Laser positioning-based tooth preparation or preparation process detection device and method

Abstract

The present application relates to a kind of laser positioning-based tooth preparation or preparation process detection device and method, the device includes oral teaching head model, multiple laser light towers, tooth jaw tracker, grinding cutting tracker and detection controller, real-time three-dimensional coordinate information of tooth jaw and grinding cutting mobile phone is obtained by laser scanning positioning, and it is aligned with the upper and lower tooth jaw three-dimensional model of oral teaching head model, the action real-time detection of dental grinding cutting operation is completed.The detection device and method of the present application can accurately, stably, low-costly detect the real-time position, direction, angle, trajectory and depth of grinding cutting mobile phone of dentist in tooth preparation or preparation process, record the real-time wrist posture and operation step of dentist in preparation or preparation process, provide reference for the problems existing in preparation or preparation process.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of denture preparation or manufacturing, in particular to a laser positioning-based tooth preparation or preparation process detection device and method. BACKGROUND

[0002] Tooth preparation or preparation refers to a technical operation of removing caries and modifying the shape of adjacent teeth of the affected tooth or missing tooth through dental instruments to meet the needs of retention, support, shape, aesthetics and function of the restoration body in order to restore, improve or reconstruct the anatomical shape and physiological function of the missing or missing tooth.

[0003] The wrist posture of the oral surgeon when using the dental cutting handpiece in the clinical treatment process, the steps of tooth preparation or preparation, and other factors have a great influence on the results of tooth preparation or preparation, and further affect the effect of orthodontic and prosthetic treatment. In order to improve the operation skills of oral clinicians, how to objectively and fairly detect the problems existing in the tooth preparation or preparation process of oral clinicians, and then carry out targeted training, has a positive promoting effect on improving the training efficiency and effect of oral clinicians.

[0004] At present, the detection device for tooth preparation or preparation process on the market mainly adopts the positioning mode of binocular cameras or electronic angle meters. However, these modes have some shortcomings, for example, in the tooth preparation or preparation process, the binocular camera is easily disturbed by light, shielding and other factors, and cannot track the real-time position of the cutting handpiece, thereby losing the position information and the system cannot work normally. In addition, the binocular camera needs to be recalibrated when the shoulder body with a dummy head model changes in pitch during the training of oral surgeons, which does not meet the requirements of actual use. Finally, the positioning accuracy of the binocular camera is limited and requires high hardware configuration, which cannot meet the popularization and promotion of oral teaching and clinical practice. Although the electronic angle meter can measure the inclination angle of the dental cutting handpiece, it cannot measure the accurate position and direction of the dental cutting handpiece in space, nor can it reflect the trajectory and depth information in the tooth preparation or preparation process.

[0005] Therefore, there is an urgent need for a device and method that can accurately, stably and low-cost detect the tooth preparation or preparation process of oral clinicians. SUMMARY

[0006] The present application provides a laser positioning-based tooth preparation or preparation process detection device and method, which solves the problems that the detection device in the prior art cannot accurately track and detect the real-time position of the cutting handpiece, and cannot reflect the trajectory and depth information in the tooth preparation or preparation process without dead angles.

[0007] In order to achieve the above object, the technical scheme of the present application is as follows:

[0008] A tooth preparation or preparation process detection device based on laser positioning, comprising:

[0009] An oral teaching head model is movably arranged on a shoulder body which stands on the horizontal ground of the operation space.

[0010] A plurality of laser towers are arranged around the shoulder body.

[0011] A dental arch tracker is rigidly connected to the dental arch of the oral teaching head model.

[0012] A grinding cutter tracker is rigidly connected to the dental grinding cutter mobile phone.

[0013] A detection controller is connected to the dental arch tracker and the grinding cutter tracker.

[0014] The dental arch tracker and the grinding cutter tracker are each provided with a plurality of laser sensing receivers which can receive the emitted laser of the plurality of laser towers.

[0015] Further, the laser tower is provided with two groups, each group of laser towers including a support, two mutually perpendicular and rotatable laser emitters are arranged on the support, and the two laser emitters can emit laser in horizontal and vertical directions to the operation space.

[0016] Further, the dental grinding cutter mobile phone is detachably connected to the grinding cutter tracker through a grinding cutter mobile phone rigid connection frame, and the dental grinding cutter mobile phone is connected to the detection controller through a control switch.

[0017] Further, the control switch is a foot switch or an electric hand switch.

