coordinate system are P1(1x1,y1,z1) and P1(2x2,y2,z2).

[0070] Then let Then T AfterImp =(x AfterImp ,y AfterImp ,z AfterImp (2)

[0071] This yields the 4x4 transformation matrix T of the planned implant. After This leads to a redesigned implantation path.

[0072] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An implant planning method using a dental implant surgery robot with bone surface follow-up technology, characterized in that, Includes the following steps: Collect relevant location parameters of the implantation site; The dental implant surgery robot with bone surface follow-up technology calculates the implantation path based on the relevant position parameters; If there is no flap upturn, the dental implant surgery robot completes the implantation procedure by following the predetermined implantation path. If there is flap upturn, the implantation procedure is paused, and a new implantation path is recalculated according to the following steps: S1: Establish relevant coordinate systems: including the tooth coordinate system M, the robot coordinate system J, and the positioning camera NDI coordinate system O; S2: Calculate the drill bit end coordinate N and the drill bit attitude information in the M coordinate system. ; S3: Plant coordinate transformation. The planned plant coordinates are obtained through coordinate transformation. The steps of plant coordinate transformation are as follows: Known drill bit The formula for the 4x4 homogeneous transformation matrix is ​​as follows: ， in, , Known plant The formula for the 4x4 homogeneous transformation matrix is ​​as follows: ， Where R are rotation matrices and T are translation matrices; The second transformation matrix of the manually planned implant coordinates needs to be calculated as follows: : ； in （1） The coordinates of the distance dep from the drill bit tip along the extended direction of the drill bit; Among them, the drill tip and drill root are designed to be... After calculating the 4x4 homogeneous transformation matrix, the coordinates in the tooth marker coordinate system are: ,make, ， , ； but, （2） This yields the 4x4 transformation matrix of the planned implant. .

2. The implant planning method according to claim 1, characterized in that, In step S2, first, the coordinates of N in the O coordinate system are calculated; then, the inverse of the coordinates of M in the O coordinate system is calculated; finally, the coordinates of N in the M coordinate system are calculated, which is the attitude information of the drill bit. Calculated using the following formula: ； in, , , All are 4x4 matrices.

3. The implant planning method according to claim 1, characterized in that, If the distance between the drill bit tip and the extension line along the drill bit direction is dep, then 15mm ≤ dep ≤ 20mm.

4. The implant planning method according to claim 3, characterized in that, The distance between the drill bit tip and the extended line along the drill bit direction is dep, then dep = 18mm.

5. The implant planning method according to claim 1, characterized in that, The following method is used to determine whether flap folding occurs: The drill bit is dragged directly above the desired drilling position, and the implant is inserted according to the predetermined planned path. At the same time, a detection device set at the tip of the drill bit detects the drilling position and posture in real time and compares it with the planned drilling position and posture of the implantation path. If the current drilling position and posture are different from the planned position and posture, it is determined that flap folding has occurred. At this time, the implantation work of the dental implantation robot is paused, and a new implantation path is recalculated.

Images