[0018] Further, the dental arch tracker is detachably connected to the upper dental arch or the lower dental arch through a dental arch rigid connection frame.

[0019] Further, the dental arch tracker and the grinding cutter tracker are connected to the detection controller in communication through wired connection or wireless connection.

[0020] Further, not less than five laser sensing receivers are arranged on each of the grinding cutter tracker and the dental arch tracker; and the laser emitter is selected from an infrared laser emitter of 1550nm or 905nm.

[0021] Further, the distance between the laser tower and the oral teaching head model is 1.5-4m.

[0022] A tooth preparation or preparation process detection method based on laser positioning, comprising:

[0023] The tracker with a laser induction receiver is arranged on the dental arch of the oral teaching head model and the dental milling machine respectively;

[0024] A plurality of laser emitters are arranged outside the operation space and the periphery of the oral teaching head model;

[0025] Real-time three-dimensional coordinate information of the dental arch and the milling machine is acquired based on laser positioning, and is aligned with the upper and lower dental arch three-dimensional models of the oral teaching head model in the same coordinate system, so that the real-time detection of the dental milling operation is completed.

[0026] Further, the method comprises the following steps:

[0027] Step S1, the oral teaching head model is installed on the shoulder body, the inclination of the shoulder body and the position of the oral teaching head model are adjusted, and the posture of the patient is simulated;

[0028] Step S2, two groups of laser towers are arranged on the two sides of the shoulder body, and the distance between each group of laser towers and the oral teaching head model on the shoulder body is 2.5 m, so that the range of the operation space can be covered;

[0029] Step S3, the dental arch tracker is connected to the upper dental arch or the lower dental arch of the oral teaching head model 1 through the dental arch rigid connection frame, the milling tracker is connected to the tail of the dental milling machine through the milling machine rigid connection frame, the detection controller is started, and the dental arch tracker and the milling tracker are connected to the detection controller through the USB;

[0030] Step S4, the power of the two groups of laser towers is turned on, and the two rotating laser emitters of each group of laser towers emit laser beams in the horizontal and vertical directions of the operation space;

[0031] Step S5, the dentist controls the dental milling machine to start working through the foot switch, and performs the milling operation on a certain tooth in the oral teaching head model through the bur;

[0032] Step S6, the dental arch tracker and the milling tracker receive the laser beams of the laser towers, transmit the received signals to the detection controller, and the detection controller acquires and calculates the continuous real-time three-dimensional coordinates of the bur movement in real time, so that the running track of the bur in the space coordinate system can be obtained; the real-time position, direction, angle, track and depth information of the bur relative to the upper and lower dental arches are calculated and analyzed, and the wrist posture change data of the operating hand are obtained.

[0033] Compared with the prior art, the beneficial effects of the present application are as follows:

[0034] 1.The detection device of the present application comprises a plurality of laser towers, each of which comprises a support and at least two groups of laser emitters arranged on the support, the two groups of laser emitters emitting laser beams in two directions, i.e., horizontal and vertical directions, to the operation space, so as to realize laser all-around coverage of the operation space, and according to the position difference of the laser beams reaching different laser induction receivers, the real-time three-dimensional coordinate information of the jaw tracker and the grinding cutter tracker is calculated, so as to realize high-precision positioning of the grinding cutter mobile phone, and avoid the problems that the traditional positioning device may be interfered by light, shielding and other factors, resulting in loss of position information or failure of the system to work normally.

[0035] 2.The detection method of the present application can accurately, stably and at low cost detect the real-time position, direction, angle, trajectory and depth of the grinding cutter mobile phone of the dentist during tooth preparation or preparation, record the real-time wrist posture and operation steps of the dentist during preparation or preparation, and provide a reference for problems existing in the preparation or preparation process.

[0036] Of course, the implementation of each technical solution of the present application does not necessarily need to achieve all the advantages described above. BRIEF DESCRIPTION OF DRAWINGS

[0037] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or prior art description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and those skilled in the art can obtain other drawings of embodiments according to these drawings without creative labor.

[0038] Figure 1 The system composition diagram of the embodiment of the present application;

[0039] Figure 2 The schematic diagram of the tracker and the dental grinding cutter mobile phone connecting piece of the embodiment of the present application;

[0040] Figure 3 The schematic diagram of the tracker and the dental grinding cutter mobile phone connecting piece of the embodiment of the present application;

[0041] In the figure, 1 is an oral teaching head model, 2 is a shoulder body, 3 is a laser tower, 4 is a grinding cutter tracker, 5 is a grinding cutter mobile phone rigid connecting frame, 6 is a dental grinding cutter mobile phone, 7 is a jaw tracker, 8 is a jaw rigid connecting frame, 9 is a detection controller, and 10 is a foot switch. DETAILED DESCRIPTION

[0042] For the purpose of promoting the understanding of the present application, the present application will be more fully described by referring to the attached drawings. These drawings set forth preferred embodiments of the application and are not intended to limit the application to the embodiments described herein. Instead, these embodiments are presented by way of example or illustration.

[0043] In the description of the present application, it needs to be understood that the terms "center", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application.

[0044] In the description of the present application, it needs to be understood that the terms "installation", "connection", "connection", "setting" should be understood broadly, for example, it can be fixedly connected, set, or detachably connected, set, or integrally connected, set. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances. The present application will be described in detail below in conjunction with the drawings and examples.

[0045] Embodiment:

[0046] Referring to Figure 1 The embodiment discloses a tooth preparation or preparation process detection device based on laser positioning, comprising:

[0047] The oral teaching head model 1 is a simulated skull model, which has a maxillary tooth socket model, an upper jaw, a mandibular tooth socket model and an upper jaw inside, and has a rubber face film outside; the shoulder body 2 is a simulated body trunk model, which stands on the horizontal ground of the operation space, and can adjust the inclination to simulate various positions required by the patient in clinical treatment, and the oral teaching head model 1 is movably arranged on the shoulder body 2 to realize three-dimensional motion of the oral teaching head model 1 on the shoulder body 2, such as lifting, pitching and left-right axial motion.

[0048] Two groups of laser towers 3 are arranged around the shoulder body 2, and the straight-line distance between the two groups of laser towers 3 and the oral teaching head model 1 on the shoulder body 2 is about 2.5 m. In other embodiments, according to specific application scenarios and environmental space, the laser towers 3 can also be arranged in three or more groups around the shoulder body 2. The laser tower 3 is composed of a support and two groups of rotatable laser emitters arranged at the upper end of the support. The rotation axes of the two groups of laser emitters are perpendicular to each other, and the laser can be scanned in the horizontal and vertical directions of the operation space. In this embodiment, the wavelength of the laser emitter is 1550 nm, which has small attenuation and is relatively safe for the human eye, and is suitable for positioning target objects.

[0049] Referring to Figure 2 The grinding and cutting tracker 4 is detachably connected with the dental grinding and cutting mobile phone 6 through the grinding and cutting mobile phone rigid connecting frame 5. Five laser sensing receivers are arranged in the grinding and cutting tracker 4 to receive the emitted laser of the laser tower 3. After the laser tower 3 emits the laser, the five laser sensing receivers of the grinding and cutting tracker 4 will synchronize the signal, measure the time when the laser emitted by the two rotation axes perpendicular to each other and rotating at a fixed period in the laser tower 3 reaches different laser sensing receivers, calculate the X, Y, and Z three-dimensional coordinates of the grinding and cutting tracker 4 and the pitch angle, yaw angle, and roll angle information, and update the three-dimensional coordinates of the dental grinding and cutting mobile phone 6 in real time when the grinding and cutting tracker 4 moves. In other embodiments, in order to further improve the positioning accuracy, a larger number of laser sensing receivers can be arranged in the grinding and cutting tracker, such as twenty-four.

[0050] In this embodiment, the dental grinding and cutting mobile phone 6 is connected with the foot switch 10, the start and stop and the rotating speed of the dental grinding and cutting mobile phone 6 are controlled through the foot switch 10, and the oral physician can operate freely with both hands. The dental grinding and cutting mobile phone 6 includes a shock-absorbing handle, the surface of the shock-absorbing handle is provided with anti-slip texture or a shock-absorbing rubber sleeve, which is used to reduce the interference of vibration noise in work, the inside of the handle is provided with a driving device and a medium pipeline, the medium pipeline is used to transport gas, liquid, light, and other media, the head of the handle is provided with a drill, the drill can rotate at high speed under the driving of the driving device, and the tail of the handle is connected with the grinding and cutting tracker 4 through the grinding and cutting mobile phone rigid connecting frame 5.

[0051] Referring to Figure 3, the dental arch tracker 7 is detachably connected with the upper dental arch or the lower dental arch of the oral teaching head model 1 through the dental arch rigid connecting frame 8, the dental arch tracker 7 is internally provided with five laser sensing receivers, which are used to receive the emitted laser of the laser light tower 3, the laser sensing receivers of the dental arch tracker 7 will be synchronized with the laser emitted by the laser emitter in the laser light tower 3 after the laser is emitted, the time when the laser emitted by the laser emitter, which is perpendicular to each other and rotates at a fixed period, reaches different laser sensing receivers is measured, the three-dimensional coordinates and the motion trajectory of the dental arch tracker 7 are calculated through the position difference of each sensor, and the real-time three-dimensional coordinates of each tooth in the upper dental arch and the lower dental arch are obtained by referring to the inherent parameters of the oral teaching head model 1, and the working principle is the same as that of the grinding and cutting tracker 4. When the oral teaching head model 1 is displaced relative to the shoulder body 2, the three-dimensional coordinates of the teeth in the upper dental arch and the lower dental arch can be updated in real time. In other embodiments, in order to further improve the positioning accuracy, a larger number of laser sensing receivers can be arranged in the dental arch tracker, such as twenty-four.

[0052] The detection controller 9 includes a sensor, a processor, a memory, a display and a communication interface in the embodiment, the memory stores the three-dimensional model of the upper dental arch and the lower dental arch of the oral teaching head model 1, the sensor is used to collect the electrical signals of the dental arch tracker 7 and the grinding and cutting tracker 4, the processor processes the electrical signals and calculates the real-time three-dimensional coordinate information of the dental arch tracker 7 and the grinding and cutting tracker 4, aligns the three-dimensional model of the upper dental arch and the lower dental arch of the oral teaching head model 1 with the real-time three-dimensional coordinates of the dental arch tracker 7 and the grinding and cutting tracker 4 in the same coordinate system, and finally stores the real-time position, direction, angle, trajectory and depth information of the grinding and cutting mobile phone of the dentist in the tooth preparation or preparation process in the memory, records the real-time wrist posture and operation steps of the dentist in the preparation or preparation process, so as to be observed at any time; in the embodiment, the communication interface selects the USB wired interface, the dental arch tracker 7, the grinding and cutting tracker 4 and the foot switch 10 communicate with the detection controller 9 through the data line, and in other embodiments, the communication interface can select the WIFI interface or the Bluetooth interface.

[0053] The specific working method of the embodiment is as follows:

[0054] Step S1, install the oral teaching head model 1 on the shoulder body 2, adjust the inclination of the shoulder body 2 and the position of the oral teaching head model 1, and simulate the posture of the patient.

[0055] Step S2, two groups of laser light towers 3 are arranged on the two sides of the shoulder body 2, and the distance between each group of laser light towers 3 and the oral teaching head model 1 on the shoulder body 2 is 2.5 meters, so that it can cover the range of the operation space.

[0056] Step S3, the dental arch tracker 7 is connected to the upper or lower dental arch of the oral teaching head model 1 through the dental arch rigid connection frame 8; the grinding cutter tracker 4 is connected to the tail of the dental grinding cutter handset 6 through the grinding cutter handset rigid connection frame 5, the detection controller 9 is turned on, and the dental arch tracker 7 and the grinding cutter tracker 4 are connected to the detection controller 9 through the USB.

[0057] Step S4, turn on the power supply of the two sets of laser light towers 3 to start emitting laser.

[0058] Step S5, the oral physician controls the dental grinding cutter handset 6 to start working through the foot switch 10, and performs grinding operation on a certain tooth in the oral teaching head model 1 through the bur.

[0059] Step S6, the dental arch tracker 7 and the grinding cutter tracker 4 receive the laser of the laser light tower 3, transmit the received signals to the detection controller 9, the detection controller 9 collects and calculates the continuous real-time three-dimensional coordinates of the bur movement in real time, and obtains the running track of the bur in the space coordinate system; and displays the real-time position, direction, angle, track and depth of the bur relative to the upper and lower dental arches, and obtains the wrist posture change of the operating hand.

[0060] Step S7, the display of the detection controller 9 can display the image of the cutting and grinding process in real time, and the memory stores the real-time data of the operation process, so as to observe or analyze at any time.

[0061] The stored operation data can be used for subsequent oral physician cutting and grinding training comparison review or evaluation, scoring of the oral physician grinding process and grinding final result, and thus effectively improving the operation skill of the oral physician.

[0062] The above application of specific examples is used to illustrate the present application, which is only used to help understand the present application, and does not limit the present application. For those skilled in the art to which the present application belongs, according to the idea of the present application, a number of simple deductions, deformations or substitutions can be made.

Claims

1. A laser positioning based detection device for a tooth preparation or pre-preparation process, characterized in that, Comprise: Oral teaching head model, oral teaching head model movably arranged on shoulder body, shoulder body standing on the horizontal ground of operation space; A plurality of laser light towers, a plurality of laser light towers are arranged around the four sides of the shoulder body; Dental arch tracker, dental arch tracker rigidly connected to the dental arch of the oral teaching head model; Grinding and cutting tracker, grinding and cutting tracker rigidly connected to the dental grinding and cutting mobile phone; Detection controller, detection controller connected with dental arch tracker and grinding and cutting tracker respectively; The dental arch tracker and the grinding and cutting tracker are provided with a plurality of laser sensing receivers, and the laser sensing receivers can receive the emitted laser of the plurality of laser light towers; The laser light tower is provided with two groups, each group of laser light tower includes a support, two mutually perpendicular and rotatable laser emitters are arranged on the support, and the two laser emitters can emit laser in horizontal and vertical directions to the operation space; The grinding and cutting tracker or the dental arch tracker is arranged with not less than five laser sensing receivers; the laser emitter selects 1550nm or 905nm infrared laser emitter.

2. The device for detecting a preparation or a pre-preparation process of a tooth based on laser positioning according to claim 1, characterized in that, The dental grinding and cutting mobile phone is detachably connected with the grinding and cutting tracker through the grinding and cutting mobile phone rigid connection frame, and the dental grinding and cutting mobile phone is connected with the detection controller through the control switch.

3. The device for detecting a preparation or a preparation process of a tooth based on laser positioning according to claim 2, characterized in that, The control switch is a foot switch or an electric hand switch.

4. The device for detecting a preparation or a pre-preparation process of a tooth based on laser positioning according to claim 1, characterized in that, The dental arch tracker is detachably connected with the upper dental arch or the lower dental arch through the dental arch rigid connection frame.

5. The device for detecting a preparation or a pre-preparation process of a tooth based on laser positioning according to claim 1, characterized in that, The dental arch tracker and the grinding and cutting tracker are connected with the detection controller through wired connection or wireless connection.

6. The laser-positioning based tooth preparation or preparation process detection device according to claim 1, characterized in that, The distance between the laser light tower and the oral teaching head model is 1.5-4m.

7. The detection method of the dental preparation or preparation process detection device based on laser positioning according to any one of claims 1-6, wherein, A dental arch tracker and a grinding and cutting tracker with laser sensing receivers are arranged on the dental arch of the oral teaching head model and the dental grinding and cutting mobile phone respectively; A plurality of laser emitters are arranged in the operation space and around the oral teaching head model; Real-time three-dimensional coordinate information of the dental arch and the grinding and cutting mobile phone is obtained based on laser positioning, and is aligned with the upper and lower dental arch three-dimensional models of the oral teaching head model in the same coordinate system, and the real-time detection of the dental grinding operation is completed; Specifically, the steps include: Step S1, install the oral teaching head model on the shoulder body, adjust the inclination of the shoulder body and the position of the oral teaching head model, and simulate the posture of the patient; Step S2, two groups of laser light towers are arranged on the two sides of the shoulder body, and the distance between each group of laser light towers and the oral teaching head model on the shoulder body is 2.5m, so that they can cover the range of the operation space; Step S3, the dental arch tracker is connected to the upper dental arch or the lower dental arch of the oral teaching head model through the dental arch rigid connection frame, the grinding and cutting tracker is connected to the tail of the dental grinding and cutting mobile phone through the grinding and cutting mobile phone rigid connection frame, the detection controller is turned on, and the dental arch tracker and the grinding and cutting tracker are connected with the detection controller through USB; Step S4, turn on the power of the two groups of laser light towers, and the two rotating laser emitters of each group of laser light towers emit laser in horizontal and vertical directions to the operation space; Step S5, the dentist starts the work of the dental cutting mobile phone through the foot switch, and performs cutting operation on a certain tooth in the oral teaching head model through the dental bur; Step S6, the tooth and jaw tracker and the cutting tracker receive the laser of the laser tower, transmit the received signals to the detection controller, the detection controller collects and calculates the continuous real-time three-dimensional coordinates of the movement of the dental bur in real time, and the running track of the dental bur in the space coordinate system can be obtained; through calculation and analysis of the real-time position, direction, angle, track and depth information of the dental bur relative to the upper and lower jaws, the wrist posture change data of the operating hand is obtained.

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